#include <VehicleGPSFactGroup.h>

Inheritance diagram for VehicleGPSFactGroup:

Collaboration diagram for VehicleGPSFactGroup:

Public Types
enum class	ReceiverIndex { Primary , Secondary }
	The worse of the reported spoofing and jamming states, or 0 when neither is reported. More...

enum class	InterferenceState { Unknown = 0 , NotDetected = 1 , Mitigated = 2 , Detected = 3 }
	MAVLink GPS_JAMMING_STATE and GPS_SPOOFING_STATE, which share their values. More...

enum class	AuthenticationState { Unknown = 0 , Initializing = 1 , Error = 2 , Ok = 3 , Disabled = 4 }
	MAVLink GPS_AUTHENTICATION_STATE. More...

Signals
void	positionReported (const QGeoPositionInfo &position, int fixType)

void	systemErrorTextChanged ()

void	resilienceChanged ()

Signals inherited from FactGroup
void	factNamesChanged ()

void	factGroupNamesChanged ()

void	telemetryAvailableChanged (bool telemetryAvailable)

Public Member Functions
	VehicleGPSFactGroup (QObject parent=nullptr, RuntimeScheduler scheduler=nullptr, ReceiverIndex receiver=ReceiverIndex::Primary)

Fact *	lat ()

Fact *	lon ()

Fact *	mgrs ()

Fact *	hdop ()

Fact *	vdop ()

Fact *	horizontalAccuracy ()

Fact *	verticalAccuracy ()

Fact *	courseOverGround ()

Fact *	yaw ()

Fact *	count ()

Fact *	lock ()

Fact *	systemErrors ()

Fact *	spoofingState ()

Fact *	jammingState ()

Fact *	authenticationState ()

Fact *	correctionsQuality ()

Fact *	systemQuality ()

Fact *	gnssSignalQuality ()

Fact *	postProcessingQuality ()

Fact *	rtkBaseline ()
	GPS_RTK (primary) or GPS2_RTK (secondary); cleared when the vehicle stops reporting them.

Fact *	rtkRate ()

Fact *	rtkSatellites ()

QString	systemErrorText () const
	The receiver's reported system errors, comma separated; empty when there are none.

bool	jammingReported () const

bool	spoofingReported () const

bool	authenticationReported () const

int	interferenceState () const

int	authenticationSeverity () const

void	handleMessage (Vehicle *vehicle, const mavlink_message_t &message) override
	Allows a FactGroup to parse incoming messages and fill in values.

Public Member Functions inherited from FactGroup
	FactGroup (int updateRateMsecs, const QString &metaDataFile, QObject *parent=nullptr, bool ignoreCamelCase=false)
	< false: No telemetry for these values has been received

	FactGroup (int updateRateMsecs, QObject *parent=nullptr, bool ignoreCamelCase=false)

virtual	~FactGroup ()

Q_INVOKABLE bool	factExists (const QString &name) const
	@ return true: if the fact exists in the group

Q_INVOKABLE Fact *	getFact (const QString &name) const

Q_INVOKABLE FactGroup *	getFactGroup (const QString &name) const

Q_INVOKABLE void	setLiveUpdates (bool liveUpdates)
	Turning on live updates will allow value changes to flow through as they are received.

QStringList	factNames () const

QStringList	factGroupNames () const

bool	telemetryAvailable () const

const QMap< QString, FactGroup * > &	factGroups () const

Static Public Member Functions
static constexpr bool	reported (int state)
	A state other than Unknown or NOT_REPORTED.

Static Public Attributes
static constexpr int	NOT_REPORTED = 255
	The value of a state the vehicle has not reported.

static constexpr std::chrono::seconds	RTK_STATUS_TIMEOUT {5}

static constexpr std::chrono::seconds	GNSS_INTEGRITY_TIMEOUT {5}
	The GNSS_INTEGRITY facts return to unreported when the vehicle stops sending it for this long.

Additional Inherited Members
Protected Slots inherited from FactGroup
virtual void	_updateAllValues ()

Protected Member Functions inherited from FactGroup
void	_addFact (Fact *fact, const QString &name)

void	_addFact (Fact *fact)

void	_addFactGroup (FactGroup *factGroup, const QString &name)

void	_addFactGroup (FactGroup *factGroup)

void	_loadFromJsonArray (const QJsonArray &jsonArray)

void	_setTelemetryAvailable (bool telemetryAvailable)

Protected Attributes inherited from FactGroup
const int	_updateRateMSecs = 0
	Update rate for Fact::valueChanged signals, 0: immediate update.

QMap< QString, Fact * >	_nameToFactMap

QMap< QString, FactGroup * >	_nameToFactGroupMap

QMap< QString, FactMetaData * >	_nameToFactMetaDataMap

QStringList	_factNames

Detailed Description

One vehicle GNSS receiver: GPS_RAW_INT, GPS_RTK and GNSS_INTEGRITY id 0 for the primary, their GPS2 forms and id 1 for the secondary.

Definition at line 16 of file VehicleGPSFactGroup.h.

