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/****************************************************************************
*
* (c) 2009-2020 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.
*
****************************************************************************/
#pragma once
#include <QString>
#include <QThread>
#include <QByteArray>
#include <QSerialPort>
#include <atomic>
#include "GPSPositionMessage.h"
#include "Drivers/src/gps_helper.h"
/**
** class GPSProvider
* opens a GPS device and handles the protocol
*/
class GPSProvider : public QThread
{
Q_OBJECT
public:
enum class GPSType {
u_blox,
trimble,
septentrio
};
GPSProvider(const QString& device,
GPSType type,
bool enableSatInfo,
double surveyInAccMeters,
int surveryInDurationSecs,
bool useFixedBaseLocation,
double fixedBaseLatitude,
double fixedBaseLongitude,
float fixedBaseAltitudeMeters,
float fixedBaseAccuracyMeters,
const std::atomic_bool& requestStop);
~GPSProvider();
/**
* this is called by the callback method
*/
void gotRTCMData(uint8_t *data, size_t len);
signals:
void positionUpdate(GPSPositionMessage message);
void satelliteInfoUpdate(GPSSatelliteMessage message);
void RTCMDataUpdate(QByteArray message);
void surveyInStatus(float duration, float accuracyMM, double latitude, double longitude, float altitude, bool valid, bool active);
protected:
void run();
private:
void publishGPSPosition();
void publishGPSSatellite();
/**
* callback from the driver for the platform specific stuff
*/
static int callbackEntry(GPSCallbackType type, void *data1, int data2, void *user);
int callback(GPSCallbackType type, void *data1, int data2);
QString _device;
GPSType _type;
const std::atomic_bool& _requestStop;
double _surveyInAccMeters;
int _surveryInDurationSecs;
bool _useFixedBaseLoction;
double _fixedBaseLatitude;
double _fixedBaseLongitude;
float _fixedBaseAltitudeMeters;
float _fixedBaseAccuracyMeters;
struct sensor_gps_s _reportGpsPos;
struct satellite_info_s *_pReportSatInfo = nullptr;
QSerialPort *_serial = nullptr;
};