/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /* GPS driver backend class */ #pragma once #include #include "AP_GPS.h" class AP_GPS_Backend { public: AP_GPS_Backend(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port); // we declare a virtual destructor so that GPS drivers can // override with a custom destructor if need be. virtual ~AP_GPS_Backend(void) {} // The read() method is the only one needed in each driver. It // should return true when the backend has successfully received a // valid packet from the GPS. virtual bool read() = 0; // Highest status supported by this GPS. // Allows external system to identify type of receiver connected. virtual AP_GPS::GPS_Status highest_supported_status(void) { return AP_GPS::GPS_OK_FIX_3D; } virtual bool is_configured(void) { return true; } virtual void inject_data(const uint8_t *data, uint16_t len); //MAVLink methods virtual void send_mavlink_gps_rtk(mavlink_channel_t chan) { return ; } virtual void send_mavlink_gps2_rtk(mavlink_channel_t chan) { return ; } virtual void broadcast_configuration_failure_reason(void) const { return ; } virtual void handle_msg(const mavlink_message_t *msg) { return ; } virtual void handle_gnss_msg(const AP_GPS::GPS_State &msg) { return ; } // driver specific lag, returns true if the driver is confident in the provided lag virtual bool get_lag(float &lag) const { lag = 0.2f; return true; } virtual const char *name() const = 0; void broadcast_gps_type() const; virtual void Write_DataFlash_Log_Startup_messages() const; protected: AP_HAL::UARTDriver *port; ///< UART we are attached to AP_GPS &gps; ///< access to frontend (for parameters) AP_GPS::GPS_State &state; ///< public state for this instance // common utility functions int32_t swap_int32(int32_t v) const; int16_t swap_int16(int16_t v) const; /* fill in 3D velocity from 2D components */ void fill_3d_velocity(void); /* fill in time_week_ms and time_week from BCD date and time components assumes MTK19 millisecond form of bcd_time */ void make_gps_time(uint32_t bcd_date, uint32_t bcd_milliseconds); void _detection_message(char *buffer, uint8_t buflen) const; bool should_df_log() const; };