Move RTK handling to GPSManager

qgroundcontrol.pro

@@ -660,7 +660,7 @@ HEADERS += \
     src/GPS/GPSManager.h \
     src/GPS/GPSPositionMessage.h \
     src/GPS/GPSProvider.h \
-    src/GPS/RTCM/RTCMMavlink.h \
+    src/GPS/RTCMMavlink.h \
     src/GPS/definitions.h \
     src/GPS/satellite_info.h \
     src/GPS/sensor_gps.h \
@@ -905,7 +905,7 @@ SOURCES += \
     src/GPS/Drivers/src/sbf.cpp \
     src/GPS/GPSManager.cc \
     src/GPS/GPSProvider.cc \
-    src/GPS/RTCM/RTCMMavlink.cc \
+    src/GPS/RTCMMavlink.cc \
     src/Joystick/JoystickSDL.cc \
     src/RunGuard.cc \
 }

src/GPS/CMakeLists.txt

@@ -19,8 +19,8 @@ qt_add_library(gps STATIC
 	GPSPositionMessage.h
 	GPSProvider.cc
 	GPSProvider.h
-	RTCM/RTCMMavlink.cc
-	RTCM/RTCMMavlink.h
+	RTCMMavlink.cc
+	RTCMMavlink.h
 	satellite_info.h
 	sensor_gnss_relative.h
 	sensor_gps.h
@@ -37,5 +37,4 @@ target_include_directories(gps
 	PUBLIC
 		${CMAKE_CURRENT_SOURCE_DIR}
 		Drivers/src
-		RTCM
 )

src/GPS/GPSManager.cc

@@ -24,6 +24,47 @@ GPSManager::GPSManager(QGCApplication* app, QGCToolbox* toolbox)
 GPSManager::~GPSManager()
 {
     disconnectGPS();
+
+    delete _gpsRtkFactGroup;
+    _gpsRtkFactGroup = nullptr;
+}
+
+void GPSManager::setToolbox(QGCToolbox *toolbox)
+{
+    QGCTool::setToolbox(toolbox);
+
+    _gpsRtkFactGroup = new GPSRTKFactGroup(this);
+
+    connect(this, &GPSManager::onConnect,          this, &GPSManager::_onGPSConnect);
+    connect(this, &GPSManager::onDisconnect,       this, &GPSManager::_onGPSDisconnect);
+    connect(this, &GPSManager::surveyInStatus,     this, &GPSManager::_gpsSurveyInStatus);
+    connect(this, &GPSManager::satelliteUpdate,    this, &GPSManager::_gpsNumSatellites);
+}
+
+void GPSManager::_onGPSConnect()
+{
+    _gpsRtkFactGroup->connected()->setRawValue(true);
+}
+
+void GPSManager::_onGPSDisconnect()
+{
+    _gpsRtkFactGroup->connected()->setRawValue(false);
+}
+
+void GPSManager::_gpsSurveyInStatus(float duration, float accuracyMM,  double latitude, double longitude, float altitude, bool valid, bool active)
+{
+    _gpsRtkFactGroup->currentDuration()->setRawValue(duration);
+    _gpsRtkFactGroup->currentAccuracy()->setRawValue(static_cast<double>(accuracyMM) / 1000.0);
+    _gpsRtkFactGroup->currentLatitude()->setRawValue(latitude);
+    _gpsRtkFactGroup->currentLongitude()->setRawValue(longitude);
+    _gpsRtkFactGroup->currentAltitude()->setRawValue(altitude);
+    _gpsRtkFactGroup->valid()->setRawValue(valid);
+    _gpsRtkFactGroup->active()->setRawValue(active);
+}
+
+void GPSManager::_gpsNumSatellites(int numSatellites)
+{
+    _gpsRtkFactGroup->numSatellites()->setRawValue(numSatellites);
 }
 
 void GPSManager::connectGPS(const QString& device, const QString& gps_type)
@@ -88,7 +129,6 @@ void GPSManager::disconnectGPS(void)
     _rtcmMavlink = nullptr;
 }
 
