source: flair-src/trunk/lib/FlairSensorActuator/src/Mb800.cpp@ 187

Last change on this file since 187 was 186, checked in by Sanahuja Guillaume, 7 years ago

maj imu
File size: 3.4 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
[137]29Mb800::Mb800(string name,
[51]30 SerialPort *serialport, NmeaGps::NMEAFlags_t NMEAFlags,
[15]31 uint8_t priority)
[137]32 : NmeaGps(name, NMEAFlags), Thread(getFrameworkManager(), name, priority) {
[15]33 this->serialport = serialport;
34 serialport->SetRxTimeout(100000000);
[157]35
36 SetIsReady(true);
[3]37}
38
[15]39Mb800::~Mb800() {
40 SafeStop();
41 Join();
[3]42}
43
[15]44void Mb800::Run(void) {
45 /** Debut init **/
46 char response[200] = {0};
[41]47 int size,written;
[3]48
[15]49 /** Fin init **/
[3]50
[15]51 /** Debut config **/
52 char to_send[] = "$PASHS,NME,ALL,A,OFF\r\n";
[41]53 written=serialport->Write(to_send, sizeof(to_send));
54 if (written< 0) {
55 Thread::Err("erreur Write (%s)\n", strerror(-written));
56 }
[42]57
[15]58 {
59 char to_send[] = "$PASHS,CPD,AFP,95.0\r\n";
[41]60 written=serialport->Write(to_send, sizeof(to_send));
61 if (written< 0) {
62 Thread::Err("erreur Write (%s)\n", strerror(-written));
63 }
[15]64 }
65 {
66 char to_send[] = "$PASHS,DIF,PRT,C,RT3\r\n";
[41]67 written=serialport->Write(to_send, sizeof(to_send));
68 if (written< 0) {
69 Thread::Err("erreur Write (%s)\n", strerror(-written));
70 }
[15]71 }
[42]72
[15]73 if ((NMEAFlags & GGA) != 0) {
74 char to_send[] = "$PASHS,NME,GGA,A,ON,0.05\r\n";
[41]75 written = serialport->Write(to_send, sizeof(to_send));
76 if (written< 0) {
77 Thread::Err("erreur Write (%s)\n", strerror(-written));
78 }
[15]79 }
80 if ((NMEAFlags & VTG) != 0) {
81 char to_send[] = "$PASHS,NME,VTG,A,ON,0.05\r\n";
[41]82 written = serialport->Write(to_send, sizeof(to_send));
83 if (written< 0) {
84 Thread::Err("erreur Write (%s)\n", strerror(-written));
85 }
[15]86 }
87 if ((NMEAFlags & GST) != 0) {
88 char to_send[] = "$PASHS,NME,GST,A,ON,0.05\r\n";
[41]89 written = serialport->Write(to_send, sizeof(to_send));
90 if (written< 0) {
91 Thread::Err("erreur Write (%s)\n", strerror(-written));
92 }
[15]93 }
[180]94 if ((NMEAFlags & GSA) != 0) {
95 char to_send[] = "$PASHS,NME,GSA,A,ON,0.1\r\n";
96 written = serialport->Write(to_send, sizeof(to_send));
97 if (written< 0) {
98 Thread::Err("erreur Write (%s)\n", strerror(-written));
99 }
100 }
[3]101
[15]102 Sync();
[3]103
[15]104 /** Fin config **/
[3]105
[15]106 /** Debut running loop **/
107 WarnUponSwitches(true);
[3]108
[15]109 while (!ToBeStopped()) {
[186]110 //SleepMS(10);??
[42]111 size = 0;
[15]112 while (!ToBeStopped()) {
113 ssize_t read = serialport->Read(&response[size], 1);
114 if (read < 0) {
115 Thread::Err("erreur Read (%s)\n", strerror(-read));
116 }
[3]117
[15]118 if (response[size] == 0x0a)
119 break;
120 size++;
[42]121 }
[15]122 size++;
[42]123 parseFrame(response, size);
[15]124 }
125 /** fin running loop **/
126 WarnUponSwitches(false);
[3]127}
128
[15]129void Mb800::Sync(void) {
130 char data = 0;
131 ssize_t read = 0;
[42]132
[15]133 // attente fin trame
[41]134 while (data != 0x0a && !ToBeStopped()) {
[15]135 read = serialport->Read(&data, 1);
[41]136 SleepMS(10);
[42]137
[15]138 if (read < 0) {
139 Thread::Err("erreur Read (%s)\n", strerror(-read));
[3]140 }
[15]141 }
[3]142}
143
144} // end namespace sensor
[170]145} // end namespace flair
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