gnss.hpp

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#pragma once

#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>

#include <uavcan/uavcan.hpp>
#include <uavcan/equipment/gnss/Fix.hpp>
#include <uavcan/equipment/gnss/Fix2.hpp>

#include "sensor_bridge.hpp"

class UavcanGnssBridge : public IUavcanSensorBridge
{
    static constexpr unsigned ORB_TO_UAVCAN_FREQUENCY_HZ = 10;

public:
    static const char *const NAME;

    UavcanGnssBridge(uavcan::INode &node);
    ~UavcanGnssBridge();

    const char *get_name() const override { return NAME; }

    int init() override;

    unsigned get_num_redundant_channels() const override;

    void print_status() const override;

private:
    void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg);
    void gnss_fix2_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix2> &msg);

    template <typename FixType>
    void process_fixx(const uavcan::ReceivedDataStructure<FixType> &msg,
              const float (&pos_cov)[9],
              const float (&vel_cov)[9],
              const bool valid_pos_cov,
              const bool valid_vel_cov);

    void broadcast_from_orb(const uavcan::TimerEvent &);

    typedef uavcan::MethodBinder < UavcanGnssBridge *,
        void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &) >
        FixCbBinder;

    typedef uavcan::MethodBinder < UavcanGnssBridge *,
        void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix2> &) >
        Fix2CbBinder;

    typedef uavcan::MethodBinder<UavcanGnssBridge *,
        void (UavcanGnssBridge::*)(const uavcan::TimerEvent &)>
        TimerCbBinder;

    uavcan::INode &_node;
    uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> _sub_fix;
    uavcan::Subscriber<uavcan::equipment::gnss::Fix2, Fix2CbBinder> _sub_fix2;
    uavcan::Publisher<uavcan::equipment::gnss::Fix2> _pub_fix2;
    uavcan::TimerEventForwarder<TimerCbBinder> _orb_to_uavcan_pub_timer;
    int _receiver_node_id = -1;

    bool _old_fix_subscriber_active = true;

    orb_advert_t _report_pub;                

    int _orb_sub_gnss = -1;                  

    bool _system_clock_set = false; 
};