source: flair-src/trunk/lib/FlairSensorActuator/src/NmeaGps.cpp@ 214

Last change on this file since 214 was 214, checked in by Sanahuja Guillaume, 4 years ago

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File size: 6.8 KB
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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: NmeaGps.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Base class for GPS using NMEA sentances
14//
15//
16/*********************************************************************/
17
18#include "NmeaGps.h"
19#include "geodesie.h"
20#include <Euler.h>
21#include <DataPlot1D.h>
22#include <Tab.h>
23#include <TabWidget.h>
24#include <GridLayout.h>
25#include <GroupBox.h>
26#include <PushButton.h>
27#include <FrameworkManager.h>
28#include <Map.h>
29#include <GeoCoordinate.h>
30#include <Vector3D.h>
31#include <Label.h>
32#include <GpsData.h>
33#include <string.h>
34
35using std::string;
36using namespace Geodesie;
37using namespace flair::core;
38using namespace flair::gui;
39
40namespace flair {
41namespace sensor {
42
43NmeaGps::NmeaGps(string name, NMEAFlags_t NMEAFlags)
44 : IODevice(getFrameworkManager(), name) {
45 this->NMEAFlags = NMEAFlags;
46
47 nmea_zero_INFO(&info);
48 nmea_parser_init(&parser);
49 altRef = 0;
50
51 if ((NMEAFlags & GGA) == 0) {
52 Err("Enable at least the GGA sentence\n");
53 }
54
55 // station sol
56 mainTab = new Tab(getFrameworkManager()->GetTabWidget(), name);
57 tab = new TabWidget(mainTab->NewRow(), name);
58 sensorTab = new Tab(tab, "Setup");
59 setupGroupbox = new GroupBox(sensorTab->NewRow(), name);
60 buttonRef = new PushButton(setupGroupbox->NewRow(), "set ref");
61 nbSatLabel = new Label(setupGroupbox->NewRow(), "nb_sat");
62 fixLabel = new Label(setupGroupbox->LastRowLastCol(), "fix");
63
64 position = new GeoCoordinate((IODevice *)this, "position", 0, 0, 0);
65
66 takeRef = false;
67
68 gpsData = new GpsData(this);
69 AddDataToLog(gpsData);
70
71 nbSatLabel->SetText("number of satellies: %i", gpsData->GetNumberOfSatellites());
72 fixLabel->SetText("fix quality: %i", gpsData->GetFixQuality());
73}
74
75NmeaGps::NmeaGps(const IODevice *parent, std::string name) : IODevice(parent, name) {
76 gpsData = new GpsData(this);
77 mainTab = NULL;
78 tab = NULL;
79 sensorTab = NULL;
80}
81
82NmeaGps::~NmeaGps() {
83 if (mainTab != NULL) {
84 nmea_parser_destroy(&parser);
85 delete mainTab;
86 }
87}
88
89GroupBox *NmeaGps::GetGroupBox(void) const { return setupGroupbox; }
90
91const GpsData *NmeaGps::GetDatas(void) const {
92 return gpsData;
93}
94
95void NmeaGps::GetDatas(core::GpsData **outGpsData) const {
96 *outGpsData = gpsData;
97}
98
99void NmeaGps::UseDefaultPlot(void) {
100 plotTab = new Tab(tab, "Mesures");
101
102 if ((NMEAFlags & GGA) != 0) {
103 ePlot = new DataPlot1D(plotTab->NewRow(), "e", -10, 10);
104 ePlot->AddCurve(gpsData->Element(GpsData::East));
105 nPlot = new DataPlot1D(plotTab->LastRowLastCol(), "n", -10, 10);
106 nPlot->AddCurve(gpsData->Element(GpsData::North));
107 uPlot = new DataPlot1D(plotTab->LastRowLastCol(), "u", -10, 10);
108 uPlot->AddCurve(gpsData->Element(GpsData::Up));
109 }
110 if ((NMEAFlags & VTG) != 0) {
111 vePlot = new DataPlot1D(plotTab->NewRow(), "ve", -10, 10);
112 vePlot->AddCurve(gpsData->Element(GpsData::EastVelocity));
113 vnPlot = new DataPlot1D(plotTab->LastRowLastCol(), "vn", -10, 10);
114 vnPlot->AddCurve(gpsData->Element(GpsData::NorthVelocity));
115 }
116
117 Tab *map_tab = new Tab(tab, "carte");
118 map = new Map(map_tab->NewRow(), "map");
119 map->AddPoint(position, "drone");
120}
121
122DataPlot1D *NmeaGps::EPlot(void) const {
