[4] | 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file Gps.h
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| 7 | * \brief Base class for GPS
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2013/08/23
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef GPS_H
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| 14 | #define GPS_H
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| 15 |
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| 16 | #include <IODevice.h>
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| 17 | #include <nmea/nmea.h>
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| 18 |
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| 19 | namespace flair
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| 20 | {
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| 21 | namespace core
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| 22 | {
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| 23 | class cvmatrix;
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| 24 | class FrameworkManager;
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| 25 | class GeoCoordinate;
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| 26 | class Vector3D;
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| 27 | }
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| 28 | namespace gui
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| 29 | {
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| 30 | class Layout;
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| 31 | class DataPlot1D;
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| 32 | class Tab;
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| 33 | class TabWidget;
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| 34 | class PushButton;
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| 35 | class Map;
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| 36 | class Label;
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| 37 | }
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| 38 | }
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| 39 |
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| 40 | namespace flair
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| 41 | {
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| 42 | namespace sensor
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| 43 | {
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| 44 | /*! \class Gps
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| 45 | *
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| 46 | * \brief Base class for GPS
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| 47 | */
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| 48 | class Gps : public core::IODevice
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| 49 | {
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| 50 | public:
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| 51 | /*!
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| 52 | \enum FixQuality_t
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| 53 | \brief Fix qualty indicators
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| 54 | */
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| 55 | enum class FixQuality_t {
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| 56 | Invalid=0,/*!< invalid */
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| 57 | Gps=1,/*!< Gps */
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| 58 | DGps=2,/*!< Differential Gps */
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| 59 | Pps=3,/*!< Pps */
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| 60 | Rtk=4,/*!< RTK */
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| 61 | RtkFloat=5,/*!< RTK float */
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| 62 | Estimated=6,/*!< Estimated */
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| 63 | Manual=7,/*!< Manual */
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| 64 | Simulation=8,/*!< Simulation */
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| 65 | };
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| 66 |
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| 67 | /*!
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| 68 | \enum NMEAFlags_t
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| 69 | \brief NMEA flags
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| 70 | */
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| 71 | enum NMEAFlags_t {
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| 72 | GGA=0x01,/*!< GGA */
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| 73 | VTG=0x02,/*!< VTG */
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| 74 | GST=0x04,/*!< GST */
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| 75 | };
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| 76 |
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| 77 | /*!
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| 78 | * \brief Constructor
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| 79 | *
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| 80 | * Construct a Gps.
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| 81 | *
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| 82 | * \param parent parent
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| 83 | * \param name name
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| 84 | * \param NMEAFlags NMEA sentances to enable
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| 85 | */
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| 86 | Gps(const core::FrameworkManager* parent,std::string name,NMEAFlags_t NMEAFlags);
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| 87 |
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| 88 | /*!
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| 89 | * \brief Destructor
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| 90 | *
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| 91 | */
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| 92 | ~Gps();
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| 93 |
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| 94 | /*!
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| 95 | * \brief Use default plot
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| 96 | *
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| 97 | */
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| 98 | void UseDefaultPlot(void);
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| 99 |
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| 100 | /*!
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| 101 | * \brief East plot
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| 102 | *
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| 103 | * \return east plot
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| 104 | */
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| 105 | gui::DataPlot1D* EPlot(void) const;
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| 106 |
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| 107 | /*!
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| 108 | * \brief North plot
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| 109 | *
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| 110 | * \return north plot
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| 111 | */
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| 112 | gui::DataPlot1D* NPlot(void) const;
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| 113 |
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| 114 | /*!
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| 115 | * \brief Up plot
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| 116 | *
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| 117 | * \return up plot
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| 118 | */
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| 119 | gui::DataPlot1D* UPlot(void) const;
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| 120 |
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| 121 | /*!
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| 122 | * \brief East velocity plot
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| 123 | *
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| 124 | * \return east velocity plot
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| 125 | */
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| 126 | gui::DataPlot1D* VEPlot(void) const;
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| 127 |
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| 128 | /*!
