source: flair-src/trunk/lib/FlairSensorActuator/src/Mb800.cpp @ 4

Last change on this file since 4 was 3, checked in by Sanahuja Guillaume, 6 years ago

sensoractuator

File size: 2.8 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
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
26namespace flair
27{
28namespace sensor
29{
30
31Mb800::Mb800(const FrameworkManager* parent,string name,SerialPort *serialport,Gps::NMEAFlags_t NMEAFlags,uint8_t priority) : Gps(parent,name,NMEAFlags), Thread(parent,name,priority)
32{
33    this->serialport=serialport;
34    serialport->SetRxTimeout(100000000);
35}
36
37Mb800::~Mb800()
38{
39    SafeStop();
40    Join();
41}
42
43void Mb800::Run(void)
44{
45    /** Debut init **/
46    char response[200] = {0};
47    int size;
48
49    /** Fin init **/
50
51    /** Debut config **/
52    char to_send[]="$PASHS,NME,ALL,A,OFF\r\n";
53    serialport->Write(to_send, sizeof(to_send));
54
55    {
56        char to_send[]="$PASHS,CPD,AFP,95.0\r\n";
57        serialport->Write(to_send, sizeof(to_send));
58    }
59    {
60        char to_send[]="$PASHS,DIF,PRT,C,RT3\r\n";
61        serialport->Write(to_send, sizeof(to_send));
62    }
63
64    if((NMEAFlags&GGA)!=0)
65    {
66        char to_send[]="$PASHS,NME,GGA,A,ON,0.05\r\n";
67        size=serialport->Write(to_send, sizeof(to_send));
68        //Printf("ecrit %i\n",size);
69    }
70    if((NMEAFlags&VTG)!=0)
71    {
72        char to_send[]="$PASHS,NME,VTG,A,ON,0.05\r\n";
73        size=serialport->Write(to_send, sizeof(to_send));
74        //Printf("%i\n",size);
75    }
76    if((NMEAFlags&GST)!=0)
77    {
78        char to_send[]="$PASHS,NME,GST,A,ON,0.05\r\n";
79        size=serialport->Write(to_send, sizeof(to_send));
80        //Printf("%i\n",size);
81    }
82
83    Sync();
84
85    /** Fin config **/
86
87    /** Debut running loop **/
88    WarnUponSwitches(true);
89
90    while(!ToBeStopped())
91    {
92        SleepMS(10);
93        size=0;
94        while(!ToBeStopped())
95        {
96            ssize_t read = serialport->Read(&response[size],1);
97            if(read<0)
98            {
99                Thread::Err("erreur Read (%s)\n",strerror(-read));
100            }
101
102            if(response[size]==0x0a) break;
103            size++;
104        }
105        size++;
106        parseFrame(response, size);
107    }
108    /** fin running loop **/
109    WarnUponSwitches(false);
110}
111
112void Mb800::Sync(void)
113{
114    char data=0;
115    ssize_t read = 0;
116
117    //attente fin trame
118    while(data!=0x0a)
119    {
120        read = serialport->Read(&data,1);
121        if(read<0)
122        {
123            Thread::Err("erreur Read (%s)\n",strerror(-read));
124        }
125    }
126}
127
128} // end namespace sensor
129} // end namespace framewor
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