GPS: Prepare for New Position Source

.gitmodules

@@ -1,5 +1,5 @@
 [submodule "src/GPS/Drivers"]
-	path = src/GPS/Drivers
+	path = libs/PX4-GPSDrivers
 	url = https://github.com/PX4/GpsDrivers.git
 [submodule "libs/mavlink/include/mavlink/v2.0"]
 	path = libs/mavlink/include/mavlink/v2.0

src/Comms/LinkManager.cc

@@ -28,6 +28,7 @@
 #include "GPSManager.h"
 #include "PositionManager.h"
 #include "UdpIODevice.h"
+#include "GPSRtk.h"
 #endif
 
 #ifdef QT_DEBUG
@@ -852,7 +853,7 @@ void LinkManager::_addSerialAutoConnectLink()
                 case QGCSerialPortInfo::BoardTypeRTKGPS:
                     qCDebug(LinkManagerLog) << "RTK GPS auto-connected" << portInfo.portName().trimmed();
                     _autoConnectRTKPort = portInfo.systemLocation();
-                    _toolbox->gpsManager()->connectGPS(portInfo.systemLocation(), boardName);
+                    GPSManager::instance()->gpsRtk()->connectGPS(portInfo.systemLocation(), boardName);
                     break;
                 default:
                     qCWarning(LinkManagerLog) << "Internal error: Unknown board type" << boardType;
@@ -876,7 +877,7 @@ void LinkManager::_addSerialAutoConnectLink()
     // Check for RTK GPS connection gone
     if (!_autoConnectRTKPort.isEmpty() && !currentPorts.contains(_autoConnectRTKPort)) {
         qCDebug(LinkManagerLog) << "RTK GPS disconnected" << _autoConnectRTKPort;
-        _toolbox->gpsManager()->disconnectGPS();
+        GPSManager::instance()->gpsRtk()->disconnectGPS();
         _autoConnectRTKPort.clear();
     }
 }
@@ -900,7 +901,7 @@ bool LinkManager::_allowAutoConnectToBoard(QGCSerialPortInfo::BoardType_t boardT
         }
         break;
     case QGCSerialPortInfo::BoardTypeRTKGPS:
-        if (_autoConnectSettings->autoConnectRTKGPS()->rawValue().toBool() && !_toolbox->gpsManager()->connected()) {
+        if (_autoConnectSettings->autoConnectRTKGPS()->rawValue().toBool() && !GPSManager::instance()->gpsRtk()->connected()) {
             return true;
         }
         break;

src/GPS/CMakeLists.txt

@@ -42,23 +42,20 @@ qt_add_library(GPSDrivers STATIC
     ${px4-gpsdrivers_SOURCE_DIR}/src/unicore.h
 )
 
-target_link_libraries(GPSDrivers
-    PUBLIC
-        Qt6::Core
-        Utilities
-)
-
-target_include_directories(GPSDrivers PUBLIC ${px4-gpsdrivers_SOURCE_DIR})
+target_link_libraries(GPSDrivers PUBLIC Qt6::Core)
 
 target_compile_definitions(GPSDrivers PUBLIC GPS_DEFINITIONS_HEADER=<${CMAKE_CURRENT_SOURCE_DIR}/definitions.h>)
 
+target_include_directories(GPSDrivers PUBLIC ${px4-gpsdrivers_SOURCE_DIR}/src)
+
 target_sources(GPS
     PRIVATE
         GPSManager.cc
         GPSManager.h
-        GPSPositionMessage.h
         GPSProvider.cc
         GPSProvider.h
+        GPSRtk.cc
+        GPSRtk.h
         RTCMMavlink.cc
         RTCMMavlink.h
         satellite_info.h
@@ -69,14 +66,14 @@ target_sources(GPS
 target_link_libraries(GPS
     PRIVATE
         Comms
-        GPSDrivers
+        MAVLink
+        QGC
         Settings
         Utilities
         Vehicle
     PUBLIC
         Qt6::Core
-        MAVLink
-        QGC
+        GPSDrivers
 )
 
 target_include_directories(GPS PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})

src/GPS/GPSManager.cc

@@ -7,142 +7,29 @@
  *
  ****************************************************************************/
 
