1 | // %flair:license{ |
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2 | // This file is part of the Flair framework distributed under the |
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3 | // CECILL-C License, Version 1.0. |
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4 | // %flair:license} |
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5 | // created: 2013/08/23 |
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6 | // filename: NmeaGps.cpp |
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7 | // |
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8 | // author: Guillaume Sanahuja |
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9 | // Copyright Heudiasyc UMR UTC/CNRS 7253 |
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10 | // |
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11 | // version: $Id: $ |
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12 | // |
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13 | // purpose: Base class for GPS using NMEA sentances |
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14 | // |
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15 | // |
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16 | /*********************************************************************/ |
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17 | |
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18 | #include "NmeaGps.h" |
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19 | #include "geodesie.h" |
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20 | #include <Euler.h> |
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21 | #include <DataPlot1D.h> |
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22 | #include <Tab.h> |
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23 | #include <TabWidget.h> |
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24 | #include <GridLayout.h> |
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25 | #include <GroupBox.h> |
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26 | #include <PushButton.h> |
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27 | #include <FrameworkManager.h> |
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28 | #include <Map.h> |
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29 | #include <GeoCoordinate.h> |
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30 | #include <Vector3D.h> |
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31 | #include <Label.h> |
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32 | #include <GpsData.h> |
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33 | #include <string.h> |
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34 | |
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35 | using std::string; |
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36 | using namespace Geodesie; |
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37 | using namespace flair::core; |
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38 | using namespace flair::gui; |
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39 | |
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40 | namespace flair { |
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41 | namespace sensor { |
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42 | |
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43 | NmeaGps::NmeaGps(string name, NMEAFlags_t NMEAFlags) |
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44 | : IODevice(getFrameworkManager(), name) { |
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45 | this->NMEAFlags = NMEAFlags; |
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46 | |
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47 | nmea_zero_INFO(&info); |
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48 | nmea_parser_init(&parser); |
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49 | altRef = 0; |
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50 | |
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51 | if ((NMEAFlags & GGA) == 0) { |
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52 | Err("Enable at least the GGA sentence\n"); |
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53 | } |
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54 | |
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55 | // station sol |
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56 | mainTab = new Tab(getFrameworkManager()->GetTabWidget(), name); |
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57 | tab = new TabWidget(mainTab->NewRow(), name); |
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58 | sensorTab = new Tab(tab, "Setup"); |
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59 | setupGroupbox = new GroupBox(sensorTab->NewRow(), name); |
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60 | buttonRef = new PushButton(setupGroupbox->NewRow(), "set ref"); |
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61 | nbSatLabel = new Label(setupGroupbox->NewRow(), "nb_sat"); |
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62 | fixLabel = new Label(setupGroupbox->LastRowLastCol(), "fix"); |
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63 | |
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64 | position = new GeoCoordinate((IODevice *)this, "position", 0, 0, 0); |
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65 | |
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66 | takeRef = false; |
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67 | |
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68 | gpsData = new GpsData(this); |
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69 | AddDataToLog(gpsData); |
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70 | |
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71 | nbSatLabel->SetText("number of satellies: %i", gpsData->GetNumberOfSatellites()); |
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72 | fixLabel->SetText("fix quality: %i", gpsData->GetFixQuality()); |
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73 | } |
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74 | |
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75 | NmeaGps::~NmeaGps() { |
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76 | nmea_parser_destroy(&parser); |
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77 | delete mainTab; |
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78 | } |
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79 | |
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80 | GroupBox *NmeaGps::GetGroupBox(void) const { return setupGroupbox; } |
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81 | |
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82 | const GpsData *NmeaGps::GetDatas(void) const { |
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83 | return gpsData; |
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84 | } |
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85 | |
