/home/travis/build/lis-epfl/MAVRIC_Library/drivers/gps.hpp

/*******************************************************************************
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/*******************************************************************************
 * \file gps.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief Abstract class for GPS
 *
 ******************************************************************************/


#ifndef GPS_HPP_
#define GPS_HPP_

#include <cstdint>
#include <cstdbool>
#include <array>

#include "util/coord_conventions.hpp"


typedef enum
{
    FIX_ERR  = 0,
    FIX_NONE = 1,
    FIX_2D   = 2,
    FIX_3D   = 3,
    FIX_DGPS = 4,
    FIX_RTK  = 5,
} gps_fix_t;

class Gps
{
public:
    virtual bool update(void) = 0;

    virtual bool init(void) = 0;


    virtual void configure(void) = 0;


    virtual float last_update_us(void) const = 0;


    virtual float last_position_update_us(void) const = 0;


    virtual float last_velocity_update_us(void) const = 0;


    virtual global_position_t position_gf(void) const = 0;


    virtual float horizontal_position_accuracy(void) const = 0;


    virtual float vertical_position_accuracy(void) const = 0;


    virtual std::array<float, 3> velocity_lf(void) const = 0;


    virtual float velocity_accuracy(void) const = 0;


    virtual float heading(void) const = 0;


    virtual float heading_accuracy(void) const = 0;


    virtual uint8_t num_sats(void) const = 0;


    virtual gps_fix_t fix(void) const = 0;


    virtual bool healthy(void) const = 0;
};


static inline bool task_gps_update(Gps* gps)
{
    return gps->update();
};

#endif /* GPS_HPP_ */