#ifndef IVDRIVER_GPS_H
#define IVDRIVER_GPS_H

#include <QSerialPort>

#include <QUdpSocket>
#include <QNetworkDatagram>

#include "ivdriver.h"
#include "gpsimu.pb.h"
#include "xmlparam.h"

namespace iv {


class ivdriver_gps : public ivdriver
{
public:
    ivdriver_gps();

public:
    void loadxmlparam(std::string strxmlpath);
    virtual void modulerun();

    //if decode 1 sen. return 1,else return 0
    virtual int decode(iv::gps::gpsimu & xgpsimu) = 0;

public:
    bool checknmeasen(const char * strsen,const unsigned int nlen);

public:
    QString mstrBuffer;

private:
    void ShareMsg(iv::gps::gpsimu & xgpsimu);
    void broadcastmsg(iv::gps::gpsimu & xgpsimu);


private:
    int mnbaudrate = 230400;
    std::string mstrportname = "/dev/ttyUSB0";
    std::string mstrmsgname = "gps";

    void * mpagpsimu;
    QSerialPort *m_serialPort_GPS;
    QUdpSocket  *mudpSocketGPSIMU;
};
}

#endif // IVDRIVER_GPS_H