vehicle-backup/zw_pro/EgoSystem/Rtk.h

#pragma once
#include "../common/comm.h"
#include "../common/notifier.h"

#include "MqttClient.h"


#define MAXLEAPS    64                  /* max number of leap seconds table */

static double leaps[MAXLEAPS+1][7]={ /* leap seconds (y,m,d,h,m,s,utc-gpst) */
    {2017,1,1,0,0,0,-18},
    {2015,7,1,0,0,0,-17},
    {2012,7,1,0,0,0,-16},
    {2009,1,1,0,0,0,-15},
    {2006,1,1,0,0,0,-14},
    {1999,1,1,0,0,0,-13},
    {1997,7,1,0,0,0,-12},
    {1996,1,1,0,0,0,-11},
    {1994,7,1,0,0,0,-10},
    {1993,7,1,0,0,0, -9},
    {1992,7,1,0,0,0, -8},
    {1991,1,1,0,0,0, -7},
    {1990,1,1,0,0,0, -6},
    {1988,1,1,0,0,0, -5},
    {1985,7,1,0,0,0, -4},
    {1983,7,1,0,0,0, -3},
    {1982,7,1,0,0,0, -2},
    {1981,7,1,0,0,0, -1},
    {0}
};

typedef struct {        /* time struct */
    time_t time;        /* time (s) expressed by standard time_t */
    double sec;         /* fraction of second under 1 s */
} gtime_t;


class CMessageQueue;

class CRtkSensor//:public ISensorNotify
{
public:
    CRtkSensor(CMessageQueue* q);
    void Notify(int8_t* buffer, int32_t size);
    void SetSensorSocket(SensorSocket<CRtkSensor>* udp);
    void Start();
    void Stop();
    void Send_ZGJ_status(int Status);//ץ�ֻ�״̬��Ϣ�ϱ�
    // void Send_ZGJ_status(float gpsweek,float gpsTime,int Status);//ץ�ֻ�״̬��Ϣ�ϱ�

    gtime_t timeadd(gtime_t t, double sec);
    double timediff(gtime_t t1, gtime_t t2);
    gtime_t epoch2time(const double *ep);
    gtime_t gpst2utc(gtime_t t);




private:
    void Run();
    // void Send_ZGJ_Rtk(float headingAngle, float lat, float lon);//ץ�ֻ�λ����Ϣ�ϱ�
    // void Send_ZGJ_Rtk(float headingAngle, float lat, float lon,float loc_status);//ץ�ֻ�λ����Ϣ�ϱ�
    void Send_ZGJ_Rtk(float gpsweek,float gpsTime,float headingAngle,float lat,float lon,float loc_status);

private:
    CMessageQueue* _message;
    SensorSocket<CRtkSensor>* _socket;

    long long _curTick;
    bool F_SendDate;
    bool _run;
    int32_t _count=0;

    gtime_t rtk_time;

    float gpsweek,gpsTime;
};