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86 | void NmeaGps::GetDatas(core::GpsData **outGpsData) const { |
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87 | *outGpsData = gpsData; |
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88 | } |
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89 | |
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90 | void NmeaGps::UseDefaultPlot(void) { |
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91 | plotTab = new Tab(tab, "Mesures"); |
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92 | |
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93 | if ((NMEAFlags & GGA) != 0) { |
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94 | ePlot = new DataPlot1D(plotTab->NewRow(), "e", -10, 10); |
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95 | ePlot->AddCurve(gpsData->Element(GpsData::East)); |
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96 | nPlot = new DataPlot1D(plotTab->LastRowLastCol(), "n", -10, 10); |
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97 | nPlot->AddCurve(gpsData->Element(GpsData::North)); |
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98 | uPlot = new DataPlot1D(plotTab->LastRowLastCol(), "u", -10, 10); |
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99 | uPlot->AddCurve(gpsData->Element(GpsData::Up)); |
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100 | } |
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101 | if ((NMEAFlags & VTG) != 0) { |
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102 | vePlot = new DataPlot1D(plotTab->NewRow(), "ve", -10, 10); |
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103 | vePlot->AddCurve(gpsData->Element(GpsData::EastVelocity)); |
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104 | vnPlot = new DataPlot1D(plotTab->LastRowLastCol(), "vn", -10, 10); |
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105 | vnPlot->AddCurve(gpsData->Element(GpsData::NorthVelocity)); |
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106 | } |
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107 | |
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108 | Tab *map_tab = new Tab(tab, "carte"); |
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109 | map = new Map(map_tab->NewRow(), "map"); |
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110 | map->AddPoint(position, "drone"); |
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111 | } |
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112 | |
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113 | DataPlot1D *NmeaGps::EPlot(void) const { |
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114 | if ((NMEAFlags & GGA) != 0) { |
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115 | return ePlot; |
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116 | } else { |
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117 | Err("GGA sentence not requested\n"); |
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118 | return NULL; |
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119 | } |
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120 | } |
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121 | |
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122 | DataPlot1D *NmeaGps::NPlot(void) const { |
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123 | if ((NMEAFlags & GGA) != 0) { |
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124 | return nPlot; |
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125 | } else { |
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126 | Err("GGA sentence not requested\n"); |
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127 | return NULL; |
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128 | } |
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129 | } |
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130 | |
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131 | DataPlot1D *NmeaGps::UPlot(void) const { |
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132 | if ((NMEAFlags & GGA) != 0) { |
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133 | return uPlot; |
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134 | } else { |
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135 | Err("GGA sentence not requested\n"); |
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136 | return NULL; |
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137 | } |
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138 | } |
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139 | |
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140 | DataPlot1D *NmeaGps::VEPlot(void) const { |
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141 | if ((NMEAFlags & VTG) != 0) { |
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142 | return vePlot; |
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143 | } else { |
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144 | Err("GGA sentence not requested\n"); |
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145 | return NULL; |
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146 | } |
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147 | } |
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148 | |
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149 | DataPlot1D *NmeaGps::VNPlot(void) const { |
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150 | if ((NMEAFlags & VTG) != 0) { |
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151 | return vnPlot; |
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152 | } else { |
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153 | Err("GGA sentence not requested\n"); |
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154 | return NULL; |
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155 | } |
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156 | } |
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157 | |
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158 | Layout *NmeaGps::GetLayout(void) const { return sensorTab; } |
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159 | |
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160 | Tab *NmeaGps::GetPlotTab(void) const { return plotTab; } |
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161 | |
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162 | TabWidget *NmeaGps::GetTab(void) const { return tab; } |
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163 | |
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164 | void NmeaGps::SetRef(void) { takeRef = true; } |
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165 | |
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166 | void NmeaGps::parseFrame(const char *frame, int frame_size) { |
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167 | //avoid unrecognized nmea sentence (when no satelites |
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168 | if(strncmp(frame,"$GNGGA,,",8)==0) return; |
