GPSSensor.h

/*--------------------------------------------------------------------------------------------
Copyright (c) 2019, NDEVR LLC
tyler.parke@ndevr.org
  __    __   ____     _____ __     __  _______
 |  \  |  | |  __ \  |  ___|\ \   / / |   __  \
 |   \ |  | | |  \ \ | |___  \ \ / /  |  |__)  |
 |  . \|  | | |__/ / | |___   \ V /   |   _   /
 |  |\    |_|_____/__|_____|___\_/____|  | \  \
 |__| \__________________________________|  \__\
 
Subject to the terms of the Enterprise+ Agreement, NDEVR hereby grants
Licensee a limited, non-exclusive, non-transferable, royalty-free license
(without the right to sublicense) to use the API solely for the purpose of
Licensee's internal development efforts to develop applications for which
the API was provided.
 
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
 
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR
PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE
FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
DEALINGS IN THE SOFTWARE.
 
Library: Hardware
File: GPSSensor
Included in API: True
Author(s): Tyler Parke
 *-----------------------------------------------------------------------------------------**/
#pragma once
#include "DLLInfo.h"
#include "GPSInterface/Headers/GNSSEnums.h"
#include "GPSInterface/Headers/RW5Info.h"
#include "GPSInterface/Headers/NMEAParserData.h"
#include <NDEVR/Device.h>
#include <NDEVR/OrientationSensor.h>
#include <NDEVR/PositionSensor.h>
#include "Design/Headers/GPSPoint.h"
#include "Base/Headers/Vertex.hpp"
#include "Base/Headers/UUID.h"
#include "Base/Headers/ApplicationOptions.h"
#include "Base/Headers/Angle.h"
#include <QObject>
class QGeoPositionInfo;
class QGeoPositionInfoSource;
namespace NDEVR
{
    class CNMEAParserQt;
    class FileChooserDialog;
    class Log;
    class Connection;
    class NMEASentenceBase;
    struct ConnectionInfo;
    class NMEASentenceReader;
    class GPS_INTERFACE_API GPSSensor : public PositionSensor
    {
        Q_OBJECT
    public:
        GPSSensor(const Model& model, InfoPipe* log, QObject* parent = nullptr);
        virtual ~GPSSensor();
        NMEAUpdateInfo addNMEALine(const String& line);
        virtual bool requestUsingGPS(bool using_gps) override;
        virtual GNSSQuality gpsQuality() const override;
        const GPSPoint& lastGPSPoint() const;
        bool orientationValid() const;
        GNSSMode mode() const { return m_gps_mode; }
        void setGPSPoint(const GPSPoint& point);
        bool isValid() const;
        void update(Time time) override;
        void setAutoConnect(bool autoconnect);
        bool requestNoConnection();
        bool requestUseConnection(ConnectionInfo info);
        bool requestLocalMachine();
        bool requestUseFile(const File& file);
        void setMode(GNSSMode mode);
        bool hasEstimate();
        void updateOrientationFromNMEA(Time time);
        const NMEAInfo& info() const;
        const Buffer<NMEASentenceReader*>& sentenceParsers() const;
        fltp08 filePercent() const;
        fltp08 convertErrorLatLonToMeters(fltp08 lat_lon_error, uint01 dimension = LAT) const;
        bool isGNSSStreamOpen() const;
        virtual bool stationUsedForOffset() const override { return false; }
        File activeFile() const;
        const Dictionary<UUID, GNSSSatelliteInfo>& satelliteInfo();
        static Dictionary<UUID, GNSSSatelliteInfo> AverageSats(const Dictionary<UUID, GNSSSatelliteInfo>& a, const Dictionary<UUID, GNSSSatelliteInfo>& b, fltp08 ratio);

        [[nodiscard]] Vector<3, fltp08> stdDev() const override { return Constant<Vector<3, fltp08>>::Invalid; };
        TimeSpan gnssTimeoutSpan() const;
        Connection* connection();
        [[nodiscard]] virtual TimeSpan updateInterval() const override;

        Time lastGNSSUpdateTime() const;
        Time lastGNSSRxTime() const;
        TimeSpan differentialAge() const;
        Vertex<3, fltp08> convertFromLatLon(const Vertex<3, fltp08>& lat_lon_point, bool& has_sent_warning) const;
        OrientationSensor* orientationSensor() const override;
    signals:
        void onConnectionChangedSignal();
        void gnssPositionUpdateSignal();
        void gnssSatelliteUpdateSignal();
        void gnssOrientationUpdateSignal();
        void gnssQualityUpdateSignal();
    private slots:
        void processError(uint04 error);
        void localPositionUpdatedSlot(const QGeoPositionInfo& info);
        void localNMEAUpdatedSlot(const QString& info);
    protected:
        CNMEAParserQt* parser();
        GPSPoint nmeaPosition() const;
        Dictionary<UUID, GNSSSatelliteInfo> computeSatelliteInfo();
    protected:
        DesignObjectLookup* m_lookup = nullptr;                                 
        GPSPoint m_last_gps_point;                                              
        RW5FileOptions m_rw5_file_options;                                      
        Buffer<Vertex<3, fltp08>> m_localization_points;                        
        CNMEAParserQt* m_nmea_parser;                                           
        OrientationSensor* m_orientation_sensor;                                
        QGeoPositionInfoSource* m_local_position_source = nullptr;              
        Dictionary<UUID, GNSSSatelliteInfo> m_satellite_info;                   
        GNSSMode m_gps_mode;                                                    
        TimeSpan m_gps_timeout;                                                 
        GNSSQuality m_last_gnss_quality = GNSSQuality::e_invalid;               
        bool m_has_sent_warning = false;                                        
        bool m_satellite_info_valid = false;                                    
        bool m_has_valid_heading = false;                                       
    public:
        static ApplicationOption<TimeSpan> default_gnss_timeout;                
    };
}