| [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 |
|
|---|
| 23 | using std::string;
|
|---|
| 24 | using namespace flair::core;
|
|---|
| 25 |
|
|---|
| [15] | 26 | namespace flair {
|
|---|
| 27 | namespace sensor {
|
|---|
| [3] | 28 |
|
|---|
| [137] | 29 | Mb800::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] | 39 | Mb800::~Mb800() {
|
|---|
| 40 | SafeStop();
|
|---|
| 41 | Join();
|
|---|
| [3] | 42 | }
|
|---|
| 43 |
|
|---|
| [15] | 44 | void Mb800::Run(void) {
|
|---|
| [196] | 45 | int written;
|
|---|
| [3] | 46 |
|
|---|
| [15] | 47 | /** Debut config **/
|
|---|
| 48 | char to_send[] = "$PASHS,NME,ALL,A,OFF\r\n";
|
|---|
| [41] | 49 | written=serialport->Write(to_send, sizeof(to_send));
|
|---|
| 50 | if (written< 0) {
|
|---|
| 51 | Thread::Err("erreur Write (%s)\n", strerror(-written));
|
|---|
| 52 | }
|
|---|
| [42] | 53 |
|
|---|
| [15] | 54 | {
|
|---|
| 55 | char to_send[] = "$PASHS,CPD,AFP,95.0\r\n";
|
|---|
| [41] | 56 | written=serialport->Write(to_send, sizeof(to_send));
|
|---|
| 57 | if (written< 0) {
|
|---|
| 58 | Thread::Err("erreur Write (%s)\n", strerror(-written));
|
|---|
| 59 | }
|
|---|
| [15] | 60 | }
|
|---|
| 61 | {
|
|---|
| 62 | char to_send[] = "$PASHS,DIF,PRT,C,RT3\r\n";
|
|---|
| [41] | 63 | written=serialport->Write(to_send, sizeof(to_send));
|
|---|
| 64 | if (written< 0) {
|
|---|
| 65 | Thread::Err("erreur Write (%s)\n", strerror(-written));
|
|---|
| 66 | }
|
|---|
| [15] | 67 | }
|
|---|
| [42] | 68 |
|
|---|
| [15] | 69 | if ((NMEAFlags & GGA) != 0) {
|
|---|
| 70 | char to_send[] = "$PASHS,NME,GGA,A,ON,0.05\r\n";
|
|---|
| [41] | 71 | written = serialport->Write(to_send, sizeof(to_send));
|
|---|
| 72 | if (written< 0) {
|
|---|
| 73 | Thread::Err("erreur Write (%s)\n", strerror(-written));
|
|---|
| 74 | }
|
|---|
| [15] | 75 | }
|
|---|
| 76 | if ((NMEAFlags & VTG) != 0) {
|
|---|
| 77 | char to_send[] = "$PASHS,NME,VTG,A,ON,0.05\r\n";
|
|---|
| [41] | 78 | written = serialport->Write(to_send, sizeof(to_send));
|
|---|
| 79 | if (written< 0) {
|
|---|
| 80 | Thread::Err("erreur Write (%s)\n", strerror(-written));
|
|---|
| 81 | }
|
|---|
| [15] | 82 | }
|
|---|
| 83 | if ((NMEAFlags & GST) != 0) {
|
|---|
| 84 | char to_send[] = "$PASHS,NME,GST,A,ON,0.05\r\n";
|
|---|
| [41] | 85 | written = serialport->Write(to_send, sizeof(to_send));
|
|---|
| 86 | if (written< 0) {
|
|---|
| 87 | Thread::Err("erreur Write (%s)\n", strerror(-written));
|
|---|
| 88 | }
|
|---|
| [15] | 89 | }
|
|---|
| [180] | 90 | if ((NMEAFlags & GSA) != 0) {
|
|---|
| 91 | char to_send[] = "$PASHS,NME,GSA,A,ON,0.1\r\n";
|
|---|
| 92 | written = serialport->Write(to_send, sizeof(to_send));
|
|---|
| 93 | if (written< 0) {
|
|---|
| 94 | Thread::Err("erreur Write (%s)\n", strerror(-written));
|
|---|
| 95 | }
|
|---|
| 96 | }
|
|---|
| [3] | 97 |
|
|---|
| [15] | 98 | Sync();
|
|---|
| [3] | 99 |
|
|---|
| [15] | 100 | /** Fin config **/
|
|---|
| [3] | 101 |
|
|---|
| [15] | 102 | /** Debut running loop **/
|
|---|
| 103 | WarnUponSwitches(true);
|
|---|
| [196] | 104 |
|
|---|
| [15] | 105 | while (!ToBeStopped()) {
|
|---|
| [196] | 106 | char response[1024] = {0};
|
|---|
| 107 | int size = 0;
|
|---|
| [15] | 108 | while (!ToBeStopped()) {
|
|---|
| 109 | ssize_t read = serialport->Read(&response[size], 1);
|
|---|
| 110 | if (read < 0) {
|
|---|
| 111 | Thread::Err("erreur Read (%s)\n", strerror(-read));
|
|---|
| 112 | }
|
|---|
| [3] | 113 |
|
|---|
| [196] | 114 | if (response[size] == 0x0a ) break;
|
|---|
| [15] | 115 | size++;
|
|---|
| [196] | 116 | if (size==sizeof(response)) break;
|
|---|
| [42] | 117 | }
|
|---|
| [196] | 118 | if (size!=sizeof(response)) {
|
|---|
| 119 | size++;
|
|---|
| 120 | parseFrame(response, size);
|
|---|
| 121 | } else {
|
|---|
| 122 | Thread::Warn("frame too long for buffer\n");
|
|---|
| 123 | }
|
|---|
| [15] | 124 | }
|
|---|
| [196] | 125 |
|
|---|
| [15] | 126 | /** fin running loop **/
|
|---|
| 127 | WarnUponSwitches(false);
|
|---|
| [3] | 128 | }
|
|---|
| 129 |
|
|---|
| [15] | 130 | void Mb800::Sync(void) {
|
|---|
| 131 | char data = 0;
|
|---|
| 132 | ssize_t read = 0;
|
|---|
| [42] | 133 |
|
|---|
| [15] | 134 | // attente fin trame
|
|---|
| [41] | 135 | while (data != 0x0a && !ToBeStopped()) {
|
|---|
| [15] | 136 | read = serialport->Read(&data, 1);
|
|---|
| [41] | 137 | SleepMS(10);
|
|---|
| [42] | 138 |
|
|---|
| [15] | 139 | if (read < 0) {
|
|---|
| 140 | Thread::Err("erreur Read (%s)\n", strerror(-read));
|
|---|
| [3] | 141 | }
|
|---|
| [15] | 142 | }
|
|---|
| [3] | 143 | }
|
|---|
| 144 |
|
|---|
| 145 | } // end namespace sensor
|
|---|
| [170] | 146 | } // end namespace flair
|
|---|
