[3] | 1 | // %flair:license{
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[15] | 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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[3] | 4 | // %flair:license}
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| 5 | // created: 2013/08/23
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[51] | 6 | // filename: NmeaGps.cpp
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[3] | 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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[51] | 13 | // purpose: Base class for GPS using NMEA sentances
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[3] | 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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[51] | 18 | #include "NmeaGps.h"
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[3] | 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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[51] | 32 | #include <GpsData.h>
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[3] | 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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[15] | 40 | namespace flair {
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| 41 | namespace sensor {
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[3] | 42 |
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[51] | 43 | NmeaGps::NmeaGps(const FrameworkManager *parent, string name, NMEAFlags_t NMEAFlags)
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[15] | 44 | : IODevice(parent, name) {
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| 45 | this->NMEAFlags = NMEAFlags;
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[3] | 46 |
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[15] | 47 | nmea_zero_INFO(&info);
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| 48 | nmea_parser_init(&parser);
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[55] | 49 | altRef = 0;
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[3] | 50 |
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[15] | 51 | if ((NMEAFlags & GGA) == 0) {
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[51] | 52 | Err("Enable at least the GGA sentence\n");
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[15] | 53 | }
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[3] | 54 |
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[15] | 55 | // station sol
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[55] | 56 | mainTab = new Tab(parent->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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[3] | 63 |
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[15] | 64 | position = new GeoCoordinate((IODevice *)this, "position", 0, 0, 0);
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[3] | 65 |
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[55] | 66 | takeRef = false;
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[51] | 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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[55] | 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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[3] | 73 | }
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| 74 |
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[55] | 75 | NmeaGps::NmeaGps(const IODevice *parent, std::string name) : IODevice(parent, name) {
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| 76 | gpsData = new GpsData(this);
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| 77 | mainTab = NULL;
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| 78 | tab = NULL;
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| 79 | sensorTab = NULL;
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| 80 | }
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| 81 |
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[51] | 82 | NmeaGps::~NmeaGps() {
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[55] | 83 | if (mainTab != NULL) {
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| 84 | nmea_parser_destroy(&parser);
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| 85 | delete mainTab;
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| 86 | }
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[3] | 87 | }
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| 88 |
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[55] | 89 | GroupBox *NmeaGps::GetGroupBox(void) const { return setupGroupbox; }
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| 90 |
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[51] | 91 | const GpsData *NmeaGps::GetDatas(void) const {
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| 92 | return gpsData;
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| 93 | }
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| 94 |
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| 95 | void NmeaGps::GetDatas(core::GpsData **outGpsData) const {
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| 96 | *outGpsData = gpsData;
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| 97 | }
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| 98 |
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| 99 | void NmeaGps::UseDefaultPlot(void) {
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[55] | 100 | plotTab = new Tab(tab, "Mesures");
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[3] | 101 |
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[15] | 102 | if ((NMEAFlags & GGA) != 0) {
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[55] | 103 | ePlot = new DataPlot1D(plotTab->NewRow(), "e", -10, 10);
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| 104 | ePlot->AddCurve(gpsData->Element(GpsData::East));
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| 105 | nPlot = new DataPlot1D(plotTab->LastRowLastCol(), "n", -10, 10);
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| 106 | nPlot->AddCurve(gpsData->Element(GpsData::North));
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| 107 | uPlot = new DataPlot1D(plotTab->LastRowLastCol(), "u", -10, 10);
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| 108 | uPlot->AddCurve(gpsData->Element(GpsData::Up));
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[15] | 109 | }
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| 110 | if ((NMEAFlags & VTG) != 0) {
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[55] | 111 | vePlot = new DataPlot1D(plotTab->NewRow(), "ve", -10, 10);
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| 112 | vePlot->AddCurve(gpsData->Element(GpsData::EastVelocity));
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| 113 | vnPlot = new DataPlot1D(plotTab->LastRowLastCol(), "vn", -10, 10);
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| 114 | vnPlot->AddCurve(gpsData->Element(GpsData::NorthVelocity));
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[15] | 115 | }
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[3] | 116 |
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[15] | 117 | Tab *map_tab = new Tab(tab, "carte");
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| 118 | map = new Map(map_tab->NewRow(), "map");
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| 119 | map->AddPoint(position, "drone");
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[3] | 120 | }
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| 121 |
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[51] | 122 | DataPlot1D *NmeaGps::EPlot(void) const {
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[15] | 123 | if ((NMEAFlags & GGA) != 0) {
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[55] | 124 | return ePlot;
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[15] | 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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[3] | 129 | }
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| 130 |
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[51] | 131 | DataPlot1D *NmeaGps::NPlot(void) const {
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[15] | 132 | if ((NMEAFlags & GGA) != 0) {
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[55] | 133 | return nPlot;
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[15] | 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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[3] | 138 | }
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| 139 |
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[51] | 140 | DataPlot1D *NmeaGps::UPlot(void) const {
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[15] | 141 | if ((NMEAFlags & GGA) != 0) {
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[55] | 142 | return uPlot;
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[15] | 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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[3] | 147 | }
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| 148 |
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[51] | 149 | DataPlot1D *NmeaGps::VEPlot(void) const {
