//
// Linux GPS
//

/* prevent multiple inclusions */
#ifndef __UbloxParser__
#define __UbloxParser__

/* includes *****************************************************************/

#include <vector>

#include "netlib.h"

#include "GpsListener.h"
#include "GpsParser.h"

#include "NmeaParser.h"
#include "NmeaProtocol.h"

/* defines ******************************************************************/

/* macros *******************************************************************/

/* structs & typedefs *******************************************************/

/* c class definitions ******************************************************/

class NmeaSentencePUBX : public NmeaSentence {
public:
    int     id;
    timespec utctime;
    // 00
    double  latitude;
    double  longitude;
    double  altitude_ref;
    char    navstat[4];
    double  horizontal_accuracy;
    double  vertical_accuracy;
    double  speed;
    double  course;
    double  vvel;
    double  agec;
    double  horizontal_dilution;
    double  vertical_dilution;
    double  time_dilution;
    int     gps;
    int     glonass;
    int     dead_reckoning;

    // 01

    // 03
    int     satellites;
    struct {
        int     prn;
        char    status;
        double  azimuth;
        double  elevation;
        int     signal2noise;
        int     locktime;
    } satellite[NMEA_MAX_SATELLITE];

    // 04
    double  utc_tow;
    int     week;
    int     clk_b;
    double  clk_d;
    int     granularity;

    NmeaSentencePUBX();
    ~NmeaSentencePUBX();

    int Decode( int argc, char *argv[] );
    void Update( GpsPoint &PosData, ErrorInfo &ErrInfo, SatelliteInfo &SatInfo );
};

class UbloxParser : public NmeaParser {
    // public data
public:

    // protected data
protected:
    // u-Blox
    NmeaSentencePUBX    PUBX;

    // private data
private:
    // data
    u_char      state;          // parser state

    // private methods

    // public methods
public:
    // constructors
    UbloxParser();

    // destructor
    virtual ~UbloxParser();

    // virtual functions
    int GpsDecode( const char *buf, int max ) { return UbloxDecode( (const u_char *)buf, max); };
    int GpsParse( const char *buf, int max ) { return UbloxParse( buf, max ); };

    // public methods
    int UbloxDecode( const u_char *buf, int max );
    int UbloxParse( const char *buf, int max );
};

#endif