[3] | 1 | // %flair:license{
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[15] | 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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[3] | 4 | // %flair:license}
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| 5 | // created: 2013/08/23
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| 6 | // filename: Gps.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: objet integrant le recepteur gps mb800
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "Gps.h"
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| 19 | #include "geodesie.h"
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| 20 | #include <Euler.h>
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| 21 | #include <cvmatrix.h>
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| 22 | #include <DataPlot1D.h>
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| 23 | #include <Tab.h>
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| 24 | #include <TabWidget.h>
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| 25 | #include <GridLayout.h>
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| 26 | #include <GroupBox.h>
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| 27 | #include <PushButton.h>
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| 28 | #include <FrameworkManager.h>
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| 29 | #include <Map.h>
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| 30 | #include <GeoCoordinate.h>
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| 31 | #include <Vector3D.h>
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| 32 | #include <Label.h>
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| 33 | #include <string.h>
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| 34 |
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| 35 | using std::string;
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| 36 | using namespace Geodesie;
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| 37 | using namespace flair::core;
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| 38 | using namespace flair::gui;
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| 39 |
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[15] | 40 | namespace flair {
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| 41 | namespace sensor {
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[3] | 42 |
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[15] | 43 | Gps::Gps(const FrameworkManager *parent, string name, NMEAFlags_t NMEAFlags)
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| 44 | : IODevice(parent, name) {
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| 45 | this->NMEAFlags = NMEAFlags;
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[3] | 46 |
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[15] | 47 | nmea_zero_INFO(&info);
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| 48 | nmea_parser_init(&parser);
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| 49 | alt_ref = 0;
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[3] | 50 |
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[15] | 51 | if ((NMEAFlags & GGA) == 0) {
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| 52 | Err("Enable at least GGA sentence\n");
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| 53 | }
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[3] | 54 |
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[15] | 55 | int index = 0;
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| 56 | if ((NMEAFlags & GGA) != 0) {
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| 57 | index += 3;
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| 58 | }
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| 59 | if ((NMEAFlags & VTG) != 0) {
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| 60 | index += 2;
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| 61 | }
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| 62 | if ((NMEAFlags & GST) != 0) {
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| 63 | index += 3;
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| 64 | }
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[3] | 65 |
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[15] | 66 | cvmatrix_descriptor *desc = new cvmatrix_descriptor(index, 1);
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| 67 | index = 0;
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| 68 | if ((NMEAFlags & GGA) != 0) {
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| 69 | desc->SetElementName(0, 0, "e");
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| 70 | desc->SetElementName(1, 0, "n");
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| 71 | desc->SetElementName(2, 0, "u");
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| 72 | index += 3;
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| 73 | }
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| 74 | if ((NMEAFlags & VTG) != 0) {
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| 75 | desc->SetElementName(index, 0, "ve");
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| 76 | desc->SetElementName(index + 1, 0, "vn");
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| 77 | index += 2;
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| 78 | }
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| 79 | if ((NMEAFlags & GST) != 0) {
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| 80 | desc->SetElementName(index, 0, "dev_lat");
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| 81 | desc->SetElementName(index + 1, 0, "dev_lon");
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| 82 | desc->SetElementName(index + 2, 0, "dev_elv");
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| 83 | index += 3;
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| 84 | }
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| 85 | output = new cvmatrix((IODevice *)this, desc, floatType);
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| 86 | AddDataToLog(output);
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[3] | 87 |
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[15] | 88 | // station sol
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| 89 | main_tab = new Tab(parent->GetTabWidget(), name);
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| 90 | tab = new TabWidget(main_tab->NewRow(), name);
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| 91 | sensor_tab = new Tab(tab, "Reglages");
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| 92 | GroupBox *reglages_groupbox = new GroupBox(sensor_tab->NewRow(), name);
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| 93 | button_ref = new PushButton(reglages_groupbox->NewRow(), "set ref");
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| 94 | nb_sat_label = new Label(reglages_groupbox->NewRow(), "nb_sat");
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| 95 | fix_label = new Label(reglages_groupbox->LastRowLastCol(), "fix");
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[3] | 96 |
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[15] | 97 | position = new GeoCoordinate((IODevice *)this, "position", 0, 0, 0);
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[3] | 98 |
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[15] | 99 | fix = FixQuality_t::Invalid;
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| 100 | nb_sat = 0;
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| 101 | take_ref = false;
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| 102 | nb_sat_label->SetText("nb_sat: %i", nb_sat);
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| 103 | fix_label->SetText("fix: %i", fix);
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[3] | 104 | }
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| 105 |
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[15] | 106 | Gps::~Gps() {
