source: flair-dev/trunk/include/FlairSensorActuator/SimuGps.h@ 61

Last change on this file since 61 was 50, checked in by Sanahuja Guillaume, 5 years ago

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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file SimuGps.h
7 * \brief Class for a simulation GPS
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2013/08/23
10 * \version 4.0
11 */
12
13#ifndef SIMUGPS_H
14#define SIMUGPS_H
15
16#include <Thread.h>
17#include <NmeaGps.h>
18
19namespace flair {
20 namespace core {
21 class SharedMem;
22 }
23 namespace gui {
24 class SpinBox;
25 class DoubleSpinBox;
26 }
27}
28
29namespace flair {
30namespace sensor {
31/*! \class SimuGps
32*
33* \brief Class for a simulation GPS
34*/
35class SimuGps : public core::Thread, public NmeaGps {
36public:
37 /*!
38 * \brief Constructor
39 *
40 * Construct a simulation GPS. Control part.
41 * It will be child of the FrameworkManager.
42 *
43 * \param name name
44 * \param NMEAFlags NMEA sentances to enable
45 * \param modelId Model id
46 * \param deviceId Gps id of the Model
47 * \param priority priority of the Thread
48 */
49 SimuGps(std::string name,
50 NmeaGps::NMEAFlags_t NMEAFlags, uint32_t modelId,uint32_t deviceId,uint8_t priority);
51
52 /*!
53 * \brief Constructor
54 *
55 * Construct a simulation GPS. Simulation part.\n
56 * The Thread of this class should not be run.
57 *
58 * \param parent parent
59 * \param name name
60 * \param modelId Model id
61 * \param deviceId Gps id of the Model
62 */
63 SimuGps(const core::IODevice *parent, std::string name, uint32_t modelId,uint32_t deviceId);
64
65 /*!
66 * \brief Destructor
67 *
68 */
69 ~SimuGps();
70
71private:
72 /*!
73 * \brief Update using provided datas
74 *
75 * Reimplemented from IODevice.
76 *
77 * \param data data from the parent to process
78 */
79 void UpdateFrom(const core::io_data *data);
80
81 /*!
82 * \brief Run function
83 *
84 * Reimplemented from Thread.
85 *
86 */
87 void Run(void);
88
89 typedef struct {
90 float e;
91 float n;
92 float u;
93 float ve;
94 float vn;
95 } gps_states_t;
96
97 std::string ShMemName(uint32_t modelId,uint32_t deviceId);
98
99 core::SharedMem *shmem;
100 gui::SpinBox *dataRate,*fixQuality,*numberOfSatellites;
101 gui::DoubleSpinBox *latitudeRef,*longitudeRef,*altitudeRef;
102};
103} // end namespace sensor
104} // end namespace flair
105#endif // SIMUGPS_H
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