source: flair-src/branches/mavlink/lib/FlairSensorActuator/src/Gps.cpp@ 89

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2013/08/23
//  filename:   Gps.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    objet integrant le recepteur gps mb800
//
//
/*********************************************************************/

#include "Gps.h"
#include "geodesie.h"
#include <Euler.h>
#include <cvmatrix.h>
#include <DataPlot1D.h>
#include <Tab.h>
#include <TabWidget.h>
#include <GridLayout.h>
#include <GroupBox.h>
#include <PushButton.h>
#include <FrameworkManager.h>
#include <Map.h>
#include <GeoCoordinate.h>
#include <Vector3D.h>
#include <Label.h>
#include <string.h>

using std::string;
using namespace Geodesie;
using namespace flair::core;
using namespace flair::gui;

namespace flair {
namespace sensor {

Gps::Gps(const FrameworkManager *parent, string name, NMEAFlags_t NMEAFlags)
    : IODevice(parent, name) {
  this->NMEAFlags = NMEAFlags;

  nmea_zero_INFO(&info);
  nmea_parser_init(&parser);
  alt_ref = 0;

  if ((NMEAFlags & GGA) == 0) {
    Err("Enable at least GGA sentence\n");
  }

  int index = 0;
  if ((NMEAFlags & GGA) != 0) {
    index += 3;
  }
  if ((NMEAFlags & VTG) != 0) {
    index += 2;
  }
  if ((NMEAFlags & GST) != 0) {
    index += 3;
  }

  cvmatrix_descriptor *desc = new cvmatrix_descriptor(index, 1);
  index = 0;
  if ((NMEAFlags & GGA) != 0) {
    desc->SetElementName(0, 0, "e");
    desc->SetElementName(1, 0, "n");
    desc->SetElementName(2, 0, "u");
    index += 3;
  }
  if ((NMEAFlags & VTG) != 0) {
    desc->SetElementName(index, 0, "ve");
    desc->SetElementName(index + 1, 0, "vn");
    index += 2;
  }
  if ((NMEAFlags & GST) != 0) {
    desc->SetElementName(index, 0, "dev_lat");
    desc->SetElementName(index + 1, 0, "dev_lon");
    desc->SetElementName(index + 2, 0, "dev_elv");
    index += 3;
  }
  output = new cvmatrix((IODevice *)this, desc, floatType);
  AddDataToLog(output);

  // station sol
  main_tab = new Tab(parent->GetTabWidget(), name);
  tab = new TabWidget(main_tab->NewRow(), name);
  sensor_tab = new Tab(tab, "Reglages");
  GroupBox *reglages_groupbox = new GroupBox(sensor_tab->NewRow(), name);
  button_ref = new PushButton(reglages_groupbox->NewRow(), "set ref");
  nb_sat_label = new Label(reglages_groupbox->NewRow(), "nb_sat");
  fix_label = new Label(reglages_groupbox->LastRowLastCol(), "fix");

  position = new GeoCoordinate((IODevice *)this, "position", 0, 0, 0);

  fix = FixQuality_t::Invalid;
  nb_sat = 0;
  take_ref = false;
  nb_sat_label->SetText("nb_sat: %i", nb_sat);
  fix_label->SetText("fix: %i", fix);
}

Gps::~Gps() {
  nmea_parser_destroy(&parser);
  delete main_tab;
}

void Gps::UseDefaultPlot(void) {
  int index = 0;
  plot_tab = new Tab(tab, "Mesures");

  if ((NMEAFlags & GGA) != 0) {
    e_plot = new DataPlot1D(plot_tab->NewRow(), "e", -10, 10);
    e_plot->AddCurve(output->Element(index));
    n_plot = new DataPlot1D(plot_tab->LastRowLastCol(), "n", -10, 10);
    n_plot->AddCurve(output->Element(index + 1));
    u_plot = new DataPlot1D(plot_tab->LastRowLastCol(), "u", -10, 10);
    u_plot->AddCurve(output->Element(index + 2));
    index += 3;
  }
  if ((NMEAFlags & VTG) != 0) {
    ve_plot = new DataPlot1D(plot_tab->NewRow(), "ve", -10, 10);
    ve_plot->AddCurve(output->Element(index));
    vn_plot = new DataPlot1D(plot_tab->LastRowLastCol(), "vn", -10, 10);
    vn_plot->AddCurve(output->Element(index + 1));
    index += 2;
  }

  Tab *map_tab = new Tab(tab, "carte");
  map = new Map(map_tab->NewRow(), "map");
  map->AddPoint(position, "drone");
}

DataPlot1D *Gps::EPlot(void) const {
  if ((NMEAFlags & GGA) != 0) {
    return e_plot;
  } else {
    Err("GGA sentence not requested\n");
    return NULL;
  }
}

DataPlot1D *Gps::NPlot(void) const {
  if ((NMEAFlags & GGA) != 0) {
    return n_plot;
  } else {
    Err("GGA sentence not requested\n");
    return NULL;
  }
}