-
 #include "GPSManager.h"
-#include "GPSProvider.h"
-#include "QGCApplication.h"
-#include "SettingsManager.h"
-#include "RTKSettings.h"
-#include "GPSRTKFactGroup.h"
-#include "RTCMMavlink.h"
+#include "GPSRtk.h"
 #include "QGCLoggingCategory.h"
 
+#include <QtCore/qapplicationstatic.h>
 
-GPSManager::GPSManager(QGCApplication* app, QGCToolbox* toolbox)
-    : QGCTool(app, toolbox)
-{
-    qRegisterMetaType<GPSPositionMessage>();
-    qRegisterMetaType<GPSSatelliteMessage>();
-}
-
-GPSManager::~GPSManager()
-{
-    disconnectGPS();
-
-    delete _gpsRtkFactGroup;
-    _gpsRtkFactGroup = nullptr;
-}
-
-void GPSManager::setToolbox(QGCToolbox *toolbox)
-{
-    QGCTool::setToolbox(toolbox);
-
-    _gpsRtkFactGroup = new GPSRTKFactGroup(this);
+QGC_LOGGING_CATEGORY(GPSManagerLog, "qgc.gps.gpsmanager")
 
-    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);
-}
+Q_APPLICATION_STATIC(GPSManager, _gpsManager);
 
-void GPSManager::_gpsSurveyInStatus(float duration, float accuracyMM,  double latitude, double longitude, float altitude, bool valid, bool active)
+GPSManager::GPSManager(QObject *parent)
+    : QObject(parent)
+    , _gpsRtk(new GPSRtk(this))
 {
-    _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);
+    // qCDebug(GPSManagerLog) << Q_FUNC_INFO << this;
 }
 
-void GPSManager::_gpsNumSatellites(int numSatellites)
-{
-    _gpsRtkFactGroup->numSatellites()->setRawValue(numSatellites);
-}
-
-void GPSManager::connectGPS(const QString& device, const QString& gps_type)
-{
-    RTKSettings* rtkSettings = qgcApp()->toolbox()->settingsManager()->rtkSettings();
-
-    GPSProvider::GPSType type;
-    if (gps_type.contains("trimble",  Qt::CaseInsensitive)) {
-        type = GPSProvider::GPSType::trimble;
-        qCDebug(RTKGPSLog) << "Connecting Trimble device";
-    } else if (gps_type.contains("septentrio",  Qt::CaseInsensitive)) {
-        type = GPSProvider::GPSType::septentrio;
-        qCDebug(RTKGPSLog) << "Connecting Septentrio device";
-    } else {
-        type = GPSProvider::GPSType::u_blox;
-        qCDebug(RTKGPSLog) << "Connecting U-blox device";
-    }
-
-    disconnectGPS();
-    _requestGpsStop = false;
-    _gpsProvider = new GPSProvider(device,
-                                   type,
-                                   true,    /* enableSatInfo */
-                                   rtkSettings->surveyInAccuracyLimit()->rawValue().toDouble(),
-                                   rtkSettings->surveyInMinObservationDuration()->rawValue().toInt(),
-                                   rtkSettings->useFixedBasePosition()->rawValue().toBool(),
-                                   rtkSettings->fixedBasePositionLatitude()->rawValue().toDouble(),
-                                   rtkSettings->fixedBasePositionLongitude()->rawValue().toDouble(),
-                                   rtkSettings->fixedBasePositionAltitude()->rawValue().toFloat(),
-                                   rtkSettings->fixedBasePositionAccuracy()->rawValue().toFloat(),
-                                   _requestGpsStop);
-    _gpsProvider->start();
-
-    //create RTCM device
-    _rtcmMavlink = new RTCMMavlink(*_toolbox);
-
-    connect(_gpsProvider, &GPSProvider::RTCMDataUpdate, _rtcmMavlink, &RTCMMavlink::RTCMDataUpdate);
-
-    //test: connect to position update
-    connect(_gpsProvider, &GPSProvider::positionUpdate,         this, &GPSManager::GPSPositionUpdate);
-    connect(_gpsProvider, &GPSProvider::satelliteInfoUpdate,    this, &GPSManager::GPSSatelliteUpdate);
-    connect(_gpsProvider, &GPSProvider::finished,               this, &GPSManager::onDisconnect);
-    connect(_gpsProvider, &GPSProvider::surveyInStatus,         this, &GPSManager::surveyInStatus);
-
-    emit onConnect();
-}
-
-void GPSManager::disconnectGPS(void)
+GPSManager::~GPSManager()
 {
-    if (_gpsProvider) {
-        _requestGpsStop = true;
-        //Note that we need a relatively high timeout to be sure the GPS thread finished.
-        if (!_gpsProvider->wait(2000)) {
-            qWarning() << "Failed to wait for GPS thread exit. Consider increasing the timeout";
-        }
-        delete(_gpsProvider);
-    }
-    if (_rtcmMavlink) {
-        delete(_rtcmMavlink);
-    }
-    _gpsProvider = nullptr;
-    _rtcmMavlink = nullptr;
+    // qCDebug(GPSManagerLog) << Q_FUNC_INFO << this;
 }
 