Member Enumeration Documentation

◆ AuthenticationState

enum class VehicleGPSFactGroup::AuthenticationState

strong

MAVLink GPS_AUTHENTICATION_STATE.

Enumerator
Unknown
Initializing
Error
Ok
Disabled

Definition at line 72 of file VehicleGPSFactGroup.h.

◆ InterferenceState

enum class VehicleGPSFactGroup::InterferenceState

strong

MAVLink GPS_JAMMING_STATE and GPS_SPOOFING_STATE, which share their values.

Enumerator
Unknown
NotDetected
Mitigated
Detected

Definition at line 62 of file VehicleGPSFactGroup.h.

◆ ReceiverIndex

enum class VehicleGPSFactGroup::ReceiverIndex

strong

The worse of the reported spoofing and jamming states, or 0 when neither is reported.

Ranks the reported authentication state, from 0 when unreported through Disabled, Initializing and Ok to Error.

Enumerator
Primary
Secondary

Definition at line 55 of file VehicleGPSFactGroup.h.

Constructor & Destructor Documentation

◆ VehicleGPSFactGroup()

VehicleGPSFactGroup::VehicleGPSFactGroup	(	QObject *	parent = `nullptr`,
		RuntimeScheduler *	scheduler = `nullptr`,
		ReceiverIndex	receiver = `ReceiverIndex::Primary`
	)

explicit

Definition at line 16 of file VehicleGPSFactGroup.cc.

References FactGroup::_addFact(), Fact::rawValueChanged(), resilienceChanged(), Fact::setRawValue(), and systemErrorTextChanged().

Member Function Documentation

◆ authenticationReported()

bool VehicleGPSFactGroup::authenticationReported ( ) const

Definition at line 290 of file VehicleGPSFactGroup.cc.

References Fact::rawValue(), and reported().

◆ authenticationSeverity()

int VehicleGPSFactGroup::authenticationSeverity ( ) const

Definition at line 302 of file VehicleGPSFactGroup.cc.

References Disabled, Error, Initializing, Ok, and Fact::rawValue().

◆ authenticationState()

Fact * VehicleGPSFactGroup::authenticationState ( )

inline

Definition at line 116 of file VehicleGPSFactGroup.h.

◆ correctionsQuality()

Fact * VehicleGPSFactGroup::correctionsQuality ( )

inline

Definition at line 118 of file VehicleGPSFactGroup.h.

◆ count()

Fact * VehicleGPSFactGroup::count ( )

inline

Definition at line 106 of file VehicleGPSFactGroup.h.

◆ courseOverGround()

Fact * VehicleGPSFactGroup::courseOverGround ( )

inline

Definition at line 102 of file VehicleGPSFactGroup.h.

◆ gnssSignalQuality()

Fact * VehicleGPSFactGroup::gnssSignalQuality ( )

inline

Definition at line 122 of file VehicleGPSFactGroup.h.

◆ handleMessage()

void VehicleGPSFactGroup::handleMessage	(	Vehicle *	,
		const mavlink_message_t &
	)

overridevirtual

Allows a FactGroup to parse incoming messages and fill in values.

Reimplemented from FactGroup.

Definition at line 64 of file VehicleGPSFactGroup.cc.

References Primary, and Secondary.

◆ hdop()

Fact * VehicleGPSFactGroup::hdop ( )

inline

Definition at line 94 of file VehicleGPSFactGroup.h.

◆ horizontalAccuracy()

Fact * VehicleGPSFactGroup::horizontalAccuracy ( )

inline

Definition at line 98 of file VehicleGPSFactGroup.h.

◆ interferenceState()

int VehicleGPSFactGroup::interferenceState ( ) const

Definition at line 295 of file VehicleGPSFactGroup.cc.

References Fact::rawValue(), and reported().

◆ jammingReported()

bool VehicleGPSFactGroup::jammingReported ( ) const

Definition at line 280 of file VehicleGPSFactGroup.cc.

References Fact::rawValue(), and reported().

◆ jammingState()

Fact * VehicleGPSFactGroup::jammingState ( )

inline

Definition at line 114 of file VehicleGPSFactGroup.h.

◆ lat()

Fact * VehicleGPSFactGroup::lat ( )

inline

Definition at line 88 of file VehicleGPSFactGroup.h.

◆ lock()

Fact * VehicleGPSFactGroup::lock ( )

inline

Definition at line 108 of file VehicleGPSFactGroup.h.

◆ lon()

Fact * VehicleGPSFactGroup::lon ( )

inline

Definition at line 90 of file VehicleGPSFactGroup.h.

◆ mgrs()

Fact * VehicleGPSFactGroup::mgrs ( )

inline

Definition at line 92 of file VehicleGPSFactGroup.h.

◆ positionReported

void VehicleGPSFactGroup::positionReported	(	const QGeoPositionInfo &	position,
		int	fixType
	)

signal

Emitted for every position report after the facts update. The altitude is above mean sea level and fixType is a MAVLink GPS_FIX_TYPE.

Referenced by NTRIPVehicleGgaSource::setVehicle().

◆ postProcessingQuality()

Fact * VehicleGPSFactGroup::postProcessingQuality ( )

inline

Definition at line 124 of file VehicleGPSFactGroup.h.

