dji_hardware_sync.hpp

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#ifndef HARDSYNC_H
#define HARDSYNC_H

#include "dji_type.hpp"
#include "dji_vehicle_callback.hpp"
#include <string>

#if defined(__linux__)
#include <atomic>
#endif

namespace DJI
{
namespace OSDK
{

// Forward Declarations
class Vehicle;

class HardwareSync
{

public:
  typedef enum SatelliteIndex {
    GPS,
    GLONASS,
    GALILEO,
    BEIDOU,
    MAX_INDEX_CNT,
  } SatelliteIndex;
#pragma pack(1)

  typedef struct SyncSettings
  {
    uint32_t freq;
    uint16_t tag;
  } SyncSettings;

#pragma pack()

  typedef enum NMEAType
  {
    GNGSA,
    GNRMC,
    TYPENUM
  }NMEAType;

  typedef enum PPSSource
  {
    INTERNAL_GPS,
    EXTERNAL_GPS,
    RTK
  }PPSSource;

#if STM32
  typedef time_ms RecvTimeMsg;
#elif defined(__linux__)
  typedef timespec RecvTimeMsg;
#endif

  typedef struct NMEAData
  {
    std::string sentence;
    uint32_t seq;
    RecvTimeMsg timestamp; // this is OSDK recv time
  }NMEAData;

  typedef struct GNGSAPackage
  {
    NMEAData Satellite[MAX_INDEX_CNT];
  }GNGSAPackage;
public:
  HardwareSync(Vehicle* vehiclePtr = 0);

  VehicleCallBackHandler ppsNMEAHandler;
  VehicleCallBackHandler ppsUTCTimeHandler;
  VehicleCallBackHandler ppsUTCFCTimeHandler;
  VehicleCallBackHandler ppsSourceHandler;

  void setSyncFreq(uint32_t freqInHz, uint16_t tag = 0);
  void startSync(SyncSettings& data);
  void subscribeNMEAMsgs(VehicleCallBack cb, void *userData);
  void unsubscribeNMEAMsgs();
  bool getGNRMCMsg(NMEAData &nmea);
  bool getGNGSAMsg(GNGSAPackage &GNGSA);

  void subscribeUTCTime(VehicleCallBack cb, void *userData);
  void unsubscribeUTCTime();
  bool getUTCTime(NMEAData &utc);
  void subscribeFCTimeInUTCRef(VehicleCallBack cb, void *userData);
  void unsubscribeFCTimeInUTCRef();
  bool getFCTimeInUTCRef(DJI::OSDK::ACK::FCTimeInUTC &fcTimeInUTC);
  void subscribePPSSource(VehicleCallBack cb, void *userData);
  void unsubscribePPSSource();
  bool getPPSSource(PPSSource &source);
  void writeData(const uint8_t cmdID, const RecvContainer *recvContainer);

private:
  void writeNMEA(const std::string &nmea);

  Vehicle* vehicle;

  //pthread_mutex_t mutexHardSync;
  //pthread_cond_t  condVarHardSync;

  NMEAData GPGSAData;
  NMEAData GPRMCData;
  GNGSAPackage GNGSAData;
  NMEAData GNRMCData;

  NMEAData UTCData;
  ACK::FCTimeInUTC fcTimeInUTC;
  PPSSource  ppsSourceType;

#if STM32
  typedef bool HWSyncDataFlag;
#elif defined(__linux__)
  typedef std::atomic_bool HWSyncDataFlag;
#endif

  void setDataFlag(HWSyncDataFlag &flag, bool val);

  bool getDataFlag(HWSyncDataFlag &flag);

  void recordRecvTimeMsg(RecvTimeMsg &recvTime);

  HWSyncDataFlag GPGSAFlag;
  HWSyncDataFlag GPRMCFlag;
  HWSyncDataFlag GNGSAFlag;
  HWSyncDataFlag GNRMCFlag;
  HWSyncDataFlag UTCFlag;
  HWSyncDataFlag fcTimeFlag;
  HWSyncDataFlag ppsSourceFlag;

  template <class dataType>
  bool writeDataHelper(HWSyncDataFlag &flag,
                       const dataType &msg,
                       dataType &copyMsg)
  {
    if(getDataFlag(flag) == true)
    {
      copyMsg = msg;
      setDataFlag(flag, false);
      return true;
    }
    return false;
  }

  static void pollNemaDatacallback(Vehicle *vehicle, RecvContainer recvFrame, UserData userData);

};
} // OSDK
} // DJI

#endif // HARDSYNC_H