GPS: Cleanup

qgroundcontrol.pro

@@ -678,8 +678,8 @@ HEADERS += \
  src/GPS/Drivers/src/ubx.h \
  src/GPS/Drivers/src/sbf.h \
  src/GPS/GPSManager.h \
- src/GPS/GPSPositionMessage.h \
  src/GPS/GPSProvider.h \
+ src/GPS/GPSRtk.h \
  src/GPS/RTCMMavlink.h \
  src/GPS/definitions.h \
  src/GPS/satellite_info.h \
@@ -941,6 +941,7 @@ SOURCES += \
  src/GPS/Drivers/src/sbf.cpp \
  src/GPS/GPSManager.cc \
  src/GPS/GPSProvider.cc \
+ src/GPS/GPSRtk.cc \
  src/GPS/RTCMMavlink.cc
 }
 

src/Comms/LinkManager.cc

@@ -25,6 +25,7 @@
 #include "PositionManager.h"
 #ifndef NO_SERIAL_LINK
 #include "GPSManager.h"
+#include "GPSRtk.h"
 #endif
 
 #ifdef QT_DEBUG
@@ -615,7 +616,7 @@ 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;
@@ -638,7 +639,7 @@ 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();
  }
 
@@ -881,7 +882,7 @@ 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/Comms/MAVLinkProtocol.h

@@ -43,7 +43,7 @@ class MAVLinkProtocol : public QGCTool
  /** @brief Get the system id of this application */
  int getSystemId() const;
  /** @brief Get the component id of this application */
- int getComponentId();
+ static int getComponentId();
 
  /** @brief Get protocol version check state */
  bool versionCheckEnabled() const {

src/GPS/CMakeLists.txt

@@ -2,61 +2,94 @@ find_package(Qt6 REQUIRED COMPONENTS Core)
 
 qt_add_library(GPS STATIC)
 
