//
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// Created by YY on 2019/12/23.
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//
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#ifndef RTKDRIVERTEST_RTK_H
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#define RTKDRIVERTEST_RTK_H
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#include <string>
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#include <sstream>
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#include "../utils/num.h"
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typedef struct {
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uint16_t gps_status;
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int YY;
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int MM;
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int DD;
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int hh;
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int mm;
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int ss;
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int mss;
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int satNum;
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double latitude;
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double longitude;
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double altitude;
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double speed;
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double trackTure;
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std::string toString(void) {
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std::stringstream sst;
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sst<<"GPS:"<<"qf="<<gps_status
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<<" "<<2000+YY<<intw(MM, 2)<<intw(DD, 2)<<intw(hh,2)<<intw(mm, 2)<<intw(ss, 2)<<"."<<intw(mss, 2)
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<<" satNum"<<satNum
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<<" latitude="<<round(latitude, 6)
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<<" longitude="<<round(longitude, 6)
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<<" altitude="<<round(altitude, 3)
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<<" speed="<<round(speed, 3)
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<<" trackTure="<<round(trackTure, 3);
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return sst.str();
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}
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}gpsStatus_t;
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typedef struct {
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// int YY;
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// int MM;
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// int DD;
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// int hh;
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// int mm;
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// int ss;
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// int dss;
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int64_t utc_time; // 单位毫秒
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int qf;
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double heading;
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double pitch;
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double roll;
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double x;
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double y;
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std::string toString(void) {
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std::stringstream sst;
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sst<<"RTK:"<<"qf="<<qf
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// <<" "<<2000+YY<<intw(MM, 2)<<intw(DD, 2)<<intw(hh,2)<<intw(mm, 2)<<intw(ss, 2)<<"."<<intw(dss, 2)
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<<" yaw="<<round(heading, 3)
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<<" pitch="<<round(pitch, 3)
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<<" roll="<<round(roll, 3)
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<<" x="<<round(x, 3)
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<<" y="<<round(y, 3);
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return sst.str();
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}
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}rtk_info_t;
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void RtkCommModeSel(int mode);
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void ConfigRTKModule(bool ayDevice);
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void ConfigRTKModuleLater(void);
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void FactorySettings(void);
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void RebootModule(void);
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void SetAYFactoryParam(int freq);
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void GetGpsStatus(gpsStatus_t &data);
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void SetPjkPara(int centLon);
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#endif //RTKDRIVERTEST_RTK_H
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