GPS: Cleanup

.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

@@ -26,6 +26,7 @@
 #ifndef NO_SERIAL_LINK
 #include "GPSManager.h"
 #include "SerialLink.h"
+#include "GPSRtk.h"
 #endif
 
 #ifdef QT_DEBUG
@@ -609,7 +610,7 @@ void LinkManager::_updateAutoConnectLinks(void)
  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;
@@ -632,7 +633,7 @@ void LinkManager::_updateAutoConnectLinks(void)
  // 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;
 };