-if(NOT QGC_NO_SERIAL_LINK)
- # include(FetchContent)
- # FetchContent_Declare(gps_drivers
- # GIT_REPOSITORY https://github.com/PX4/PX4-GPSDrivers.git
- # GIT_TAG main
- # GIT_SHALLOW TRUE
- # )
- # FetchContent_GetProperties(gps_drivers)
- # if(NOT gps_drivers_POPULATED)
- # FetchContent_Populate(gps_drivers)
- # add_subdirectory(${gps_drivers_SOURCE_DIR} ${gps_drivers_BINARY_DIR} EXCLUDE_FROM_ALL)
- # endif()
-
- target_sources(GPS
- PRIVATE
- definitions.h
- Drivers/src/ashtech.cpp
- Drivers/src/ashtech.h
- Drivers/src/gps_helper.cpp
- Drivers/src/gps_helper.h
- Drivers/src/mtk.cpp
- Drivers/src/mtk.h
- Drivers/src/rtcm.cpp
- Drivers/src/rtcm.h
- Drivers/src/sbf.cpp
- Drivers/src/sbf.h
- Drivers/src/ubx.cpp
- Drivers/src/ubx.h
- GPSManager.cc
- GPSManager.h
- GPSPositionMessage.h
- GPSProvider.cc
- GPSProvider.h
- RTCMMavlink.cc
- RTCMMavlink.h
- satellite_info.h
- sensor_gnss_relative.h
- sensor_gps.h
- )
-
- target_link_libraries(GPS
- PRIVATE
- Settings
- Utilities
- Vehicle
- PUBLIC
- Qt6::Core
- MAVLink
- QGC
- )
-
- target_include_directories(GPS
- PRIVATE
- Drivers/src
- INTERFACE
- ${CMAKE_CURRENT_SOURCE_DIR}
- )
+if(QGC_NO_SERIAL_LINK)
+ return()
 endif()
+
+find_package(Qt6 REQUIRED COMPONENTS QmlIntegration)
+
+# include(FetchContent)
+# FetchContent_Declare(gps_drivers
+# GIT_REPOSITORY https://github.com/PX4/PX4-GPSDrivers.git
+# GIT_TAG main
+# GIT_SHALLOW TRUE
+# SOURCE_SUBDIR src
+# # SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/PX4-GPSDrivers
+# )
+# FetchContent_MakeAvailable(gps_drivers)
+
+set(gps_drivers_SOURCE_DIR Drivers/src)
+
+qt_add_library(GPSDrivers STATIC
+ definitions.h
+ ${gps_drivers_SOURCE_DIR}/ashtech.cpp
+ ${gps_drivers_SOURCE_DIR}/ashtech.h
+ ${gps_drivers_SOURCE_DIR}/base_station.h
+ ${gps_drivers_SOURCE_DIR}/crc.cpp
+ ${gps_drivers_SOURCE_DIR}/crc.h
+ ${gps_drivers_SOURCE_DIR}/emlid_reach.cpp
+ ${gps_drivers_SOURCE_DIR}/emlid_reach.h
+ ${gps_drivers_SOURCE_DIR}/femtomes.cpp
+ ${gps_drivers_SOURCE_DIR}/femtomes.h
+ ${gps_drivers_SOURCE_DIR}/gps_helper.cpp
+ ${gps_drivers_SOURCE_DIR}/gps_helper.h
+ ${gps_drivers_SOURCE_DIR}/mtk.cpp
+ ${gps_drivers_SOURCE_DIR}/mtk.h
+ ${gps_drivers_SOURCE_DIR}/nmea.cpp
+ ${gps_drivers_SOURCE_DIR}/nmea.h
+ ${gps_drivers_SOURCE_DIR}/rtcm.cpp
+ ${gps_drivers_SOURCE_DIR}/rtcm.h
+ ${gps_drivers_SOURCE_DIR}/sbf.cpp
+ ${gps_drivers_SOURCE_DIR}/sbf.h
+ ${gps_drivers_SOURCE_DIR}/ubx.cpp
+ ${gps_drivers_SOURCE_DIR}/ubx.h
+ ${gps_drivers_SOURCE_DIR}/unicore.cpp
+ ${gps_drivers_SOURCE_DIR}/unicore.h
+)
+
+target_link_libraries(GPSDrivers
+ PUBLIC
+ Qt6::Core
+ Utilities
+)
+
+target_include_directories(GPSDrivers
+ PRIVATE
+ # ${CMAKE_CURRENT_SOURCE_DIR}/PX4-GPSDrivers/include
+ PUBLIC
+ ${gps_drivers_SOURCE_DIR}
+)
+
+target_sources(GPS
+ PRIVATE
+ GPSManager.cc
+ GPSManager.h
+ GPSProvider.cc
+ GPSProvider.h
+ GPSRtk.cc
+ GPSRtk.h
+ RTCMMavlink.cc
+ RTCMMavlink.h
+ satellite_info.h
+ sensor_gnss_relative.h
+ sensor_gps.h
+)
+
+target_link_libraries(GPS
+ PRIVATE
+ Comms
+ FactSystem
+ GPSDrivers
+ MAVLink
+ Settings
+ Utilities
+ Vehicle
+ PUBLIC
+ Qt6::Core
+ Qt6::QmlIntegration
+)
+
+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, s_gpsManager);
 
-void GPSManager::_gpsSurveyInStatus(float duration, float accuracyMM, double latitude, double longitude, float altitude, bool valid, bool active)
+GPSManager *GPSManager::instance()
 {
- _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);
+ return s_gpsManager();
 }
 
-void GPSManager::_gpsNumSatellites(int numSatellites)
+GPSManager::GPSManager(QObject *parent)
+ : QObject(parent)
+ , m_gpsRtk(new GPSRtk(this))
 {
- _gpsRtkFactGroup->numSatellites()->setRawValue(numSatellites);
+ // qCDebug(GPSManagerLog) << Q_FUNC_INFO << this;
 }
 
-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)
-{
- 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;
-}
-
-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()
 {
- qCDebug(RTKGPSLog) << QString("GPS: got satellite info update, %1 satellites").arg((int)msg.satellite_data.count);
- emit satelliteUpdate(msg.satellite_data.count);
+ // qCDebug(GPSManagerLog) << Q_FUNC_INFO << this;
 }