DataPlot1D *Gps::UPlot(void) const {
  if ((NMEAFlags & GGA) != 0) {
    return u_plot;
  } else {
    Err("GGA sentence not requested\n");
    return NULL;
  }
}

DataPlot1D *Gps::VEPlot(void) const {
  if ((NMEAFlags & VTG) != 0) {
    return ve_plot;
  } else {
    Err("GGA sentence not requested\n");
    return NULL;
  }
}

DataPlot1D *Gps::VNPlot(void) const {
  if ((NMEAFlags & VTG) != 0) {
    return vn_plot;
  } else {
    Err("GGA sentence not requested\n");
    return NULL;
  }
}

Layout *Gps::GetLayout(void) const { return sensor_tab; }

Tab *Gps::GetPlotTab(void) const { return plot_tab; }

TabWidget *Gps::GetTab(void) const { return tab; }

uint16_t Gps::NbSat(void) const {
  output->GetMutex();
  uint16_t result = nb_sat;
  output->ReleaseMutex();
  return result;
}

Gps::FixQuality_t Gps::FixQuality(void) const {
  output->GetMutex();
  FixQuality_t result = fix;
  output->ReleaseMutex();
  return result;
}

void Gps::SetRef(void) { take_ref = true; }

void Gps::GetENUPosition(Vector3D *point) {
  output->GetMutex();
  point->x = output->ValueNoMutex(0, 0);
  point->y = output->ValueNoMutex(1, 0);
  point->z = output->ValueNoMutex(2, 0);
  output->ReleaseMutex();
}

void Gps::parseFrame(const char *frame, int frame_size) {

  int result;

  result = nmea_parse(&parser, frame, frame_size, &info);
  if (result != 1) {
    Warn("unrecognized nmea sentence: %s\n",frame);
  }

  result = nmea_parse_GPGGA(frame, frame_size, &pack);

  if (result == 1) {
    // Printf("%s\n",frame);
    // Printf("nb:%i fix:%i lat:%f long:%f alt:%f vel:%f
    // angle:%f\n",pack.satinuse,pack.sig,info.lat,info.lon,info.elv,info.speed*1000./3600.,info.direction);
    // Printf("lat:%f long:%f\n",pos.lat,pos.lon);
    output->GetMutex(); // on utilise le mutex de l'output pour fix et nb_sat
    if ((int)fix != pack.sig) {
      fix = (FixQuality_t)pack.sig;
      fix_label->SetText("fix: %i", fix);
    }
    if (nb_sat != pack.satinuse) {
      nb_sat = pack.satinuse;
      nb_sat_label->SetText("nb_sat: %i", nb_sat);
    }
    output->ReleaseMutex();

    nmea_info2pos(&info, &pos);
    position->SetCoordinates(Euler::ToDegree(pos.lat), Euler::ToDegree(pos.lon),
                             info.elv);

    if ((info.sig == 2 && alt_ref == 0) || button_ref->Clicked() == true ||
        take_ref == true) {
      Printf("prise pos ref\n");
      lat_ref = pos.lat;
      long_ref = pos.lon;
      alt_ref = info.elv;
      take_ref = false;
    }
    // if(alt_ref!=0)
    {
      double x, y, z;
      double e, n, u;
      Geographique_2_ECEF(pos.lon, pos.lat, info.elv, x, y, z);
      ECEF_2_ENU(x, y, z, e, n, u, long_ref, lat_ref, alt_ref);
      // Printf("lon:%f lat:%f elv:%f\n",pos.lon,pos.lat,info.elv);

      // on prend une fois pour toute le mutex et on fait des accès directs
      output->GetMutex();
      output->SetValueNoMutex(0, 0, e);
      output->SetValueNoMutex(1, 0, n);
      output->SetValueNoMutex(2, 0, u);

      int index = 3;
      if ((NMEAFlags & VTG) != 0) {
        output->SetValueNoMutex(index, 0,
                                info.speed * 1000. / 3600. *
                                    sin(Euler::ToRadian(info.direction)));
        output->SetValueNoMutex(index + 1, 0,
                                info.speed * 1000. / 3600. *
                                    cos(Euler::ToRadian(info.direction)));
        index += 2;
      }
      if ((NMEAFlags & GST) != 0) {
        // Thread::Printf("dev_lon:%f dev_lat:%f
        // dev_elv:%f\n",info.dev_lat,info.dev_lon,info.dev_elv);
        output->SetValueNoMutex(index, 0, info.dev_lat);
        output->SetValueNoMutex(index + 1, 0, info.dev_lon);
        output->SetValueNoMutex(index + 2, 0, info.dev_elv);
        index += 3;
      }
      output->ReleaseMutex();

      output->SetDataTime(GetTime());
      ProcessUpdate(output);
    }
  }
}

} // end namespace sensor
} // end namespace framewor