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| 129 | * \brief North velocity plot
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| 130 | *
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| 131 | * \return north velocity plot
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| 132 | */
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| 133 | gui::DataPlot1D* VNPlot(void) const;
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| 134 |
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| 135 | /*!
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| 136 | * \brief Main tab
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| 137 | *
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| 138 | * \return main tab
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| 139 | */
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| 140 | gui::TabWidget* GetTab(void) const;
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| 141 |
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| 142 | /*!
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| 143 | * \brief Setup Layout
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| 144 | *
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| 145 | * \return setup Layout
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| 146 | */
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| 147 | gui::Layout* GetLayout(void) const;
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| 148 |
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| 149 | /*!
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| 150 | * \brief Plot tab
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| 151 | *
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| 152 | * \return plot Tab
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| 153 | */
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| 154 | gui::Tab* GetPlotTab(void) const;
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| 155 |
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| 156 | /*!
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| 157 | * \brief Number of used satellites
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| 158 | *
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| 159 | * \return number of used satellites
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| 160 | */
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| 161 | uint16_t NbSat(void) const;
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| 162 |
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| 163 | /*!
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| 164 | * \brief Fix Quality
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| 165 | *
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| 166 | * \return fix quality
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| 167 | */
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| 168 | FixQuality_t FixQuality(void) const;
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| 169 |
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| 170 | /*!
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| 171 | * \brief Set reference for ENU coordinates
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| 172 | *
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| 173 | * The actual position is used as reference to calculate
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| 174 | * ENU coordinates.
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| 175 | *
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| 176 | * \return fix quality
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| 177 | */
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| 178 | void SetRef(void);
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| 179 |
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| 180 | /*!
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| 181 | * \brief Get ENU position
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| 182 | *
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| 183 | * \param point to store position
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| 184 | */
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| 185 | void GetENUPosition(core::Vector3D *point);
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| 186 |
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| 187 | protected:
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| 188 | /*!
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| 189 | * \brief Parse a NMEA frame
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| 190 | *
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| 191 | * This function must be called by the reimplemented class. \n
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| 192 | * When a frame is parsed, GPS datas are filled.
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| 193 | *
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| 194 | * \param frame NMEA frame
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| 195 | * \param frame_size frame size
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| 196 | *
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| 197 | */
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| 198 | void parseFrame(const char *frame, int frame_size);
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| 199 |
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| 200 | NMEAFlags_t NMEAFlags;
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| 201 |
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| 202 | protected:
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| 203 | core::GeoCoordinate *position;
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| 204 |
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| 205 | private:
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| 206 | /*!
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| 207 | * \brief Update using provided datas
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| 208 | *
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| 209 | * Reimplemented from IODevice.
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| 210 | *
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| 211 | * \param data data from the parent to process
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| 212 | */
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| 213 | void UpdateFrom(const core::io_data *data){};
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| 214 |
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| 215 | gui::Tab *main_tab,*sensor_tab;
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| 216 | gui::TabWidget* tab;
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| 217 | gui::PushButton *button_ref;
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| 218 | gui::DataPlot1D* e_plot;
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| 219 | gui::DataPlot1D* n_plot;
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| 220 | gui::DataPlot1D* u_plot;
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| 221 | gui::DataPlot1D* ve_plot;
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| 222 | gui::DataPlot1D* vn_plot;
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| 223 | gui::Tab* plot_tab;
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| 224 | gui::Map *map;
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| 225 | gui::Label *nb_sat_label,*fix_label;
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| 226 | uint16_t nb_sat;
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| 227 | FixQuality_t fix;
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| 228 | bool take_ref;
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| 229 | nmeaINFO info;
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| 230 | nmeaPARSER parser;
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| 231 | nmeaGPGGA pack;
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| 232 | nmeaPOS pos;
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| 233 | double lat_ref,long_ref,alt_ref;
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| 234 |
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| 235 | //matrix
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| 236 | core::cvmatrix *output;
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| 237 | };
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| 238 | } // end namespace sensor
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| 239 | } // end namespace framewor
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| 240 | #endif // GPS_H
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