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169 | if(strncmp(frame,"$GNVTG,,",8)==0) return; |
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170 | if(strncmp(frame,"$GNGST,,",8)==0) return; |
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171 | if(strstr(frame,",,,,,")!=NULL) return; |
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172 | |
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173 | int result; |
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174 | result = nmea_parse(&parser, frame, frame_size, &info); |
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175 | if (result != 1) { |
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176 | Warn("unrecognized nmea sentence: %s\n",frame); |
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177 | return; |
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178 | } |
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179 | |
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180 | result = nmea_parse_GPGGA(frame, frame_size, &pack); |
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181 | |
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182 | if (result == 1) { |
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183 | nmea_info2pos(&info, &pos); |
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184 | // Printf("nb:%i fix:%i lat:%f long:%f alt:%f vel:%f angle:%f\n",pack.satinuse,pack.sig,info.lat,info.lon,info.elv,info.speed*1000./3600.,info.direction); |
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185 | //Printf("lat:%f long:%f\n",pos.lat,pos.lon); |
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186 | |
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187 | gpsData->GetMutex(); // on utilise le mutex de gpsData pour fix et nb_sat |
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188 | if (gpsData->GetFixQuality() != (GpsData::FixQuality_t)pack.sig) { |
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189 | gpsData->SetFixQuality((GpsData::FixQuality_t)pack.sig); |
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190 | fixLabel->SetText("fix: %i", pack.sig); |
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191 | } |
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192 | if (gpsData->GetNumberOfSatellites() != pack.satinuse) { |
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193 | gpsData->SetNumberOfSatellites(pack.satinuse) ; |
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194 | nbSatLabel->SetText("nb_sat: %i", pack.satinuse); |
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195 | } |
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196 | gpsData->ReleaseMutex(); |
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197 | |
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198 | gpsData->SetLla(Euler::ToDegree(pos.lat), Euler::ToDegree(pos.lon),info.elv); |
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199 | position->SetCoordinates(Euler::ToDegree(pos.lat), Euler::ToDegree(pos.lon), |
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200 | info.elv); |
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201 | |
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202 | if ((info.sig == 2 && altRef == 0) || buttonRef->Clicked() == true || |
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203 | takeRef == true) { |
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204 | Printf("prise pos ref\n"); |
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205 | latRef = pos.lat; |
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206 | longRef = pos.lon; |
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207 | altRef = info.elv; |
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208 | takeRef = false; |
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209 | } |
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210 | // if(alt_ref!=0) |
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211 | { |
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212 | double x, y, z; |
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213 | double e, n, u; |
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214 | Geographique_2_ECEF(pos.lon, pos.lat, info.elv, x, y, z); |
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215 | ECEF_2_ENU(x, y, z, e, n, u, longRef, latRef, altRef); |
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216 | // Printf("lon:%f lat:%f elv:%f\n",pos.lon,pos.lat,info.elv); |
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217 | |
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218 | gpsData->SetEnu(e,n,u); |
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219 | |
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220 | if ((NMEAFlags & VTG) != 0) { |
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221 | gpsData->SetVelocity(info.speed * 1000. / 3600. * sin(Euler::ToRadian(info.direction)), |
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222 | info.speed * 1000. / 3600. * cos(Euler::ToRadian(info.direction))); |
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223 | } |
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224 | if ((NMEAFlags & GSA) != 0) { |
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225 | gpsData->SetDop(info.PDOP,info.HDOP,info.VDOP); |
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226 | } |
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227 | /* |
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228 | if ((NMEAFlags & GST) != 0) { |
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229 | // Thread::Printf("dev_lon:%f dev_lat:%f |
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230 | // dev_elv:%f\n",info.dev_lat,info.dev_lon,info.dev_elv); |
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231 | output->SetValueNoMutex(index, 0, info.dev_lat); |
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232 | output->SetValueNoMutex(index + 1, 0, info.dev_lon); |
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233 | output->SetValueNoMutex(index + 2, 0, info.dev_elv); |
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234 | index += 3; |
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235 | }*/ |
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236 | |
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237 | |
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238 | gpsData->SetDataTime(GetTime()); |
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239 | ProcessUpdate(gpsData); |
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240 | } |
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241 | } |
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242 | } |
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243 | |
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244 | } // end namespace sensor |
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245 | } // end namespace flair |
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