GPSManager.h 1.07 KB
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/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/

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#pragma once

#include "GPSProvider.h"
#include "RTCM/RTCMMavlink.h"
#include <QGCToolbox.h>

#include <QString>
#include <QObject>

/**
 ** class GPSManager
 * handles a GPS provider and RTK
 */
class GPSManager : public QGCTool
{
    Q_OBJECT
public:
    GPSManager(QGCApplication* app);
    ~GPSManager();

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    void connectGPS(const QString& device);
    bool connected(void) const { return _gpsProvider != nullptr; }
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private slots:
    void GPSPositionUpdate(GPSPositionMessage msg);
    void GPSSatelliteUpdate(GPSSatelliteMessage msg);
private:
    void cleanup();

    GPSProvider* _gpsProvider = nullptr;
    RTCMMavlink* _rtcmMavlink = nullptr;

    std::atomic_bool _requestGpsStop; ///< signals the thread to quit
};