-
 void GPSManager::GPSPositionUpdate(GPSPositionMessage msg)
 {
     qCDebug(RTKGPSLog) << QString("GPS: got position update: alt=%1, long=%2, lat=%3").arg(msg.position_data.altitude_msl_m).arg(msg.position_data.longitude_deg).arg(msg.position_data.latitude_deg);

src/GPS/GPSManager.h

@@ -11,7 +11,8 @@
 #pragma once
 
 #include "GPSProvider.h"
-#include "RTCM/RTCMMavlink.h"
+#include "RTCMMavlink.h"
+#include "GPSRTKFactGroup.h"
 #include <QGCToolbox.h>
 
 #include <QString>
@@ -28,9 +29,12 @@ class GPSManager : public QGCTool
     GPSManager(QGCApplication* app, QGCToolbox* toolbox);
     ~GPSManager();
 
+    void setToolbox(QGCToolbox* toolbox) override;
+
     void connectGPS     (const QString& device, const QString& gps_type);
     void disconnectGPS  (void);
     bool connected      (void) const { return _gpsProvider && _gpsProvider->isRunning(); }
+    FactGroup* gpsRtkFactGroup(void) { return _gpsRtkFactGroup; }
 
 signals:
     void onConnect();
@@ -41,10 +45,15 @@ class GPSManager : public QGCTool
 private slots:
     void GPSPositionUpdate(GPSPositionMessage msg);
     void GPSSatelliteUpdate(GPSSatelliteMessage msg);
+    void _onGPSConnect(void);
+    void _onGPSDisconnect(void);
+    void _gpsSurveyInStatus(float duration, float accuracyMM,  double latitude, double longitude, float altitude, bool valid, bool active);
+    void _gpsNumSatellites(int numSatellites);
 
 private:
     GPSProvider* _gpsProvider = nullptr;
     RTCMMavlink* _rtcmMavlink = nullptr;
+    GPSRTKFactGroup* _gpsRtkFactGroup = nullptr;
 
     std::atomic_bool _requestGpsStop; ///< signals the thread to quit
 };

src/QGCApplication.cc

@@ -120,10 +120,6 @@
 #include "SerialLink.h"
 #endif
 
-#ifndef __mobile__
-#include "GPS/GPSManager.h"
-#endif
-
 #ifdef QGC_RTLAB_ENABLED
 #include "OpalLink.h"
 #endif
@@ -337,17 +333,6 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
     _toolbox = new QGCToolbox(this);
     _toolbox->setChildToolboxes();
 
-#ifndef __mobile__
-    _gpsRtkFactGroup = new GPSRTKFactGroup(this);
-   GPSManager *gpsManager = _toolbox->gpsManager();
-   if (gpsManager) {
-       connect(gpsManager, &GPSManager::onConnect,          this, &QGCApplication::_onGPSConnect);
-       connect(gpsManager, &GPSManager::onDisconnect,       this, &QGCApplication::_onGPSDisconnect);
-       connect(gpsManager, &GPSManager::surveyInStatus,     this, &QGCApplication::_gpsSurveyInStatus);
-       connect(gpsManager, &GPSManager::satelliteUpdate,    this, &QGCApplication::_gpsNumSatellites);
-   }
-#endif /* __mobile__ */
-
     _checkForNewVersion();
 }
 
@@ -413,7 +398,6 @@ void QGCApplication::_shutdown()
     // Close out all Qml before we delete toolbox. This way we don't get all sorts of null reference complaints from Qml.
     delete _qmlAppEngine;
     delete _toolbox;
-    delete _gpsRtkFactGroup;
 }
 
 QGCApplication::~QGCApplication()
@@ -891,33 +875,6 @@ bool QGCApplication::_parseVersionText(const QString& versionString, int& majorV
     return false;
 }
 
