#include "SIM_config.h"

#if AP_SIM_GPS_UBLOX_ENABLED

#include "SIM_GPS.h"

namespace SITL {

class GPS_UBlox : public GPS_Backend {
public:
    CLASS_NO_COPY(GPS_UBlox);

    using GPS_Backend::GPS_Backend;

    void publish(const GPS_Data *d) override;

private:
    enum RELPOSNED {
        gnssFixOK          = 1U << 0,
        diffSoln           = 1U << 1,
        relPosValid        = 1U << 2,
        carrSolnFloat      = 1U << 3,

        carrSolnFixed      = 1U << 4,
        isMoving           = 1U << 5,
        refPosMiss         = 1U << 6,
        refObsMiss         = 1U << 7,

        relPosHeadingValid = 1U << 8,
        relPosNormalized   = 1U << 9
    };
    struct PACKED ubx_nav_relposned {
        uint8_t version;
        uint8_t reserved1;
        uint16_t refStationId;
        uint32_t iTOW;
        int32_t relPosN;
        int32_t relPosE;
        int32_t relPosD;
        int32_t relPosLength;
        int32_t relPosHeading;
        uint8_t reserved2[4];
        int8_t relPosHPN;
        int8_t relPosHPE;
        int8_t relPosHPD;
        int8_t relPosHPLength;
        uint32_t accN;
        uint32_t accE;
        uint32_t accD;
        uint32_t accLength;
        uint32_t accHeading;
        uint8_t reserved3[4];
        uint32_t flags;
    };

    void update_relposned(ubx_nav_relposned &relposned, uint32_t tow_ms, float yaw_deg);
    void send_ubx(uint8_t msgid, uint8_t *buf, uint16_t size);
};

};

#endif  // AP_SIM_GPS_UBLOX_ENABLED