source: flair-dev/trunk/include/FlairSensorActuator/Gps.h@ 20

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file Gps.h
 * \brief Base class for GPS
 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2013/08/23
 * \version 4.0
 */

#ifndef GPS_H
#define GPS_H

#include <IODevice.h>
#include <nmea/nmea.h>

namespace flair {
namespace core {
class cvmatrix;
class FrameworkManager;
class GeoCoordinate;
class Vector3D;
}
namespace gui {
class Layout;
class DataPlot1D;
class Tab;
class TabWidget;
class PushButton;
class Map;
class Label;
}
}

namespace flair {
namespace sensor {
/*! \class Gps
*
* \brief Base class for GPS
*/
class Gps : public core::IODevice {
public:
  /*!
  \enum FixQuality_t
  \brief Fix qualty indicators
  */
  enum class FixQuality_t {
    Invalid = 0,    /*!< invalid */
    Gps = 1,        /*!< Gps */
    DGps = 2,       /*!< Differential Gps */
    Pps = 3,        /*!< Pps */
    Rtk = 4,        /*!< RTK */
    RtkFloat = 5,   /*!< RTK float */
    Estimated = 6,  /*!< Estimated */
    Manual = 7,     /*!< Manual */
    Simulation = 8, /*!< Simulation */
  };

  /*!
  \enum NMEAFlags_t
  \brief NMEA flags
  */
  enum NMEAFlags_t {
    GGA = 0x01, /*!< GGA */
    VTG = 0x02, /*!< VTG */
    GST = 0x04, /*!< GST */
  };

  /*!
  * \brief Constructor
  *
  * Construct a Gps.
  *
  * \param parent parent
  * \param name name
  * \param NMEAFlags NMEA sentances to enable
  */
  Gps(const core::FrameworkManager *parent, std::string name,
      NMEAFlags_t NMEAFlags);

  /*!
  * \brief Destructor
  *
  */
  ~Gps();

  /*!
  * \brief Use default plot
  *
  */
  void UseDefaultPlot(void);

  /*!
  * \brief East plot
  *
  * \return east plot
  */
  gui::DataPlot1D *EPlot(void) const;

  /*!
  * \brief North plot
  *
  * \return north plot
  */
  gui::DataPlot1D *NPlot(void) const;

  /*!
  * \brief Up plot
  *
  * \return up plot
  */
  gui::DataPlot1D *UPlot(void) const;

  /*!
  * \brief East velocity plot
  *
  * \return east velocity plot
  */
  gui::DataPlot1D *VEPlot(void) const;

  /*!
  * \brief North velocity plot
  *
  * \return north velocity plot
  */
  gui::DataPlot1D *VNPlot(void) const;

  /*!
  * \brief Main tab
  *
  * \return main tab
  */
  gui::TabWidget *GetTab(void) const;

  /*!
  * \brief Setup Layout
  *
  * \return setup Layout
  */
  gui::Layout *GetLayout(void) const;

  /*!
  * \brief Plot tab
  *
  * \return plot Tab
  */
  gui::Tab *GetPlotTab(void) const;

  /*!
  * \brief Number of used satellites
  *
  * \return number of used satellites
  */
  uint16_t NbSat(void) const;

  /*!
  * \brief Fix Quality
  *
  * \return fix quality
  */
  FixQuality_t FixQuality(void) const;

  /*!
  * \brief Set reference for ENU coordinates
  *
  * The actual position is used as reference to calculate
  * ENU coordinates.
  *
  * \return fix quality
  */
  void SetRef(void);

  /*!
  * \brief Get ENU position
  *
  * \param point to store position
  */
  void GetENUPosition(core::Vector3D *point);

protected:
  /*!
  * \brief Parse a NMEA frame
  *
  * This function must be called by the reimplemented class. \n
  * When a frame is parsed, GPS datas are filled.
  *
  * \param frame NMEA frame
  * \param frame_size frame size
  *
  */
  void parseFrame(const char *frame, int frame_size);

  NMEAFlags_t NMEAFlags;

protected:
  core::GeoCoordinate *position;

private:
  /*!
  * \brief Update using provided datas
  *
  * Reimplemented from IODevice.
  *
  * \param data data from the parent to process
  */
  void UpdateFrom(const core::io_data *data){};

  gui::Tab *main_tab, *sensor_tab;
  gui::TabWidget *tab;
  gui::PushButton *button_ref;
  gui::DataPlot1D *e_plot;
  gui::DataPlot1D *n_plot;
  gui::DataPlot1D *u_plot;
  gui::DataPlot1D *ve_plot;
  gui::DataPlot1D *vn_plot;
  gui::Tab *plot_tab;
  gui::Map *map;
  gui::Label *nb_sat_label, *fix_label;
  uint16_t nb_sat;
  FixQuality_t fix;
  bool take_ref;
  nmeaINFO info;
  nmeaPARSER parser;
  nmeaGPGGA pack;
  nmeaPOS pos;
  double lat_ref, long_ref, alt_ref;

  // matrix
  core::cvmatrix *output;
};
} // end namespace sensor
} // end namespace framewor
#endif // GPS_H