-
-void QGCApplication::_onGPSConnect()
-{
-    _gpsRtkFactGroup->connected()->setRawValue(true);
-}
-
-void QGCApplication::_onGPSDisconnect()
-{
-    _gpsRtkFactGroup->connected()->setRawValue(false);
-}
-
-void QGCApplication::_gpsSurveyInStatus(float duration, float accuracyMM,  double latitude, double longitude, float altitude, bool valid, bool active)
-{
-    _gpsRtkFactGroup->currentDuration()->setRawValue(duration);
-    _gpsRtkFactGroup->currentAccuracy()->setRawValue(static_cast<double>(accuracyMM) / 1000.0);
-    _gpsRtkFactGroup->currentLatitude()->setRawValue(latitude);
-    _gpsRtkFactGroup->currentLongitude()->setRawValue(longitude);
-    _gpsRtkFactGroup->currentAltitude()->setRawValue(altitude);
-    _gpsRtkFactGroup->valid()->setRawValue(valid);
-    _gpsRtkFactGroup->active()->setRawValue(active);
-}
-
-void QGCApplication::_gpsNumSatellites(int numSatellites)
-{
-    _gpsRtkFactGroup->numSatellites()->setRawValue(numSatellites);
-}
-
 QString QGCApplication::cachedParameterMetaDataFile(void)
 {
     QSettings settings;

src/QGCApplication.h

@@ -31,7 +31,6 @@
 #include "AudioOutput.h"
 #include "UASMessageHandler.h"
 #include "FactSystem.h"
-#include "GPSRTKFactGroup.h"
 
 #ifdef QGC_RTLAB_ENABLED
 #include "OpalLink.h"
@@ -89,8 +88,6 @@ class QGCApplication : public QApplication
     /// Is Internet available?
     bool isInternetAvailable();
 
-    FactGroup* gpsRtkFactGroup(void)  { return _gpsRtkFactGroup; }
-
     QTranslator& qgcJSONTranslator(void) { return _qgcTranslatorJSON; }
 
     void            setLanguage();
@@ -180,10 +177,6 @@ private slots:
     void _missingParamsDisplay                      (void);
     void _qgcCurrentStableVersionDownloadComplete   (QString remoteFile, QString localFile, QString errorMsg);
     bool _parseVersionText                          (const QString& versionString, int& majorVersion, int& minorVersion, int& buildVersion);
-    void _onGPSConnect                              (void);
-    void _onGPSDisconnect                           (void);
-    void _gpsSurveyInStatus                         (float duration, float accuracyMM,  double latitude, double longitude, float altitude, bool valid, bool active);
-    void _gpsNumSatellites                          (int numSatellites);
     void _showDelayedAppMessages                    (void);
 
 private:
@@ -206,7 +199,6 @@ private slots:
     int                 _majorVersion           = 0;
     int                 _minorVersion           = 0;
     int                 _buildVersion           = 0;
-    GPSRTKFactGroup*    _gpsRtkFactGroup        = nullptr;
     QGCToolbox*         _toolbox                = nullptr;
     QQuickWindow*       _mainRootWindow         = nullptr;
     bool                _bluetoothAvailable     = false;

src/QmlControls/QGroundControlQmlGlobal.cc

@@ -9,7 +9,9 @@
 
 #include "QGroundControlQmlGlobal.h"
 #include "LinkManager.h"
-
+#ifndef __mobile__
+#include "GPSManager.h"
+#endif
 #include <QSettings>
 #include <QLineF>
 #include <QPointF>
@@ -79,7 +81,9 @@ void QGroundControlQmlGlobal::setToolbox(QGCToolbox* toolbox)
     _corePlugin             = toolbox->corePlugin();
     _firmwarePluginManager  = toolbox->firmwarePluginManager();
     _settingsManager        = toolbox->settingsManager();
-    _gpsRtkFactGroup        = qgcApp()->gpsRtkFactGroup();
+#ifndef __mobile__
+    _gpsRtkFactGroup        = toolbox->gpsManager()->gpsRtkFactGroup();
+#endif
     _adsbVehicleManager     = toolbox->adsbVehicleManager();
     _globalPalette          = new QGCPalette(this);
 #ifndef QGC_AIRLINK_DISABLED