123 if ((NMEAFlags & GGA) != 0) {
124 return ePlot;
125 } else {
126 Err("GGA sentence not requested\n");
127 return NULL;
128 }
129}
130
131DataPlot1D *NmeaGps::NPlot(void) const {
132 if ((NMEAFlags & GGA) != 0) {
133 return nPlot;
134 } else {
135 Err("GGA sentence not requested\n");
136 return NULL;
137 }
138}
139
140DataPlot1D *NmeaGps::UPlot(void) const {
141 if ((NMEAFlags & GGA) != 0) {
142 return uPlot;
143 } else {
144 Err("GGA sentence not requested\n");
145 return NULL;
146 }
147}
148
149DataPlot1D *NmeaGps::VEPlot(void) const {
150 if ((NMEAFlags & VTG) != 0) {
151 return vePlot;
152 } else {
153 Err("GGA sentence not requested\n");
154 return NULL;
155 }
156}
157
158DataPlot1D *NmeaGps::VNPlot(void) const {
159 if ((NMEAFlags & VTG) != 0) {
160 return vnPlot;
161 } else {
162 Err("GGA sentence not requested\n");
163 return NULL;
164 }
165}
166
167Layout *NmeaGps::GetLayout(void) const { return sensorTab; }
168
169Tab *NmeaGps::GetPlotTab(void) const { return plotTab; }
170
171TabWidget *NmeaGps::GetTab(void) const { return tab; }
172
173void NmeaGps::SetRef(void) { takeRef = true; }
174
175void NmeaGps::parseFrame(const char *frame, int frame_size) {
176
177 int result;
178 result = nmea_parse(&parser, frame, frame_size, &info);
179
180 if (result != 1) {
181 Warn("unrecognized nmea sentence: %s\n",frame);
182 return;
183 }
184
185 result = nmea_parse_GPGGA(frame, frame_size, &pack);
186
187 if (result == 1) {
188 nmea_info2pos(&info, &pos);
189 // 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);
190//Printf("lat:%f long:%f\n",pos.lat,pos.lon);
191
192 gpsData->GetMutex(); // on utilise le mutex de gpsData pour fix et nb_sat
193 if (gpsData->GetFixQuality() != (GpsData::FixQuality_t)pack.sig) {
194 gpsData->SetFixQuality((GpsData::FixQuality_t)pack.sig);
195 fixLabel->SetText("fix: %i", pack.sig);
196 }
197 if (gpsData->GetNumberOfSatellites() != pack.satinuse) {
198 gpsData->SetNumberOfSatellites(pack.satinuse) ;
199 nbSatLabel->SetText("nb_sat: %i", pack.satinuse);
200 }
201 gpsData->ReleaseMutex();
202
203 gpsData->SetLla(Euler::ToDegree(pos.lat), Euler::ToDegree(pos.lon),info.elv);
204 position->SetCoordinates(Euler::ToDegree(pos.lat), Euler::ToDegree(pos.lon),
205 info.elv);
206
207 if ((info.sig == 2 && altRef == 0) || buttonRef->Clicked() == true ||
208 takeRef == true) {
209 Printf("prise pos ref\n");
210 latRef = pos.lat;
211 longRef = pos.lon;
212 altRef = info.elv;
213 takeRef = false;
214 }
215 // if(alt_ref!=0)
216 {
217 double x, y, z;
218 double e, n, u;
219 Geographique_2_ECEF(pos.lon, pos.lat, info.elv, x, y, z);
220 ECEF_2_ENU(x, y, z, e, n, u, longRef, latRef, altRef);
221 // Printf("lon:%f lat:%f elv:%f\n",pos.lon,pos.lat,info.elv);
222
223 gpsData->SetEnu(e,n,u);
224
225 if ((NMEAFlags & VTG) != 0) {
226 gpsData->SetVelocity(info.speed * 1000. / 3600. * sin(Euler::ToRadian(info.direction)),
227 info.speed * 1000. / 3600. * cos(Euler::ToRadian(info.direction)));
228 }
229 if ((NMEAFlags & GSA) != 0) {
230 gpsData->SetDop(info.PDOP,info.HDOP,info.VDOP);
231 }
232 /*
233 if ((NMEAFlags & GST) != 0) {
234 // Thread::Printf("dev_lon:%f dev_lat:%f
235 // dev_elv:%f\n",info.dev_lat,info.dev_lon,info.dev_elv);
236 output->SetValueNoMutex(index, 0, info.dev_lat);
237 output->SetValueNoMutex(index + 1, 0, info.dev_lon);
238 output->SetValueNoMutex(index + 2, 0, info.dev_elv);
239 index += 3;
240 }*/
241
242
243 gpsData->SetDataTime(GetTime());
244 ProcessUpdate(gpsData);
245 }
246 }
247}
248
249} // end namespace sensor
250} // end namespace flair
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