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[15] | 150 | if ((NMEAFlags & VTG) != 0) {
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[55] | 151 | return vePlot;
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[15] | 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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[3] | 156 | }
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| 157 |
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[51] | 158 | DataPlot1D *NmeaGps::VNPlot(void) const {
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[15] | 159 | if ((NMEAFlags & VTG) != 0) {
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[55] | 160 | return vnPlot;
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[15] | 161 | } else {
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| 162 | Err("GGA sentence not requested\n");
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| 163 | return NULL;
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| 164 | }
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[3] | 165 | }
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| 166 |
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[55] | 167 | Layout *NmeaGps::GetLayout(void) const { return sensorTab; }
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[3] | 168 |
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[55] | 169 | Tab *NmeaGps::GetPlotTab(void) const { return plotTab; }
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[3] | 170 |
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[51] | 171 | TabWidget *NmeaGps::GetTab(void) const { return tab; }
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[3] | 172 |
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[55] | 173 | void NmeaGps::SetRef(void) { takeRef = true; }
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[3] | 174 |
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[51] | 175 | void NmeaGps::GetEnu(Vector3D *point) {
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| 176 | gpsData->GetMutex();
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| 177 | gpsData->GetEnu(point->x,point->y,point->z);
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| 178 | gpsData->ReleaseMutex();
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[3] | 179 | }
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| 180 |
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[51] | 181 | void NmeaGps::parseFrame(const char *frame, int frame_size) {
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[3] | 182 |
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[15] | 183 | int result;
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[3] | 184 |
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[15] | 185 | result = nmea_parse(&parser, frame, frame_size, &info);
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| 186 | if (result != 1) {
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[42] | 187 | Warn("unrecognized nmea sentence: %s\n",frame);
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[67] | 188 | return;
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[15] | 189 | }
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| 190 |
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| 191 | result = nmea_parse_GPGGA(frame, frame_size, &pack);
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| 192 |
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| 193 | if (result == 1) {
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[51] | 194 | nmea_info2pos(&info, &pos);
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[15] | 195 | // Printf("%s\n",frame);
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[51] | 196 | // 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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| 197 | //Printf("lat:%f long:%f\n",pos.lat,pos.lon);
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| 198 |
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| 199 | gpsData->GetMutex(); // on utilise le mutex de gpsData pour fix et nb_sat
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| 200 | if (gpsData->GetFixQuality() != (GpsData::FixQuality_t)pack.sig) {
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| 201 | gpsData->SetFixQuality((GpsData::FixQuality_t)pack.sig);
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[55] | 202 | fixLabel->SetText("fix: %i", pack.sig);
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[3] | 203 | }
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[51] | 204 | if (gpsData->GetNumberOfSatellites() != pack.satinuse) {
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| 205 | gpsData->SetNumberOfSatellites(pack.satinuse) ;
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[55] | 206 | nbSatLabel->SetText("nb_sat: %i", pack.satinuse);
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[15] | 207 | }
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[51] | 208 | gpsData->ReleaseMutex();
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[3] | 209 |
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[51] | 210 | gpsData->SetLla(Euler::ToDegree(pos.lat), Euler::ToDegree(pos.lon),info.elv);
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[15] | 211 | position->SetCoordinates(Euler::ToDegree(pos.lat), Euler::ToDegree(pos.lon),
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| 212 | info.elv);
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[3] | 213 |
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[55] | 214 | if ((info.sig == 2 && altRef == 0) || buttonRef->Clicked() == true ||
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| 215 | takeRef == true) {
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[15] | 216 | Printf("prise pos ref\n");
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[55] | 217 | latRef = pos.lat;
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| 218 | longRef = pos.lon;
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| 219 | altRef = info.elv;
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| 220 | takeRef = false;
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[15] | 221 | }
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| 222 | // if(alt_ref!=0)
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[3] | 223 | {
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[15] | 224 | double x, y, z;
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| 225 | double e, n, u;
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| 226 | Geographique_2_ECEF(pos.lon, pos.lat, info.elv, x, y, z);
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[55] | 227 | ECEF_2_ENU(x, y, z, e, n, u, longRef, latRef, altRef);
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[15] | 228 | // Printf("lon:%f lat:%f elv:%f\n",pos.lon,pos.lat,info.elv);
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[3] | 229 |
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[51] | 230 | gpsData->SetEnu(e,n,u);
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[3] | 231 |
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[15] | 232 | if ((NMEAFlags & VTG) != 0) {
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[51] | 233 | gpsData->SetVelocity(info.speed * 1000. / 3600. * sin(Euler::ToRadian(info.direction)),
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| 234 | info.speed * 1000. / 3600. * cos(Euler::ToRadian(info.direction)));
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| 235 | }/*
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[15] | 236 | if ((NMEAFlags & GST) != 0) {
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| 237 | // Thread::Printf("dev_lon:%f dev_lat:%f
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| 238 | // dev_elv:%f\n",info.dev_lat,info.dev_lon,info.dev_elv);
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| 239 | output->SetValueNoMutex(index, 0, info.dev_lat);
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| 240 | output->SetValueNoMutex(index + 1, 0, info.dev_lon);
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| 241 | output->SetValueNoMutex(index + 2, 0, info.dev_elv);
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| 242 | index += 3;
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[51] | 243 | }*/
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[3] | 244 |
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[51] | 245 |
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| 246 | gpsData->SetDataTime(GetTime());
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| 247 | ProcessUpdate(gpsData);
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[3] | 248 | }
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[15] | 249 | }
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[3] | 250 | }
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| 251 |
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| 252 | } // end namespace sensor
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| 253 | } // end namespace framewor
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