| [4] | 1 | // %flair:license{
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| [13] | 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] | 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file SimuGps.h
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| 7 | * \brief Class for a simulation 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 SIMUGPS_H
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| 14 | #define SIMUGPS_H
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| 15 |
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| 16 | #include <Thread.h>
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| [32] | 17 | #include <NmeaGps.h>
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| [4] | 18 |
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| [13] | 19 | namespace flair {
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| [32] | 20 | namespace core {
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| 21 | class FrameworkManager;
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| 22 | class SharedMem;
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| 23 | }
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| 24 | namespace gui {
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| 25 | class SpinBox;
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| 26 | class DoubleSpinBox;
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| 27 | }
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| [4] | 28 | }
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| 29 |
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| [13] | 30 | namespace flair {
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| 31 | namespace sensor {
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| 32 | /*! \class SimuGps
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| 33 | *
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| 34 | * \brief Class for a simulation GPS
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| 35 | */
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| [32] | 36 | class SimuGps : public core::Thread, public NmeaGps {
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| [13] | 37 | public:
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| 38 | /*!
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| 39 | * \brief Constructor
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| 40 | *
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| [32] | 41 | * Construct a simulation GPS. Control part.
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| [13] | 42 | *
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| 43 | * \param parent parent
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| 44 | * \param name name
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| 45 | * \param NMEAFlags NMEA sentances to enable
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| [32] | 46 | * \param deviceId device id
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| [13] | 47 | * \param priority priority of the Thread
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| 48 | */
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| 49 | SimuGps(const core::FrameworkManager *parent, std::string name,
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| [32] | 50 | NmeaGps::NMEAFlags_t NMEAFlags, uint32_t deviceId,uint8_t priority);
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| [4] | 51 |
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| [13] | 52 | /*!
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| [32] | 53 | * \brief Constructor
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| 54 | *
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| 55 | * Construct a simulation GPS. Simulation part.\n
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| 56 | * The Thread of this class should not be run.
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| 57 | *
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| 58 | * \param parent parent
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| 59 | * \param name name
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| 60 | * \param deviceId device id
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| 61 | */
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| 62 | SimuGps(const core::IODevice *parent, std::string name, uint32_t deviceId);
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| 63 |
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| 64 | /*!
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| [13] | 65 | * \brief Destructor
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| 66 | *
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| 67 | */
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| 68 | ~SimuGps();
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| [4] | 69 |
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| [13] | 70 | private:
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| 71 | /*!
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| 72 | * \brief Update using provided datas
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| 73 | *
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| 74 | * Reimplemented from IODevice.
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| 75 | *
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| 76 | * \param data data from the parent to process
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| 77 | */
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| [32] | 78 | void UpdateFrom(const core::io_data *data);
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| [4] | 79 |
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| [13] | 80 | /*!
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| 81 | * \brief Run function
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| 82 | *
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| 83 | * Reimplemented from Thread.
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| 84 | *
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| 85 | */
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| 86 | void Run(void);
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| [32] | 87 |
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| 88 | typedef struct {
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| [34] | 89 | float e;
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| 90 | float n;
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| 91 | float u;
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| 92 | float ve;
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| 93 | float vn;
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| [32] | 94 | } gps_states_t;
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| 95 |
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| 96 | core::SharedMem *shmem;
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| 97 | gui::SpinBox *dataRate,*fixQuality,*numberOfSatellites;
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| 98 | gui::DoubleSpinBox *latitudeRef,*longitudeRef,*altitudeRef;
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| [13] | 99 | };
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| [4] | 100 | } // end namespace sensor
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| 101 | } // end namespace framewor
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| 102 | #endif // SIMUGPS_H
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