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| 107 | nmea_parser_destroy(&parser);
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| 108 | delete main_tab;
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[3] | 109 | }
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| 110 |
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[15] | 111 | void Gps::UseDefaultPlot(void) {
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| 112 | int index = 0;
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| 113 | plot_tab = new Tab(tab, "Mesures");
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[3] | 114 |
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[15] | 115 | if ((NMEAFlags & GGA) != 0) {
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| 116 | e_plot = new DataPlot1D(plot_tab->NewRow(), "e", -10, 10);
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| 117 | e_plot->AddCurve(output->Element(index));
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| 118 | n_plot = new DataPlot1D(plot_tab->LastRowLastCol(), "n", -10, 10);
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| 119 | n_plot->AddCurve(output->Element(index + 1));
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| 120 | u_plot = new DataPlot1D(plot_tab->LastRowLastCol(), "u", -10, 10);
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| 121 | u_plot->AddCurve(output->Element(index + 2));
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| 122 | index += 3;
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| 123 | }
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| 124 | if ((NMEAFlags & VTG) != 0) {
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| 125 | ve_plot = new DataPlot1D(plot_tab->NewRow(), "ve", -10, 10);
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| 126 | ve_plot->AddCurve(output->Element(index));
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| 127 | vn_plot = new DataPlot1D(plot_tab->LastRowLastCol(), "vn", -10, 10);
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| 128 | vn_plot->AddCurve(output->Element(index + 1));
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| 129 | index += 2;
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| 130 | }
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[3] | 131 |
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[15] | 132 | Tab *map_tab = new Tab(tab, "carte");
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| 133 | map = new Map(map_tab->NewRow(), "map");
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| 134 | map->AddPoint(position, "drone");
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[3] | 135 | }
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| 136 |
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[15] | 137 | DataPlot1D *Gps::EPlot(void) const {
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| 138 | if ((NMEAFlags & GGA) != 0) {
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| 139 | return e_plot;
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| 140 | } else {
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| 141 | Err("GGA sentence not requested\n");
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| 142 | return NULL;
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| 143 | }
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[3] | 144 | }
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| 145 |
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[15] | 146 | DataPlot1D *Gps::NPlot(void) const {
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| 147 | if ((NMEAFlags & GGA) != 0) {
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| 148 | return n_plot;
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| 149 | } else {
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| 150 | Err("GGA sentence not requested\n");
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| 151 | return NULL;
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| 152 | }
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[3] | 153 | }
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| 154 |
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[15] | 155 | DataPlot1D *Gps::UPlot(void) const {
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| 156 | if ((NMEAFlags & GGA) != 0) {
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| 157 | return u_plot;
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| 158 | } else {
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| 159 | Err("GGA sentence not requested\n");
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| 160 | return NULL;
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| 161 | }
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[3] | 162 | }
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| 163 |
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[15] | 164 | DataPlot1D *Gps::VEPlot(void) const {
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| 165 | if ((NMEAFlags & VTG) != 0) {
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| 166 | return ve_plot;
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| 167 | } else {
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| 168 | Err("GGA sentence not requested\n");
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| 169 | return NULL;
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| 170 | }
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[3] | 171 | }
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| 172 |
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[15] | 173 | DataPlot1D *Gps::VNPlot(void) const {
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| 174 | if ((NMEAFlags & VTG) != 0) {
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| 175 | return vn_plot;
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| 176 | } else {
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| 177 | Err("GGA sentence not requested\n");
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| 178 | return NULL;
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| 179 | }
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[3] | 180 | }
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| 181 |
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[15] | 182 | Layout *Gps::GetLayout(void) const { return sensor_tab; }
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[3] | 183 |
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[15] | 184 | Tab *Gps::GetPlotTab(void) const { return plot_tab; }
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[3] | 185 |
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[15] | 186 | TabWidget *Gps::GetTab(void) const { return tab; }
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[3] | 187 |
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[15] | 188 | uint16_t Gps::NbSat(void) const {
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| 189 | output->GetMutex();
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| 190 | uint16_t result = nb_sat;
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| 191 | output->ReleaseMutex();
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| 192 | return result;
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[3] | 193 | }
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| 194 |
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[15] | 195 | Gps::FixQuality_t Gps::FixQuality(void) const {
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| 196 | output->GetMutex();
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| 197 | FixQuality_t result = fix;
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| 198 | output->ReleaseMutex();
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| 199 | return result;
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[3] | 200 | }
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| 201 |
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[15] | 202 | void Gps::SetRef(void) { take_ref = true; }
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[3] | 203 |
