KvhSensor.hpp

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// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 
#pragma once
 
#include "Nodes/DataProvider/IMU/Imu.hpp"
#include "Nodes/DataProvider/Protocol/UartSensor.hpp"
#include "util/Vendor/KVH/KvhUartSensor.hpp"
 
namespace NAV
{
class KvhSensor : public Imu, public UartSensor
{
  public:
    KvhSensor();
    ~KvhSensor() override;
    KvhSensor(const KvhSensor&) = delete;
    KvhSensor(KvhSensor&&) = delete;
    KvhSensor& operator=(const KvhSensor&) = delete;
    KvhSensor& operator=(KvhSensor&&) = delete;
 
    [[nodiscard]] static std::string typeStatic();
 
    [[nodiscard]] std::string type() const override;
 
    [[nodiscard]] static std::string category();
 
    void guiConfig() override;
 
    [[nodiscard]] json save() const override;
 
    void restore(const json& j) override;
 
    bool resetNode() override;
 
  private:
    constexpr static size_t OUTPUT_PORT_INDEX_KVH_OBS = 0; 
 
    bool initialize() override;
 
    void deinitialize() override;
 
    static void asciiOrBinaryAsyncMessageReceived(void* userData, uart::protocol::Packet& p, size_t index);
 
    vendor::kvh::KvhUartSensor _sensor;
 
    uint8_t _prevSequenceNumber = UINT8_MAX;
};
 
} // namespace NAV