//
// Linux GPS
//
// NMEA Parser code stolen from Pascal Martin's RoadMap
//

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

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

#include <vector>

#include "GpsMath.h"
#include "GpsListener.h"

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

#define NMEA_MAX_SATELLITE      32

#define NMEA_FIX_INVALID    0
#define NMEA_FIX_NOFIX      0
#define NMEA_FIX_GPS        1
#define NMEA_FIX_DGPS       2
#define NMEA_FIX_PPS        3
#define NMEA_FIX_RTK_FIXED  4
#define NMEA_FIX_RTK_FLOAT  5
#define NMEA_FIX_DEAD_RECKONING  6
#define NMEA_FIX_MANUAL     7
#define NMEA_FIX_SIMULATION 8

#define NMEA_MODE_AUTOMATIC     'A'
#define NMEA_MODE_DIFFERENTIAL  'D'
#define NMEA_MODE_ESTIMATED     'E' // dead reckoning
#define NMEA_MODE_MANUAL        'M'
#define NMEA_MODE_SIMULATED     'S'
#define NMEA_MODE_INVALID       'N'

#define NMEA_TYPE_INVALID       0
#define NMEA_TYPE_NOFIX         1
#define NMEA_TYPE_2D            2
#define NMEA_TYPE_3D            3

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

#define DecodeCoordinate(A,B)   GpsMath::Minutes2Degrees(A,B)
#define DecodeTime(A,B)         GpsMath::String2Time(A,B)

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

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

class NmeaSentence {
public:
    char    name[8];
    char    argc;
    char    parsed;         // just parsed flag
    u_long  counter;
    timespec timestamp;

    NmeaSentence();
    virtual ~NmeaSentence();

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

class NmeaSentenceGPGGA : public NmeaSentence {
public:
    timespec fixtime;
    double  latitude;        // decimal degrees
    double  longitude;
    int     quality;
    int     satellites;
    float   horizontal_dilution;
    double  altitude;        // meters
    double  geoid;

    NmeaSentenceGPGGA();
    ~NmeaSentenceGPGGA();

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

class NmeaSentenceGPGLL : public NmeaSentence {
public:
    double  latitude;
    double  longitude;
    timespec utctime;
    char    status;
    char    mode;

    NmeaSentenceGPGLL();
    ~NmeaSentenceGPGLL();

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

class NmeaSentenceGPGSA : public NmeaSentence {
public:
    char    mode;
    char    type;
    char    satellite[NMEA_MAX_SATELLITE];
    float   position_dilution;
    float   horizontal_dilution;
    float   vertical_dilution;

    NmeaSentenceGPGSA();
    ~NmeaSentenceGPGSA();

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

class NmeaSentenceGPGST : public NmeaSentence {
public:
    timespec utctime;
    // standard deviation of error
    float   rms_deviation;
    float   semimajor_deviation;
    float   semiminor_deviation;
    float   semimajor_orientation;
    float   latitude_deviation;
    float   longitude_deviation;
    float   altitude_deviation;

    NmeaSentenceGPGST();
    ~NmeaSentenceGPGST();

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

class NmeaSentenceGPGSV : public NmeaSentence {
public:
    char    total;
    char    sequence;
    char    satellites;
    struct {
        char    id;
        char    elevation;
        short   azimuth;
        short   signal2noise;
    } satellite[NMEA_MAX_SATELLITE];

    NmeaSentenceGPGSV();
    ~NmeaSentenceGPGSV();

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

class NmeaSentenceGPRMC : public NmeaSentence {
public:
    timespec utctime;
    char    status;
    double  latitude;
    double  longitude;
    double  speed;           // convert knots to kph
    double  course;
    double  variation;

    NmeaSentenceGPRMC();
    ~NmeaSentenceGPRMC();

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

class NmeaSentenceGPVTG : public NmeaSentence {
public:
    double  course;
    double  speed;
    char    mode;

    NmeaSentenceGPVTG();
    ~NmeaSentenceGPVTG();

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

class NmeaSentenceGPZDA : public NmeaSentence {
public:
    timespec utctime;

    NmeaSentenceGPZDA();
    ~NmeaSentenceGPZDA();

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

#endif