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 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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17 | #include <NmeaGps.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 SharedMem;
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22 | }
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23 | namespace gui {
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24 | class SpinBox;
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25 | class DoubleSpinBox;
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26 | }
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27 | }
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28 |
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29 | namespace flair {
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30 | namespace sensor {
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31 | /*! \class SimuGps
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32 | *
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33 | * \brief Class for a simulation GPS
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34 | */
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35 | class SimuGps : public core::Thread, public NmeaGps {
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36 | public:
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37 | /*!
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38 | * \brief Constructor
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39 | *
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40 | * Construct a simulation GPS. Control part.
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41 | * It will be child of the FrameworkManager.
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42 | *
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43 | * \param name name
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44 | * \param NMEAFlags NMEA sentances to enable
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45 | * \param modelId Model id
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46 | * \param deviceId Gps id of the Model
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47 | * \param priority priority of the Thread
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48 | */
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49 | SimuGps(std::string name,
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50 | NmeaGps::NMEAFlags_t NMEAFlags, uint32_t modelId,uint32_t deviceId,uint8_t priority);
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51 |
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52 | /*!
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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 modelId Model id
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61 | * \param deviceId Gps id of the Model
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62 | */
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63 | SimuGps(const core::IODevice *parent, std::string name, uint32_t modelId,uint32_t deviceId);
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64 |
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65 | /*!
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66 | * \brief Destructor
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67 | *
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68 | */
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69 | ~SimuGps();
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70 |
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71 | private:
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72 | /*!
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73 | * \brief Update using provided datas
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74 | *
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75 | * Reimplemented from IODevice.
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76 | *
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77 | * \param data data from the parent to process
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78 | */
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79 | void UpdateFrom(const core::io_data *data);
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80 |
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81 | /*!
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82 | * \brief Run function
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83 | *
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84 | * Reimplemented from Thread.
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85 | *
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86 | */
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87 | void Run(void);
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88 |
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89 | typedef struct {
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90 | float e;
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91 | float n;
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92 | float u;
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93 | float ve;
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94 | float vn;
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95 | } gps_states_t;
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96 |
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97 | std::string ShMemName(uint32_t modelId,uint32_t deviceId);
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98 |
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99 | core::SharedMem *shmem;
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100 | gui::SpinBox *dataRate,*fixQuality,*numberOfSatellites;
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101 | gui::DoubleSpinBox *latitudeRef,*longitudeRef,*altitudeRef;
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102 | };
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103 | } // end namespace sensor
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104 | } // end namespace flair
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105 | #endif // SIMUGPS_H
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