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67 lines
1.7 KiB
67 lines
1.7 KiB
/**************************************************************************** |
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* |
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* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org> |
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* |
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* QGroundControl is licensed according to the terms in the file |
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* COPYING.md in the root of the source code directory. |
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* |
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****************************************************************************/ |
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#pragma once |
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#include <QString> |
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#include <QThread> |
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#include <QByteArray> |
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#include <QSerialPort> |
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#include <atomic> |
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#include "GPSPositionMessage.h" |
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#include "Drivers/src/gps_helper.h" |
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/** |
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** class GPSProvider |
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* opens a GPS device and handles the protocol |
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*/ |
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class GPSProvider : public QThread |
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{ |
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Q_OBJECT |
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public: |
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GPSProvider(const QString& device, bool enableSatInfo, double surveyInAccMeters, int surveryInDurationSecs, const std::atomic_bool& requestStop); |
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~GPSProvider(); |
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/** |
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* this is called by the callback method |
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*/ |
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void gotRTCMData(uint8_t *data, size_t len); |
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signals: |
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void positionUpdate(GPSPositionMessage message); |
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void satelliteInfoUpdate(GPSSatelliteMessage message); |
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void RTCMDataUpdate(QByteArray message); |
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protected: |
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void run(); |
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private: |
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void publishGPSPosition(); |
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void publishGPSSatellite(); |
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/** |
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* callback from the driver for the platform specific stuff |
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*/ |
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static int callbackEntry(GPSCallbackType type, void *data1, int data2, void *user); |
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int callback(GPSCallbackType type, void *data1, int data2); |
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QString _device; |
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const std::atomic_bool& _requestStop; |
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double _surveyInAccMeters; |
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int _surveryInDurationSecs; |
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struct vehicle_gps_position_s _reportGpsPos; |
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struct satellite_info_s *_pReportSatInfo = nullptr; |
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QSerialPort *_serial = nullptr; |
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};
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