144 lines
3.7 KiB
C++
144 lines
3.7 KiB
C++
#pragma once
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#include "../Device.h"
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#include "Satellites.h"
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#include <Tactility/Mutex.h>
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#include <Tactility/Thread.h>
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#include <minmea.h>
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#include <utility>
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namespace tt::hal::gps {
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enum class GpsResponse {
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None,
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NotAck,
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FrameErrors,
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Ok,
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};
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enum class GpsModel {
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Unknown = 0,
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AG3335,
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AG3352,
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ATGM336H, // Casic (might work with AT6558, Neoway N58 LTE Cat.1, Neoway G2, Neoway G7A)
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LS20031,
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MTK,
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MTK_L76B,
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MTK_PA1616S,
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UBLOX6,
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UBLOX7,
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UBLOX8,
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UBLOX9,
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UBLOX10,
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UC6580,
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};
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const char* toString(GpsModel model);
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class GpsDevice : public Device {
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public:
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typedef int GgaSubscriptionId;
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typedef int RmcSubscriptionId;
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struct Configuration {
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std::string name;
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std::string uartName; // e.g. "Internal" or "/dev/ttyUSB0"
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uint32_t baudRate;
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GpsModel model;
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};
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enum class State {
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PendingOn,
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On,
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Error,
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PendingOff,
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Off
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};
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private:
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struct GgaSubscription {
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GgaSubscriptionId id;
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std::shared_ptr<std::function<void(Device::Id id, const minmea_sentence_gga&)>> onData;
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};
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struct RmcSubscription {
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RmcSubscriptionId id;
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std::shared_ptr<std::function<void(Device::Id id, const minmea_sentence_rmc&)>> onData;
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};
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const Configuration configuration;
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Mutex mutex = Mutex(Mutex::Type::Recursive);
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std::unique_ptr<Thread> _Nullable thread;
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bool threadInterrupted = false;
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std::vector<GgaSubscription> ggaSubscriptions;
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std::vector<RmcSubscription> rmcSubscriptions;
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GgaSubscriptionId lastSatelliteSubscriptionId = 0;
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RmcSubscriptionId lastRmcSubscriptionId = 0;
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GpsModel model = GpsModel::Unknown;
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State state = State::Off;
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static int32_t threadMainStatic(void* parameter);
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int32_t threadMain();
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bool isThreadInterrupted() const;
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void setState(State newState);
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public:
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explicit GpsDevice(Configuration configuration) : configuration(std::move(configuration)) {}
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~GpsDevice() override = default;
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Type getType() const override { return Type::Gps; }
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std::string getName() const override { return configuration.name; }
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std::string getDescription() const override { return ""; }
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bool start();
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bool stop();
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GgaSubscriptionId subscribeGga(const std::function<void(Device::Id deviceId, const minmea_sentence_gga&)>& onData) {
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auto lock = mutex.asScopedLock();
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lock.lock();
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ggaSubscriptions.push_back({
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.id = ++lastSatelliteSubscriptionId,
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.onData = std::make_shared<std::function<void(Device::Id, const minmea_sentence_gga&)>>(onData)
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});
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return lastSatelliteSubscriptionId;
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}
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void unsubscribeGga(GgaSubscriptionId subscriptionId) {
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auto lock = mutex.asScopedLock();
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lock.lock();
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std::erase_if(ggaSubscriptions, [subscriptionId](auto& subscription) { return subscription.id == subscriptionId; });
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}
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RmcSubscriptionId subscribeRmc(const std::function<void(Device::Id deviceId, const minmea_sentence_rmc&)>& onData) {
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auto lock = mutex.asScopedLock();
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lock.lock();
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rmcSubscriptions.push_back({
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.id = ++lastRmcSubscriptionId,
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.onData = std::make_shared<std::function<void(Device::Id, const minmea_sentence_rmc&)>>(onData)
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});
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return lastRmcSubscriptionId;
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}
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void unsubscribeRmc(GgaSubscriptionId subscriptionId) {
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auto lock = mutex.asScopedLock();
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lock.lock();
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std::erase_if(rmcSubscriptions, [subscriptionId](auto& subscription) { return subscription.id == subscriptionId; });
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}
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GpsModel getModel() const;
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State getState() const;
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};
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}
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