meshtastic-firmware/src/GPSStatus.h

#pragma once
#include "Status.h"
#include "configuration.h"
#include "NodeDB.h"
#include <Arduino.h>

extern NodeDB nodeDB;

namespace meshtastic
{

/// Describes the state of the GPS system.
class GPSStatus : public Status
{

  private:
    CallbackObserver<GPSStatus, const GPSStatus *> statusObserver =
        CallbackObserver<GPSStatus, const GPSStatus *>(this, &GPSStatus::updateStatus);

    bool hasLock = false;                // default to false, until we complete our first read
    bool isConnected = false;            // Do we have a GPS we are talking to
    int32_t latitude = 0, longitude = 0; // as an int mult by 1e-7 to get value as double
    int32_t altitude = 0;
    uint32_t dop = 0; // Diminution of position; PDOP where possible (UBlox), HDOP otherwise (TinyGPS) in 10^2 units (needs
                      // scaling before use)
    uint32_t heading = 0;
    uint32_t numSatellites = 0;

  public:
    GPSStatus() { statusType = STATUS_TYPE_GPS; }
    GPSStatus(bool hasLock, bool isConnected, int32_t latitude, int32_t longitude, int32_t altitude, uint32_t dop,
              uint32_t heading, uint32_t numSatellites)
        : Status()
    {
        this->hasLock = hasLock;
        this->isConnected = isConnected;
        this->latitude = latitude;
        this->longitude = longitude;
        this->altitude = altitude;
        this->dop = dop;
        this->heading = heading;
        this->numSatellites = numSatellites;
    }
    GPSStatus(const GPSStatus &);
    GPSStatus &operator=(const GPSStatus &);

    void observe(Observable<const GPSStatus *> *source) { statusObserver.observe(source); }

    bool getHasLock() const { return hasLock; }

    bool getIsConnected() const { return isConnected; }

    int32_t getLatitude() const {
        if (radioConfig.preferences.fixed_position){
            DEBUG_MSG("WARNING: Using fixed latitude\n");
            NodeInfo *node = nodeDB.getNode(nodeDB.getNodeNum());
            return node->position.latitude_i;
        } else {
            return latitude;
        }
    }

    int32_t getLongitude() const {
        if (radioConfig.preferences.fixed_position){
            DEBUG_MSG("WARNING: Using fixed longitude\n");
            NodeInfo *node = nodeDB.getNode(nodeDB.getNodeNum());
            return node->position.longitude_i;
        } else {
            return longitude;
        }
    }

    int32_t getAltitude() const {
        if (radioConfig.preferences.fixed_position){
            DEBUG_MSG("WARNING: Using fixed altitude\n");
            NodeInfo *node = nodeDB.getNode(nodeDB.getNodeNum());
            return node->position.altitude;
        } else {
            return altitude;
        }
    }


    uint32_t getDOP() const { return dop; }

    uint32_t getHeading() const { return heading; }

    uint32_t getNumSatellites() const { return numSatellites; }

    bool matches(const GPSStatus *newStatus) const
    {
        return (newStatus->hasLock != hasLock || newStatus->isConnected != isConnected || newStatus->latitude != latitude ||
                newStatus->longitude != longitude || newStatus->altitude != altitude || newStatus->dop != dop ||
                newStatus->heading != heading || newStatus->numSatellites != numSatellites);
    }
    int updateStatus(const GPSStatus *newStatus)
    {
        // Only update the status if values have actually changed
        bool isDirty;
        {
            isDirty = matches(newStatus);
            initialized = true;
            hasLock = newStatus->hasLock;
            isConnected = newStatus->isConnected;
            latitude = newStatus->latitude;
            longitude = newStatus->longitude;
            altitude = newStatus->altitude;
            dop = newStatus->dop;
            heading = newStatus->heading;
            numSatellites = newStatus->numSatellites;
        }
        if (isDirty) {
            if (hasLock)
                DEBUG_MSG("New GPS pos lat=%f, lon=%f, alt=%d, pdop=%f, heading=%f, sats=%d\n", latitude * 1e-7, longitude * 1e-7,
                          altitude, dop * 1e-2, heading * 1e-5, numSatellites);
            else
                DEBUG_MSG("No GPS lock\n");
            onNewStatus.notifyObservers(this);
        }
        return 0;
    }
};

} // namespace meshtastic

extern meshtastic::GPSStatus *gpsStatus;