//
// Created by YY on 2019/12/23.
//

#ifndef RTKDRIVERTEST_RTK_H
#define RTKDRIVERTEST_RTK_H

#include <string>
#include <sstream>
#include "../utils/num.h"

typedef struct {
    uint16_t gps_status;
    int YY;
    int MM;
    int DD;
    int hh;
    int mm;
    int ss;
    int mss;
    int satNum;

    double latitude;
    double longitude;
    double altitude;
    double speed;
    double trackTure;

    std::string toString(void) {
        std::stringstream sst;

        sst<<"GPS:"<<"qf="<<gps_status
        <<" "<<2000+YY<<intw(MM, 2)<<intw(DD, 2)<<intw(hh,2)<<intw(mm, 2)<<intw(ss, 2)<<"."<<intw(mss, 2)
        <<" satNum"<<satNum
                <<" latitude="<<round(latitude, 6)
                <<" longitude="<<round(longitude, 6)
                <<" altitude="<<round(altitude, 3)
                <<" speed="<<round(speed, 3)
                <<" trackTure="<<round(trackTure, 3);

        return sst.str();
    }
}gpsStatus_t;

typedef struct {
    int YY;
    int MM;
    int DD;
    int hh;
    int mm;
    int ss;
    int dss;
    int qf;
    double heading;
    double pitch;
    double roll;
    double x;
    double y;

    std::string toString(void) {
        std::stringstream sst;

        sst<<"RTK:"<<"qf="<<qf
           <<" "<<2000+YY<<intw(MM, 2)<<intw(DD, 2)<<intw(hh,2)<<intw(mm, 2)<<intw(ss, 2)<<"."<<intw(dss, 2)
           <<" heading="<<round(heading, 3)
           <<" pitch="<<round(pitch, 3)
           <<" roll="<<round(roll, 3)
           <<" x="<<round(x, 3)
           <<" y="<<round(y, 3);

        return sst.str();
    }
}rtk_info;

void RtkCommModeSel(int mode);
void ConfigRTKModule(bool ayDevice);
void ConfigRTKModuleLater(void);
void FactorySettings(void);
void RebootModule(void);
void SetAYFactoryParam(int freq);
void GetGpsStatus(gpsStatus_t &data);
void SetPjkPara(int centLon);

#endif //RTKDRIVERTEST_RTK_H