source: flair-src/trunk/lib/FlairSensorActuator/src/Mb800.cpp @ 15

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

sources reformatted with flair-format-dir script

File size: 2.7 KB
RevLine 
[3]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[3]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
18#include "Mb800.h"
19#include <SerialPort.h>
20#include <FrameworkManager.h>
21#include <string.h>
22
23using std::string;
24using namespace flair::core;
25
[15]26namespace flair {
27namespace sensor {
[3]28
[15]29Mb800::Mb800(const FrameworkManager *parent, string name,
30             SerialPort *serialport, Gps::NMEAFlags_t NMEAFlags,
31             uint8_t priority)
32    : Gps(parent, name, NMEAFlags), Thread(parent, name, priority) {
33  this->serialport = serialport;
34  serialport->SetRxTimeout(100000000);
[3]35}
36
[15]37Mb800::~Mb800() {
38  SafeStop();
39  Join();
[3]40}
41
[15]42void Mb800::Run(void) {
43  /** Debut init **/
44  char response[200] = {0};
45  int size;
[3]46
[15]47  /** Fin init **/
[3]48
[15]49  /** Debut config **/
50  char to_send[] = "$PASHS,NME,ALL,A,OFF\r\n";
51  serialport->Write(to_send, sizeof(to_send));
52
53  {
54    char to_send[] = "$PASHS,CPD,AFP,95.0\r\n";
[3]55    serialport->Write(to_send, sizeof(to_send));
[15]56  }
57  {
58    char to_send[] = "$PASHS,DIF,PRT,C,RT3\r\n";
59    serialport->Write(to_send, sizeof(to_send));
60  }
[3]61
[15]62  if ((NMEAFlags & GGA) != 0) {
63    char to_send[] = "$PASHS,NME,GGA,A,ON,0.05\r\n";
64    size = serialport->Write(to_send, sizeof(to_send));
65    // Printf("ecrit %i\n",size);
66  }
67  if ((NMEAFlags & VTG) != 0) {
68    char to_send[] = "$PASHS,NME,VTG,A,ON,0.05\r\n";
69    size = serialport->Write(to_send, sizeof(to_send));
70    // Printf("%i\n",size);
71  }
72  if ((NMEAFlags & GST) != 0) {
73    char to_send[] = "$PASHS,NME,GST,A,ON,0.05\r\n";
74    size = serialport->Write(to_send, sizeof(to_send));
75    // Printf("%i\n",size);
76  }
[3]77
[15]78  Sync();
[3]79
[15]80  /** Fin config **/
[3]81
[15]82  /** Debut running loop **/
83  WarnUponSwitches(true);
[3]84
[15]85  while (!ToBeStopped()) {
86    SleepMS(10);
87    size = 0;
88    while (!ToBeStopped()) {
89      ssize_t read = serialport->Read(&response[size], 1);
90      if (read < 0) {
91        Thread::Err("erreur Read (%s)\n", strerror(-read));
92      }
[3]93
[15]94      if (response[size] == 0x0a)
95        break;
96      size++;
[3]97    }
[15]98    size++;
99    parseFrame(response, size);
100  }
101  /** fin running loop **/
102  WarnUponSwitches(false);
[3]103}
104
[15]105void Mb800::Sync(void) {
106  char data = 0;
107  ssize_t read = 0;
[3]108
[15]109  // attente fin trame
110  while (data != 0x0a) {
111    read = serialport->Read(&data, 1);
112    if (read < 0) {
113      Thread::Err("erreur Read (%s)\n", strerror(-read));
[3]114    }
[15]115  }
[3]116}
117
118} // end namespace sensor
119} // end namespace framewor
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