source: flair-src/trunk/lib/FlairSensorActuator/src/Mb800.cpp@ 46

Last change on this file since 46 was 42, checked in by Sanahuja Guillaume, 6 years ago

m

File size: 3.2 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};
[41]45 int size,written;
[3]46
[15]47 /** Fin init **/
[3]48
[15]49 /** Debut config **/
50 char to_send[] = "$PASHS,NME,ALL,A,OFF\r\n";
[41]51 written=serialport->Write(to_send, sizeof(to_send));
52 if (written< 0) {
53 Thread::Err("erreur Write (%s)\n", strerror(-written));
54 }
[42]55
[15]56 {
57 char to_send[] = "$PASHS,CPD,AFP,95.0\r\n";
[41]58 written=serialport->Write(to_send, sizeof(to_send));
59 if (written< 0) {
60 Thread::Err("erreur Write (%s)\n", strerror(-written));
61 }
[15]62 }
63 {
64 char to_send[] = "$PASHS,DIF,PRT,C,RT3\r\n";
[41]65 written=serialport->Write(to_send, sizeof(to_send));
66 if (written< 0) {
67 Thread::Err("erreur Write (%s)\n", strerror(-written));
68 }
[15]69 }
[42]70
[15]71 if ((NMEAFlags & GGA) != 0) {
72 char to_send[] = "$PASHS,NME,GGA,A,ON,0.05\r\n";
[41]73 written = serialport->Write(to_send, sizeof(to_send));
74 if (written< 0) {
75 Thread::Err("erreur Write (%s)\n", strerror(-written));
76 }
[15]77 }
78 if ((NMEAFlags & VTG) != 0) {
79 char to_send[] = "$PASHS,NME,VTG,A,ON,0.05\r\n";
[41]80 written = serialport->Write(to_send, sizeof(to_send));
81 if (written< 0) {
82 Thread::Err("erreur Write (%s)\n", strerror(-written));
83 }
[15]84 }
85 if ((NMEAFlags & GST) != 0) {
86 char to_send[] = "$PASHS,NME,GST,A,ON,0.05\r\n";
[41]87 written = serialport->Write(to_send, sizeof(to_send));
88 if (written< 0) {
89 Thread::Err("erreur Write (%s)\n", strerror(-written));
90 }
[15]91 }
[3]92
[15]93 Sync();
[3]94
[15]95 /** Fin config **/
[3]96
[15]97 /** Debut running loop **/
98 WarnUponSwitches(true);
[3]99
[15]100 while (!ToBeStopped()) {
101 SleepMS(10);
[42]102 size = 0;
[15]103 while (!ToBeStopped()) {
104 ssize_t read = serialport->Read(&response[size], 1);
105 if (read < 0) {
106 Thread::Err("erreur Read (%s)\n", strerror(-read));
107 }
[3]108
[15]109 if (response[size] == 0x0a)
110 break;
111 size++;
[42]112 }
[15]113 size++;
[42]114 parseFrame(response, size);
[15]115 }
116 /** fin running loop **/
117 WarnUponSwitches(false);
[3]118}
119
[15]120void Mb800::Sync(void) {
121 char data = 0;
122 ssize_t read = 0;
[42]123
[15]124 // attente fin trame
[41]125 while (data != 0x0a && !ToBeStopped()) {
[15]126 read = serialport->Read(&data, 1);
[41]127 SleepMS(10);
[42]128
[15]129 if (read < 0) {
130 Thread::Err("erreur Read (%s)\n", strerror(-read));
[3]131 }
[15]132 }
[3]133}
134
135} // end namespace sensor
136} // end namespace framewor
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