source: flair-src/trunk/lib/FlairSensorActuator/src/NmeaGps.cpp@ 67

Last change on this file since 67 was 67, checked in by Sanahuja Guillaume, 6 years ago

corrections bugs checkpoint map

File size: 7.1 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: 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(const FrameworkManager *parent, string name, NMEAFlags_t NMEAFlags)
44 : IODevice(parent, 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 /*
56 if ((NMEAFlags & GST) != 0) {
57 desc->SetElementName(index, 0, "dev_lat");
58 desc->SetElementName(index + 1, 0, "dev_lon");
59 desc->SetElementName(index + 2, 0, "dev_elv");
60 index += 3;
61 }
62 */
63
64 // station sol
65 mainTab = new Tab(parent->GetTabWidget(), name);
66 tab = new TabWidget(mainTab->NewRow(), name);
67 sensorTab = new Tab(tab, "Setup");
68 setupGroupbox = new GroupBox(sensorTab->NewRow(), name);
69 buttonRef = new PushButton(setupGroupbox->NewRow(), "set ref");
70 nbSatLabel = new Label(setupGroupbox->NewRow(), "nb_sat");
71 fixLabel = new Label(setupGroupbox->LastRowLastCol(), "fix");
72
73 position = new GeoCoordinate((IODevice *)this, "position", 0, 0, 0);
74
75 takeRef = false;
76
77 gpsData = new GpsData(this);
78 AddDataToLog(gpsData);
79
80 nbSatLabel->SetText("number of satellies: %i", gpsData->GetNumberOfSatellites());
81 fixLabel->SetText("fix quality: %i", gpsData->GetFixQuality());
82}
83
84NmeaGps::NmeaGps(const IODevice *parent, std::string name) : IODevice(parent, name) {
85 gpsData = new GpsData(this);
86 mainTab = NULL;
87 tab = NULL;
88 sensorTab = NULL;
89}
90
91NmeaGps::~NmeaGps() {
92 if (mainTab != NULL) {
93 nmea_parser_destroy(&parser);
94 delete mainTab;
95 }
96}
97
98GroupBox *NmeaGps::GetGroupBox(void) const { return setupGroupbox; }
99
100const GpsData *NmeaGps::GetDatas(void) const {
101 return gpsData;
102}
103
104void NmeaGps::GetDatas(core::GpsData **outGpsData) const {
105 *outGpsData = gpsData;
106}
107
108void NmeaGps::UseDefaultPlot(void) {
109 plotTab = new Tab(tab, "Mesures");
110
111 if ((NMEAFlags & GGA) != 0) {
112 ePlot = new DataPlot1D(plotTab->NewRow(), "e", -10, 10);
113 ePlot->AddCurve(gpsData->Element(GpsData::East));
114 nPlot = new DataPlot1D(plotTab->LastRowLastCol(), "n", -10, 10);
115 nPlot->AddCurve(gpsData->Element(GpsData::North));
116 uPlot = new DataPlot1D(plotTab->LastRowLastCol(), "u", -10, 10);
117 uPlot->AddCurve(gpsData->Element(GpsData::Up));
118 }
119 if ((NMEAFlags & VTG) != 0) {
120 vePlot = new DataPlot1D(plotTab->NewRow(), "ve", -10, 10);
121 vePlot->AddCurve(gpsData->Element(GpsData::EastVelocity));
122 vnPlot = new DataPlot1D(plotTab->LastRowLastCol(), "vn", -10, 10);
123 vnPlot->AddCurve(gpsData->Element(GpsData::NorthVelocity));
124 }
125
126 Tab *map_tab = new Tab(tab, "carte");
127 map = new Map(map_tab->NewRow(), "map");
128 map->AddPoint(position, "drone");
129}
130
131DataPlot1D *NmeaGps::EPlot(void) const {
132 if ((NMEAFlags & GGA) != 0) {
133 return ePlot;
134 } else {
135 Err("GGA sentence not requested\n");
136 return NULL;
137 }
138}
139
140DataPlot1D *NmeaGps::NPlot(void) const {
141 if ((NMEAFlags & GGA) != 0) {
142 return nPlot;
143 } else {
144 Err("GGA sentence not requested\n");
145 return NULL;
146 }
147}
148
149DataPlot1D *NmeaGps::UPlot(void) const {
150 if ((NMEAFlags & GGA) != 0) {
