source: flair-src/trunk/lib/FlairSensorActuator/src/Mb800.cpp

Last change on this file was 268, checked in by Sanahuja Guillaume, 3 years ago

add defines for architectures to speed up compile time

File size: 3.5 KB
Line 
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:    2013/08/23
6//  filename:   Mb800.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    objet integrant le recepteur gps mb800
14//
15//
16/*********************************************************************/
17#ifdef ARMV7A
18
19#include "Mb800.h"
20#include <SerialPort.h>
21#include <FrameworkManager.h>
22#include <string.h>
23
24using std::string;
25using namespace flair::core;
26
27namespace flair {
28namespace sensor {
29
30Mb800::Mb800(string name,
31             SerialPort *serialport, NmeaGps::NMEAFlags_t NMEAFlags,
32             uint8_t priority)
33    : NmeaGps(name, NMEAFlags), Thread(getFrameworkManager(), name, priority) {
34  this->serialport = serialport;
35  serialport->SetRxTimeout(100000000);
36 
37  SetIsReady(true);
38}
39
40Mb800::~Mb800() {
41  SafeStop();
42  Join();
43}
44
45void Mb800::Run(void) {
46  int written;
47
48  /** Debut config **/
49  char to_send[] = "$PASHS,NME,ALL,A,OFF\r\n";
50  written=serialport->Write(to_send, sizeof(to_send));
51  if (written< 0) {
52      Thread::Err("erreur Write (%s)\n", strerror(-written));
53  }
54
55  {
56    char to_send[] = "$PASHS,CPD,AFP,95.0\r\n";
57    written=serialport->Write(to_send, sizeof(to_send));
58    if (written< 0) {
59      Thread::Err("erreur Write (%s)\n", strerror(-written));
60    }
61  }
62  {
63    char to_send[] = "$PASHS,DIF,PRT,C,RT3\r\n";
64    written=serialport->Write(to_send, sizeof(to_send));
65    if (written< 0) {
66      Thread::Err("erreur Write (%s)\n", strerror(-written));
67    }
68  }
69
70  if ((NMEAFlags & GGA) != 0) {
71    char to_send[] = "$PASHS,NME,GGA,A,ON,0.05\r\n";
72    written = serialport->Write(to_send, sizeof(to_send));
73    if (written< 0) {
74      Thread::Err("erreur Write (%s)\n", strerror(-written));
75    }
76  }
77  if ((NMEAFlags & VTG) != 0) {
78    char to_send[] = "$PASHS,NME,VTG,A,ON,0.05\r\n";
79    written = serialport->Write(to_send, sizeof(to_send));
80    if (written< 0) {
81      Thread::Err("erreur Write (%s)\n", strerror(-written));
82    }
83  }
84  if ((NMEAFlags & GST) != 0) {
85    char to_send[] = "$PASHS,NME,GST,A,ON,0.05\r\n";
86    written = serialport->Write(to_send, sizeof(to_send));
87    if (written< 0) {
88      Thread::Err("erreur Write (%s)\n", strerror(-written));
89    }
90  }
91  if ((NMEAFlags & GSA) != 0) {
92    char to_send[] = "$PASHS,NME,GSA,A,ON,0.1\r\n";
93    written = serialport->Write(to_send, sizeof(to_send));
94    if (written< 0) {
95      Thread::Err("erreur Write (%s)\n", strerror(-written));
96    }
97  }
98
99  Sync();
100
101  /** Fin config **/
102
103  /** Debut running loop **/
104  WarnUponSwitches(true);
105 
106  while (!ToBeStopped()) {
107    char response[1024] = {0};
108    int size = 0;
109    while (!ToBeStopped()) {
110      ssize_t read = serialport->Read(&response[size], 1);
111      if (read < 0) {
112        Thread::Err("erreur Read (%s)\n", strerror(-read));
113      }
114
115      if (response[size] == 0x0a ) break;
116      size++;
117      if (size==sizeof(response)) break;
118    }
119    if (size!=sizeof(response)) {
120      size++;
121      parseFrame(response, size);
122    } else {
123      Thread::Warn("frame too long for buffer\n");
124    }
125  }
126 
127  /** fin running loop **/
128  WarnUponSwitches(false);
129}
130
131void Mb800::Sync(void) {
132  char data = 0;
133  ssize_t read = 0;
134
135  // attente fin trame
136  while (data != 0x0a && !ToBeStopped()) {
137    read = serialport->Read(&data, 1);
138    SleepMS(10);
139
140    if (read < 0) {
141      Thread::Err("erreur Read (%s)\n", strerror(-read));
142    }
143  }
144}
145
146} // end namespace sensor
147} // end namespace flair
148
149#endif
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