| [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: Mb800.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 "Mb800.h"
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| 19 | #include <SerialPort.h>
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| 20 | #include <FrameworkManager.h>
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| 21 | #include <string.h>
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| 22 |
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| 23 | using std::string;
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| 24 | using namespace flair::core;
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| 25 |
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| [15] | 26 | namespace flair {
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| 27 | namespace sensor {
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| [3] | 28 |
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| [137] | 29 | Mb800::Mb800(string name,
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| [51] | 30 | SerialPort *serialport, NmeaGps::NMEAFlags_t NMEAFlags,
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| [15] | 31 | uint8_t priority)
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| [137] | 32 | : NmeaGps(name, NMEAFlags), Thread(getFrameworkManager(), name, priority) {
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| [15] | 33 | this->serialport = serialport;
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| 34 | serialport->SetRxTimeout(100000000);
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| [157] | 35 |
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| 36 | SetIsReady(true);
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| [3] | 37 | }
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| 38 |
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| [15] | 39 | Mb800::~Mb800() {
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| 40 | SafeStop();
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| 41 | Join();
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| [3] | 42 | }
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| 43 |
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| [15] | 44 | void Mb800::Run(void) {
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| 45 | /** Debut init **/
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| 46 | char response[200] = {0};
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| [41] | 47 | int size,written;
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| [3] | 48 |
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| [15] | 49 | /** Fin init **/
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| [3] | 50 |
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| [15] | 51 | /** Debut config **/
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| 52 | char to_send[] = "$PASHS,NME,ALL,A,OFF\r\n";
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| [41] | 53 | written=serialport->Write(to_send, sizeof(to_send));
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| 54 | if (written< 0) {
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| 55 | Thread::Err("erreur Write (%s)\n", strerror(-written));
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| 56 | }
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| [42] | 57 |
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| [15] | 58 | {
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| 59 | char to_send[] = "$PASHS,CPD,AFP,95.0\r\n";
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| [41] | 60 | written=serialport->Write(to_send, sizeof(to_send));
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| 61 | if (written< 0) {
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| 62 | Thread::Err("erreur Write (%s)\n", strerror(-written));
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| 63 | }
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| [15] | 64 | }
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| 65 | {
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| 66 | char to_send[] = "$PASHS,DIF,PRT,C,RT3\r\n";
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| [41] | 67 | written=serialport->Write(to_send, sizeof(to_send));
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| 68 | if (written< 0) {
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| 69 | Thread::Err("erreur Write (%s)\n", strerror(-written));
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| 70 | }
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| [15] | 71 | }
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| [42] | 72 |
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| [15] | 73 | if ((NMEAFlags & GGA) != 0) {
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| 74 | char to_send[] = "$PASHS,NME,GGA,A,ON,0.05\r\n";
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| [41] | 75 | written = serialport->Write(to_send, sizeof(to_send));
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| 76 | if (written< 0) {
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| 77 | Thread::Err("erreur Write (%s)\n", strerror(-written));
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| 78 | }
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| [15] | 79 | }
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| 80 | if ((NMEAFlags & VTG) != 0) {
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| 81 | char to_send[] = "$PASHS,NME,VTG,A,ON,0.05\r\n";
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| [41] | 82 | written = serialport->Write(to_send, sizeof(to_send));
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| 83 | if (written< 0) {
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| 84 | Thread::Err("erreur Write (%s)\n", strerror(-written));
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| 85 | }
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| [15] | 86 | }
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| 87 | if ((NMEAFlags & GST) != 0) {
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| 88 | char to_send[] = "$PASHS,NME,GST,A,ON,0.05\r\n";
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| [41] | 89 | written = serialport->Write(to_send, sizeof(to_send));
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| 90 | if (written< 0) {
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| 91 | Thread::Err("erreur Write (%s)\n", strerror(-written));
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| 92 | }
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| [15] | 93 | }
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| [3] | 94 |
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| [15] | 95 | Sync();
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| [3] | 96 |
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| [15] | 97 | /** Fin config **/
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| [3] | 98 |
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| [15] | 99 | /** Debut running loop **/
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| 100 | WarnUponSwitches(true);
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| [3] | 101 |
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| [15] | 102 | while (!ToBeStopped()) {
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| 103 | SleepMS(10);
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| [42] | 104 | size = 0;
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| [15] | 105 | while (!ToBeStopped()) {
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| 106 | ssize_t read = serialport->Read(&response[size], 1);
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| 107 | if (read < 0) {
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| 108 | Thread::Err("erreur Read (%s)\n", strerror(-read));
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| 109 | }
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| [3] | 110 |
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| [15] | 111 | if (response[size] == 0x0a)
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| 112 | break;
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| 113 | size++;
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| [42] | 114 | }
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| [15] | 115 | size++;
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| [42] | 116 | parseFrame(response, size);
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| [15] | 117 | }
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| 118 | /** fin running loop **/
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| 119 | WarnUponSwitches(false);
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| [3] | 120 | }
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| 121 |
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| [15] | 122 | void Mb800::Sync(void) {
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| 123 | char data = 0;
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| 124 | ssize_t read = 0;
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| [42] | 125 |
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| [15] | 126 | // attente fin trame
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| [41] | 127 | while (data != 0x0a && !ToBeStopped()) {
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| [15] | 128 | read = serialport->Read(&data, 1);
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| [41] | 129 | SleepMS(10);
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| [42] | 130 |
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| [15] | 131 | if (read < 0) {
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| 132 | Thread::Err("erreur Read (%s)\n", strerror(-read));
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| [3] | 133 | }
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| [15] | 134 | }
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| [3] | 135 | }
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| 136 |
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| 137 | } // end namespace sensor
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| [170] | 138 | } // end namespace flair
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