-bool GPSManager::connected() const { return _gpsProvider && _gpsProvider->isRunning(); }
-
-FactGroup* GPSManager::gpsRtkFactGroup(void) { return _gpsRtkFactGroup; }
-
-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);
-}
-void GPSManager::GPSSatelliteUpdate(GPSSatelliteMessage msg)
+GPSManager *GPSManager::instance()
 {
-    qCDebug(RTKGPSLog) << QString("GPS: got satellite info update, %1 satellites").arg((int)msg.satellite_data.count);
-    emit satelliteUpdate(msg.satellite_data.count);
+    return _gpsManager();
 }

src/GPS/GPSManager.h

@@ -7,56 +7,27 @@
  *
  ****************************************************************************/
 
-
 #pragma once
 
-#include "QGCToolbox.h"
-#include "GPSPositionMessage.h"
-
-#include <QtCore/QString>
+#include <QtCore/QLoggingCategory>
 #include <QtCore/QObject>
 
-class GPSRTKFactGroup;
-class FactGroup;
-class RTCMMavlink;
-class GPSProvider;
+Q_DECLARE_LOGGING_CATEGORY(GPSManagerLog)
 
-/**
- ** class GPSManager
- * handles a GPS provider and RTK
- */
-class GPSManager : public QGCTool
+class GPSRtk;
+
+class GPSManager : public QObject
 {
     Q_OBJECT
+
 public:
-    GPSManager(QGCApplication* app, QGCToolbox* toolbox);
+    GPSManager(QObject *parent = nullptr);
     ~GPSManager();
 
-    void setToolbox(QGCToolbox* toolbox) override;
+    static GPSManager *instance();
 
-    void connectGPS     (const QString& device, const QString& gps_type);
-    void disconnectGPS  (void);
-    bool connected      (void) const;
-    FactGroup* gpsRtkFactGroup(void);
-
-signals:
-    void onConnect();
-    void onDisconnect();
-    void surveyInStatus(float duration, float accuracyMM,  double latitude, double longitude, float altitude, bool valid, bool active);
-    void satelliteUpdate(int numSats);
-
-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);
+    GPSRtk *gpsRtk() { return _gpsRtk; }
 
 private:
-    GPSProvider* _gpsProvider = nullptr;
-    RTCMMavlink* _rtcmMavlink = nullptr;
-    GPSRTKFactGroup* _gpsRtkFactGroup = nullptr;
-
-    std::atomic_bool _requestGpsStop; ///< signals the thread to quit
+    GPSRtk *_gpsRtk = nullptr;
 };