source: flair-src/trunk/lib/FlairSensorActuator/src/Mb800.cpp@ 51

Last change on this file since 51 was 51, checked in by Sanahuja Guillaume, 6 years ago

gps

File size: 3.2 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 {
27namespace sensor {
28
29Mb800::Mb800(const FrameworkManager *parent, string name,
30 SerialPort *serialport, NmeaGps::NMEAFlags_t NMEAFlags,
31 uint8_t priority)
32 : NmeaGps(parent, name, NMEAFlags), Thread(parent, name, priority) {
33 this->serialport = serialport;
34 serialport->SetRxTimeout(100000000);
35}
36
37Mb800::~Mb800() {
38 SafeStop();
39 Join();
40}
41
42void Mb800::Run(void) {
43 /** Debut init **/
44 char response[200] = {0};
45 int size,written;
46
47 /** Fin init **/
48
49 /** Debut config **/
50 char to_send[] = "$PASHS,NME,ALL,A,OFF\r\n";
51 written=serialport->Write(to_send, sizeof(to_send));
52 if (written< 0) {
53 Thread::Err("erreur Write (%s)\n", strerror(-written));
54 }
55
56 {
57 char to_send[] = "$PASHS,CPD,AFP,95.0\r\n";
58 written=serialport->Write(to_send, sizeof(to_send));
59 if (written< 0) {
60 Thread::Err("erreur Write (%s)\n", strerror(-written));
61 }
62 }
63 {
64 char to_send[] = "$PASHS,DIF,PRT,C,RT3\r\n";
65 written=serialport->Write(to_send, sizeof(to_send));
66 if (written< 0) {
67 Thread::Err("erreur Write (%s)\n", strerror(-written));
68 }
69 }
70
71 if ((NMEAFlags & GGA) != 0) {
72 char to_send[] = "$PASHS,NME,GGA,A,ON,0.05\r\n";
73 written = serialport->Write(to_send, sizeof(to_send));
74 if (written< 0) {
75 Thread::Err("erreur Write (%s)\n", strerror(-written));
76 }
77 }
78 if ((NMEAFlags & VTG) != 0) {
79 char to_send[] = "$PASHS,NME,VTG,A,ON,0.05\r\n";
80 written = serialport->Write(to_send, sizeof(to_send));
81 if (written< 0) {
82 Thread::Err("erreur Write (%s)\n", strerror(-written));
83 }
84 }
85 if ((NMEAFlags & GST) != 0) {
86 char to_send[] = "$PASHS,NME,GST,A,ON,0.05\r\n";
87 written = serialport->Write(to_send, sizeof(to_send));
88 if (written< 0) {
89 Thread::Err("erreur Write (%s)\n", strerror(-written));
90 }
91 }
92
93 Sync();
94
95 /** Fin config **/
96
97 /** Debut running loop **/
98 WarnUponSwitches(true);
99
100 while (!ToBeStopped()) {
101 SleepMS(10);
102 size = 0;
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 }
108
109 if (response[size] == 0x0a)
110 break;
111 size++;
112 }
113 size++;
114 parseFrame(response, size);
115 }
116 /** fin running loop **/
117 WarnUponSwitches(false);
118}
119
120void Mb800::Sync(void) {
121 char data = 0;
122 ssize_t read = 0;
123
124 // attente fin trame
125 while (data != 0x0a && !ToBeStopped()) {
126 read = serialport->Read(&data, 1);
127 SleepMS(10);
128
129 if (read < 0) {
130 Thread::Err("erreur Read (%s)\n", strerror(-read));
131 }
132 }
133}
134
135} // end namespace sensor
136} // end namespace framewor
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