◆ reported()

static constexpr bool VehicleGPSFactGroup::reported ( int state )

inlinestaticconstexpr

A state other than Unknown or NOT_REPORTED.

Definition at line 143 of file VehicleGPSFactGroup.h.

References NOT_REPORTED.

Referenced by authenticationReported(), interferenceState(), jammingReported(), and spoofingReported().

◆ resilienceChanged

void VehicleGPSFactGroup::resilienceChanged ( )

signal

Referenced by VehicleGPSFactGroup().

◆ rtkBaseline()

Fact * VehicleGPSFactGroup::rtkBaseline ( )

inline

GPS_RTK (primary) or GPS2_RTK (secondary); cleared when the vehicle stops reporting them.

Definition at line 127 of file VehicleGPSFactGroup.h.

◆ rtkRate()

Fact * VehicleGPSFactGroup::rtkRate ( )

inline

Definition at line 129 of file VehicleGPSFactGroup.h.

◆ rtkSatellites()

Fact * VehicleGPSFactGroup::rtkSatellites ( )

inline

Definition at line 131 of file VehicleGPSFactGroup.h.

◆ spoofingReported()

bool VehicleGPSFactGroup::spoofingReported ( ) const

Definition at line 285 of file VehicleGPSFactGroup.cc.

References Fact::rawValue(), and reported().

◆ spoofingState()

Fact * VehicleGPSFactGroup::spoofingState ( )

inline

Definition at line 112 of file VehicleGPSFactGroup.h.

◆ systemErrors()

Fact * VehicleGPSFactGroup::systemErrors ( )

inline

Definition at line 110 of file VehicleGPSFactGroup.h.

◆ systemErrorText()

QString VehicleGPSFactGroup::systemErrorText ( ) const

The receiver's reported system errors, comma separated; empty when there are none.

Definition at line 253 of file VehicleGPSFactGroup.cc.

References Fact::rawValue().

◆ systemErrorTextChanged

void VehicleGPSFactGroup::systemErrorTextChanged ( )

signal

Referenced by VehicleGPSFactGroup().

◆ systemQuality()

Fact * VehicleGPSFactGroup::systemQuality ( )

inline

Definition at line 120 of file VehicleGPSFactGroup.h.

◆ vdop()

Fact * VehicleGPSFactGroup::vdop ( )

inline

Definition at line 96 of file VehicleGPSFactGroup.h.

◆ verticalAccuracy()

Fact * VehicleGPSFactGroup::verticalAccuracy ( )

inline

Definition at line 100 of file VehicleGPSFactGroup.h.

◆ yaw()

Fact * VehicleGPSFactGroup::yaw ( )

inline

Definition at line 104 of file VehicleGPSFactGroup.h.

Member Data Documentation

◆ GNSS_INTEGRITY_TIMEOUT

constexpr std::chrono::seconds VehicleGPSFactGroup::GNSS_INTEGRITY_TIMEOUT {5}

staticconstexpr

The GNSS_INTEGRITY facts return to unreported when the vehicle stops sending it for this long.

Definition at line 147 of file VehicleGPSFactGroup.h.

◆ NOT_REPORTED

constexpr int VehicleGPSFactGroup::NOT_REPORTED = 255

staticconstexpr

The value of a state the vehicle has not reported.

Definition at line 83 of file VehicleGPSFactGroup.h.

Referenced by reported().

◆ RTK_STATUS_TIMEOUT

constexpr std::chrono::seconds VehicleGPSFactGroup::RTK_STATUS_TIMEOUT {5}

staticconstexpr

Definition at line 145 of file VehicleGPSFactGroup.h.

The documentation for this class was generated from the following files:

src/Vehicle/FactGroups/VehicleGPSFactGroup.h
src/Vehicle/FactGroups/VehicleGPSFactGroup.cc

Public Types

Signals

Public Member Functions

Static Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ AuthenticationState

◆ InterferenceState

◆ ReceiverIndex

Constructor & Destructor Documentation

◆ VehicleGPSFactGroup()

Member Function Documentation

◆ authenticationReported()

◆ authenticationSeverity()

◆ authenticationState()

◆ correctionsQuality()

◆ count()

◆ courseOverGround()

◆ gnssSignalQuality()

◆ handleMessage()

◆ hdop()

◆ horizontalAccuracy()

◆ interferenceState()

◆ jammingReported()

◆ jammingState()

◆ lat()

◆ lock()

◆ lon()

◆ mgrs()

◆ positionReported

◆ postProcessingQuality()

◆ reported()

◆ resilienceChanged

◆ rtkBaseline()

◆ rtkRate()

◆ rtkSatellites()

◆ spoofingReported()

◆ spoofingState()

◆ systemErrors()

◆ systemErrorText()

◆ systemErrorTextChanged

◆ systemQuality()

◆ vdop()

◆ verticalAccuracy()

◆ yaw()

Member Data Documentation

◆ GNSS_INTEGRITY_TIMEOUT

◆ NOT_REPORTED

◆ RTK_STATUS_TIMEOUT