/****************************************************************************
 * apps/system/uorb/sensor/gnss.c
 *
 * Licensed to the Apache Software Foundation (ASF) under one or more
 * contributor license agreements.  See the NOTICE file distributed with
 * this work for additional information regarding copyright ownership.  The
 * ASF licenses this file to you under the Apache License, Version 2.0 (the
 * "License"); you may not use this file except in compliance with the
 * License.  You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
 * License for the specific language governing permissions and limitations
 * under the License.
 *
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <sensor/gnss.h>

/****************************************************************************
 * Private Functions
 ****************************************************************************/

#ifdef CONFIG_DEBUG_UORB
#define UORB_DEBUG_FORMAT_SENSOR_GNSS \
  "timestamp:%" PRIu64 ",time_utc:%" PRIu64 ",latitude:%hf,longitude:%hf," \
  "altitude:%hf,altitude_ellipsoid:%hf,eph:%hf,epv:%hf,hdop:%hf,pdop:%hf," \
  "vdop:%hf,ground_speed:%hf,course:%hf,satellites_used:%" PRIu32 ""

static const char sensor_gnss_format[] =
  UORB_DEBUG_FORMAT_SENSOR_GNSS;

static const char sensor_gnss_clock_format[] =
  "flags:%" PRIx32 ",leap_second:%" PRId32 ",time_ns:%" PRId64 ","
  "time_uncertainty_ns:%hf,hw_clock_discontinuity_count:%" PRIu32 ","
  "full_bias_ns:%" PRId64 ",bias_ns:%hf,bias_uncertainty_ns:%hf,"
  "drift_nsps:%hf,drift_uncertainty_nsps:%hf";

static const char sensor_gnss_geofence_event_format[] =
  "type:%" PRId32 ",geofence_id:%" PRId32 ","
  UORB_DEBUG_FORMAT_SENSOR_GNSS ","
  "timestamp:%" PRId64 ",status:%" PRId32 ",transition:%" PRId32 "";

static const char sensor_gnss_measurement_format[] =
  "flags:%" PRIx32 ",svid:%" PRId32 ",constellation:%" PRIu32 ","
  "time_offset_ns:%hf,received_sv_time_in_ns:%" PRId64 ","
  "received_sv_time_uncertainty_in_ns:%" PRId64 ",state:%" PRIu32 ","
  "c_n0_dbhz:%hf,pseudorange_rate_mps:%hf,"
  "pseudorange_rate_uncertainty_mps:%hf,"
  "accumulated_delta_range_state:%" PRIu32 ",accumulated_delta_range_m:%hf,"
  "accumulated_delta_range_uncertainty_m:%hf,"
  "carrier_frequency_hz:%hf,carrier_cycles:%" PRId64 ",carrier_phase:%hf,"
  "carrier_phase_uncertainty:%hf,multipath_indicator:%" PRIu32 ","
  "snr:%" PRIu32 "";

static const char sensor_gnss_satellite_format[] =
  "timestamp:%" PRIu64 ",count:%" PRIu32 ",satellites:%" PRIu32 ","
  "constellation:%" PRIu32 ","
  "svid0:%" PRIu32 ",elevation0:%" PRIu32 ",azimuth0:%" PRIu32 ","
  "snr0:%" PRIu32 ",svid1:%" PRIu32 ",elevation1:%" PRIu32 ","
  "azimuth1:%" PRIu32 ",snr1:%" PRIu32 ",svid2:%" PRIu32 ","
  "elevation2:%" PRIu32 ",azimuth2:%" PRIu32 ",snr2:%" PRIu32 ","
  "svid3:%" PRIu32 ",elevation3:%" PRIu32 ",azimuth3:%" PRIu32 ","
  "snr3:%" PRIu32 "";
#endif

/****************************************************************************
 * Public Data
 ****************************************************************************/

ORB_DEFINE(sensor_gnss, struct sensor_gnss, sensor_gnss_format);
ORB_DEFINE(sensor_gnss_clock, struct sensor_gnss_clock,
           sensor_gnss_clock_format);
ORB_DEFINE(sensor_gnss_geofence_event, struct sensor_gnss_geofence_event,
           sensor_gnss_geofence_event_format);
ORB_DEFINE(sensor_gnss_measurement, struct sensor_gnss_measurement,
           sensor_gnss_measurement_format);
ORB_DEFINE(sensor_gnss_satellite, struct sensor_gnss_satellite,
           sensor_gnss_satellite_format);