source: flair-src/branches/mavlink/lib/FlairSensorActuator/src/SimuGps.cpp @ 46

Last change on this file since 46 was 15, checked in by Bayard Gildas, 6 years ago

sources reformatted with flair-format-dir script

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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//  created:    2014/05/26
6//  filename:   SimuGps.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class for a simulation GPS
14//
15//
16/*********************************************************************/
17
18#include "SimuGps.h"
19#include <FrameworkManager.h>
20#include <string.h>
21#include <GeoCoordinate.h>
22
23using std::string;
24using namespace flair::core;
25
26namespace flair {
27namespace sensor {
28
29SimuGps::SimuGps(const FrameworkManager *parent, string name,
30                 Gps::NMEAFlags_t NMEAFlags, uint8_t priority)
31    : Thread(parent, name, priority), Gps(parent, name, NMEAFlags) {}
32
33SimuGps::~SimuGps() {
34  SafeStop();
35  Join();
36}
37
38void SimuGps::Run(void) {
39  char response[200] = {0};
40  int size, result;
41  // double lat=0;
42  SetPeriodMS(500);
43  WarnUponSwitches(true);
44
45  while (!ToBeStopped()) {
46    WaitPeriod();
47    position->SetCoordinates(49.402313, 2.795463, 0);
48    //      lat+=.5;
49  }
50
51  WarnUponSwitches(false);
52}
53
54} // end namespace sensor
55} // end namespace framewor
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