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[15] | 204 | void Gps::GetENUPosition(Vector3D *point) {
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| 205 | output->GetMutex();
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| 206 | point->x = output->ValueNoMutex(0, 0);
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| 207 | point->y = output->ValueNoMutex(1, 0);
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| 208 | point->z = output->ValueNoMutex(2, 0);
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| 209 | output->ReleaseMutex();
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[3] | 210 | }
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| 211 |
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[15] | 212 | void Gps::parseFrame(const char *frame, int frame_size) {
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[3] | 213 |
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[15] | 214 | int result;
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[3] | 215 |
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[15] | 216 | result = nmea_parse(&parser, frame, frame_size, &info);
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| 217 | if (result != 1) {
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| 218 | Warn("unrecognized nmea sentence\n");
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| 219 | Warn("%s\n", frame);
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| 220 | }
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| 221 |
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| 222 | result = nmea_parse_GPGGA(frame, frame_size, &pack);
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| 223 |
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| 224 | if (result == 1) {
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| 225 | // Printf("%s\n",frame);
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| 226 | // Printf("nb:%i fix:%i lat:%f long:%f alt:%f vel:%f
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| 227 | // angle:%f\n",pack.satinuse,pack.sig,info.lat,info.lon,info.elv,info.speed*1000./3600.,info.direction);
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| 228 | // Printf("lat:%f long:%f\n",pos.lat,pos.lon);
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| 229 | output->GetMutex(); // on utilise le mutex de l'output pour fix et nb_sat
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| 230 | if ((int)fix != pack.sig) {
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| 231 | fix = (FixQuality_t)pack.sig;
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| 232 | fix_label->SetText("fix: %i", fix);
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[3] | 233 | }
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[15] | 234 | if (nb_sat != pack.satinuse) {
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| 235 | nb_sat = pack.satinuse;
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| 236 | nb_sat_label->SetText("nb_sat: %i", nb_sat);
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| 237 | }
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| 238 | output->ReleaseMutex();
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[3] | 239 |
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[15] | 240 | nmea_info2pos(&info, &pos);
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| 241 | position->SetCoordinates(Euler::ToDegree(pos.lat), Euler::ToDegree(pos.lon),
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| 242 | info.elv);
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[3] | 243 |
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[15] | 244 | if ((info.sig == 2 && alt_ref == 0) || button_ref->Clicked() == true ||
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| 245 | take_ref == true) {
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| 246 | Printf("prise pos ref\n");
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| 247 | lat_ref = pos.lat;
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| 248 | long_ref = pos.lon;
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| 249 | alt_ref = info.elv;
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| 250 | take_ref = false;
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| 251 | }
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| 252 | // if(alt_ref!=0)
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[3] | 253 | {
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[15] | 254 | double x, y, z;
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| 255 | double e, n, u;
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| 256 | Geographique_2_ECEF(pos.lon, pos.lat, info.elv, x, y, z);
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| 257 | ECEF_2_ENU(x, y, z, e, n, u, long_ref, lat_ref, alt_ref);
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| 258 | // Printf("lon:%f lat:%f elv:%f\n",pos.lon,pos.lat,info.elv);
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[3] | 259 |
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[15] | 260 | // on prend une fois pour toute le mutex et on fait des accès directs
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| 261 | output->GetMutex();
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| 262 | output->SetValueNoMutex(0, 0, e);
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| 263 | output->SetValueNoMutex(1, 0, n);
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| 264 | output->SetValueNoMutex(2, 0, u);
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[3] | 265 |
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[15] | 266 | int index = 3;
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| 267 | if ((NMEAFlags & VTG) != 0) {
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| 268 | output->SetValueNoMutex(index, 0,
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| 269 | info.speed * 1000. / 3600. *
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| 270 | sin(Euler::ToRadian(info.direction)));
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| 271 | output->SetValueNoMutex(index + 1, 0,
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| 272 | info.speed * 1000. / 3600. *
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| 273 | cos(Euler::ToRadian(info.direction)));
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| 274 | index += 2;
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| 275 | }
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| 276 | if ((NMEAFlags & GST) != 0) {
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| 277 | // Thread::Printf("dev_lon:%f dev_lat:%f
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| 278 | // dev_elv:%f\n",info.dev_lat,info.dev_lon,info.dev_elv);
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| 279 | output->SetValueNoMutex(index, 0, info.dev_lat);
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| 280 | output->SetValueNoMutex(index + 1, 0, info.dev_lon);
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| 281 | output->SetValueNoMutex(index + 2, 0, info.dev_elv);
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| 282 | index += 3;
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| 283 | }
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| 284 | output->ReleaseMutex();
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[3] | 285 |
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[15] | 286 | output->SetDataTime(GetTime());
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| 287 | ProcessUpdate(output);
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[3] | 288 | }
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[15] | 289 | }
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[3] | 290 | }
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| 291 |
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| 292 | } // end namespace sensor
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| 293 | } // end namespace framewor
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