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 NmeaGps.h
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7 | * \brief Base class for GPS using NMEA sentances
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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 NMEAGPS_H
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14 | #define NMEAGPS_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 | namespace core {
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21 | class FrameworkManager;
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22 | class GeoCoordinate;
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23 | class Vector3D;
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24 | class GpsData;
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25 | }
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26 | namespace gui {
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27 | class Layout;
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28 | class DataPlot1D;
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29 | class Tab;
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30 | class TabWidget;
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31 | class PushButton;
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32 | class Map;
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33 | class Label;
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34 | class GroupBox;
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35 | }
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36 | }
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37 |
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38 | namespace flair {
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39 | namespace sensor {
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40 |
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41 | /*! \class NmeaGps
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42 | *
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43 | * \brief Base class for GPS using NMEA sentances
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44 | */
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45 | class NmeaGps : public core::IODevice {
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46 | public:
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47 | /*!
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48 | \enum NMEAFlags_t
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49 | \brief NMEA flags
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50 | */
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51 | enum NMEAFlags_t {
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52 | GGA = 0x01, /*!< GGA */
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53 | VTG = 0x02, /*!< VTG */
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54 | GST = 0x04, /*!< GST */
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55 | };
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56 |
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57 | /*!
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58 | * \brief Constructor
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59 | *
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60 | * Construct a NmeaGps.
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61 | *
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62 | * \param parent parent
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63 | * \param name name
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64 | * \param NMEAFlags NMEA sentances to enable
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65 | */
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66 | NmeaGps(const core::FrameworkManager *parent, std::string name,
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67 | NMEAFlags_t NMEAFlags);
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68 |
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69 | /*!
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70 | * \brief Constructor
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71 | *
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72 | * Construct a NmeaGps. \n
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73 | * This contructor must only be called for a simulated device.
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74 | *
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75 | * \param parent parent
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76 | * \param name name
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77 | */
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78 | NmeaGps(const core::IODevice *parent, std::string name);
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79 |
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80 | /*!
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81 | * \brief Destructor
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82 | *
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83 | */
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84 | ~NmeaGps();
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85 |
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86 | /*!
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87 | * \brief Get GPS datas
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88 | *
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89 | * \return GpsData
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90 | */
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91 | const core::GpsData *GetDatas(void) const;
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92 |
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93 | /*!
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94 | * \brief Use default plot
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95 | *
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96 | */
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97 | void UseDefaultPlot(void);
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98 |
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99 | /*!
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100 | * \brief East plot
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101 | *
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102 | * \return east plot
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103 | */
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104 | gui::DataPlot1D *EPlot(void) const;
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105 |
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106 | /*!
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107 | * \brief North plot
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108 | *
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109 | * \return north plot
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110 | */
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111 | gui::DataPlot1D *NPlot(void) const;
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112 |
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113 | /*!
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114 | * \brief Up plot
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115 | *
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116 | * \return up plot
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117 | */
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118 | gui::DataPlot1D *UPlot(void) const;
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119 |
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120 | /*!
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121 | * \brief East velocity plot
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122 | *
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123 | * \return east velocity plot
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124 | */
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125 | gui::DataPlot1D *VEPlot(void) const;
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126 |
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127 | /*!
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128 | * \brief North velocity plot
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129 | *
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130 | * \return north velocity plot
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131 | */
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132 | gui::DataPlot1D *VNPlot(void) const;
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133 |
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134 | /*!
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135 | * \brief Main tab
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136 | *
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137 | * \return main tab
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138 | */
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139 | gui::TabWidget *GetTab(void) const;
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140 |
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141 | /*!
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142 | * \brief Setup Layout
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143 | *
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144 | * \return setup Layout
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145 | */
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146 | gui::Layout *GetLayout(void) const;
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147 |
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148 | /*!
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149 | * \brief Plot tab
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150 | *
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151 | * \return plot Tab
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152 | */
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153 | gui::Tab *GetPlotTab(void) const;
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154 |
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155 | /*!
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156 | * \brief Set reference for ENU coordinates
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157 | *
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158 | * The actual position is used as reference to calculate
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159 | * ENU coordinates.
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160 | *
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161 | * \return fix quality
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162 | */
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163 | void SetRef(void);
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164 |
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165 | /*!
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166 | * \brief Get ENU position
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167 | *
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168 | * \param point to store position
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169 | */
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170 | void GetEnu(core::Vector3D *point);
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171 |
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172 | protected:
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173 | /*!
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174 | * \brief Parse a NMEA frame
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175 | *
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176 | * This function must be called by the reimplemented class. \n
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177 | * When a frame is parsed, GPS datas are filled.
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178 | *
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179 | * \param frame NMEA frame
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180 | * \param frame_size frame size
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181 | *
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182 | */
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183 | void parseFrame(const char *frame, int frame_size);
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184 |
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185 | NMEAFlags_t NMEAFlags;
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186 |
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187 | /*!
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188 | * \brief Get GPS datas
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189 | *
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190 | * \param gpsData GPS datas
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191 | */
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192 | void GetDatas(core::GpsData **gpsData) const;
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193 |
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194 | /*!
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195 | * \brief Setup GroupBox
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196 | *
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197 | * \return setup GroupBox
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198 | */
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199 | gui::GroupBox *GetGroupBox(void) const;
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200 |
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201 | private:
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202 | gui::Tab *mainTab, *sensorTab;
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203 | gui::TabWidget *tab;
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204 | gui::GroupBox *setupGroupbox;
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205 | gui::PushButton *buttonRef;
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206 | gui::DataPlot1D *ePlot;
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207 | gui::DataPlot1D *nPlot;
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208 | gui::DataPlot1D *uPlot;
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209 | gui::DataPlot1D *vePlot;
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210 | gui::DataPlot1D *vnPlot;
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211 | gui::Tab *plotTab;
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212 | gui::Map *map;
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213 | gui::Label *nbSatLabel, *fixLabel;
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214 | core::GeoCoordinate *position;
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215 | bool takeRef;
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216 | nmeaINFO info;
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217 | nmeaPARSER parser;
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218 | nmeaGPGGA pack;
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219 | nmeaPOS pos;
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220 | double latRef, longRef, altRef;
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221 | core::GpsData* gpsData;
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222 | };
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223 | } // end namespace sensor
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224 | } // end namespace framewor
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225 | #endif // NMEAGPS_H
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