151 return uPlot;
152 } else {
153 Err("GGA sentence not requested\n");
154 return NULL;
155 }
156}
157
158DataPlot1D *NmeaGps::VEPlot(void) const {
159 if ((NMEAFlags & VTG) != 0) {
160 return vePlot;
161 } else {
162 Err("GGA sentence not requested\n");
163 return NULL;
164 }
165}
166
167DataPlot1D *NmeaGps::VNPlot(void) const {
168 if ((NMEAFlags & VTG) != 0) {
169 return vnPlot;
170 } else {
171 Err("GGA sentence not requested\n");
172 return NULL;
173 }
174}
175
176Layout *NmeaGps::GetLayout(void) const { return sensorTab; }
177
178Tab *NmeaGps::GetPlotTab(void) const { return plotTab; }
179
180TabWidget *NmeaGps::GetTab(void) const { return tab; }
181
182void NmeaGps::SetRef(void) { takeRef = true; }
183
184void NmeaGps::GetEnu(Vector3D *point) {
185 gpsData->GetMutex();
186 gpsData->GetEnu(point->x,point->y,point->z);
187 gpsData->ReleaseMutex();
188}
189
190void NmeaGps::parseFrame(const char *frame, int frame_size) {
191
192 int result;
193
194 result = nmea_parse(&parser, frame, frame_size, &info);
195 if (result != 1) {
196 Warn("unrecognized nmea sentence: %s\n",frame);
197 return;
198 }
199
200 result = nmea_parse_GPGGA(frame, frame_size, &pack);
201
202 if (result == 1) {
203 nmea_info2pos(&info, &pos);
204 // Printf("%s\n",frame);
205 // 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);
206//Printf("lat:%f long:%f\n",pos.lat,pos.lon);
207
208 gpsData->GetMutex(); // on utilise le mutex de gpsData pour fix et nb_sat
209 if (gpsData->GetFixQuality() != (GpsData::FixQuality_t)pack.sig) {
210 gpsData->SetFixQuality((GpsData::FixQuality_t)pack.sig);
211 fixLabel->SetText("fix: %i", pack.sig);
212 }
213 if (gpsData->GetNumberOfSatellites() != pack.satinuse) {
214 gpsData->SetNumberOfSatellites(pack.satinuse) ;
215 nbSatLabel->SetText("nb_sat: %i", pack.satinuse);
216 }
217 gpsData->ReleaseMutex();
218
219 gpsData->SetLla(Euler::ToDegree(pos.lat), Euler::ToDegree(pos.lon),info.elv);
220 position->SetCoordinates(Euler::ToDegree(pos.lat), Euler::ToDegree(pos.lon),
221 info.elv);
222
223 if ((info.sig == 2 && altRef == 0) || buttonRef->Clicked() == true ||
224 takeRef == true) {
225 Printf("prise pos ref\n");
226 latRef = pos.lat;
227 longRef = pos.lon;
228 altRef = info.elv;
229 takeRef = false;
230 }
231 // if(alt_ref!=0)
232 {
233 double x, y, z;
234 double e, n, u;
235 Geographique_2_ECEF(pos.lon, pos.lat, info.elv, x, y, z);
236 ECEF_2_ENU(x, y, z, e, n, u, longRef, latRef, altRef);
237 // Printf("lon:%f lat:%f elv:%f\n",pos.lon,pos.lat,info.elv);
238
239 gpsData->SetEnu(e,n,u);
240
241 if ((NMEAFlags & VTG) != 0) {
242 gpsData->SetVelocity(info.speed * 1000. / 3600. * sin(Euler::ToRadian(info.direction)),
243 info.speed * 1000. / 3600. * cos(Euler::ToRadian(info.direction)));
244 }/*
245 if ((NMEAFlags & GST) != 0) {
246 // Thread::Printf("dev_lon:%f dev_lat:%f
247 // dev_elv:%f\n",info.dev_lat,info.dev_lon,info.dev_elv);
248 output->SetValueNoMutex(index, 0, info.dev_lat);
249 output->SetValueNoMutex(index + 1, 0, info.dev_lon);
250 output->SetValueNoMutex(index + 2, 0, info.dev_elv);
251 index += 3;
252 }*/
253
254
255 gpsData->SetDataTime(GetTime());
256 ProcessUpdate(gpsData);
257 }
258 }
259}
260
261} // end namespace sensor
262} // end namespace framewor
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