| 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 | /*!
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| 6 | * \file NmeaGps.h
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| 7 | * \brief Base class for GPS using NMEA sentances
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2013/08/23
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef NMEAGPS_H
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| 14 | #define NMEAGPS_H
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| 15 |
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| 16 | #include <IODevice.h>
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| 17 | #include <nmea/nmea.h>
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| 18 |
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| 19 | namespace flair {
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| 20 | namespace core {
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| 21 | class FrameworkManager;
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| 22 | class GeoCoordinate;
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| 23 | class Vector3D;
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| 24 | class GpsData;
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| 25 | }
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| 26 | namespace gui {
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| 27 | class Layout;
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| 28 | class DataPlot1D;
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| 29 | class Tab;
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| 30 | class TabWidget;
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| 31 | class PushButton;
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| 32 | class Map;
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| 33 | class Label;
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| 34 | }
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| 35 | }
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| 36 |
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| 37 | namespace flair {
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| 38 | namespace sensor {
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| 39 |
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| 40 | /*! \class NmeaGps
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| 41 | *
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| 42 | * \brief Base class for GPS using NMEA sentances
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| 43 | */
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| 44 | class NmeaGps : public core::IODevice {
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| 45 | public:
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| 46 | /*!
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| 47 | \enum NMEAFlags_t
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| 48 | \brief NMEA flags
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| 49 | */
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| 50 | enum NMEAFlags_t {
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| 51 | GGA = 0x01, /*!< GGA */
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| 52 | VTG = 0x02, /*!< VTG */
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| 53 | GST = 0x04, /*!< GST */
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| 54 | };
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| 55 |
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| 56 | /*!
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| 57 | * \brief Constructor
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| 58 | *
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| 59 | * Construct a NmeaGps.
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| 60 | *
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| 61 | * \param parent parent
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| 62 | * \param name name
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| 63 | * \param NMEAFlags NMEA sentances to enable
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| 64 | */
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| 65 | NmeaGps(const core::FrameworkManager *parent, std::string name,
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| 66 | NMEAFlags_t NMEAFlags);
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| 67 |
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| 68 | /*!
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| 69 | * \brief Destructor
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| 70 | *
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| 71 | */
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| 72 | ~NmeaGps();
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| 73 |
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| 74 | /*!
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| 75 | * \brief Get GPS datas
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| 76 | *
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| 77 | * \return GpsData
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| 78 | */
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| 79 | const core::GpsData *GetDatas(void) const;
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| 80 |
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| 81 | /*!
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| 82 | * \brief Use default plot
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| 83 | *
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| 84 | */
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| 85 | void UseDefaultPlot(void);
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| 86 |
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| 87 | /*!
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| 88 | * \brief East plot
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| 89 | *
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| 90 | * \return east plot
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| 91 | */
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| 92 | gui::DataPlot1D *EPlot(void) const;
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| 93 |
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| 94 | /*!
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| 95 | * \brief North plot
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| 96 | *
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| 97 | * \return north plot
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| 98 | */
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| 99 | gui::DataPlot1D *NPlot(void) const;
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| 100 |
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| 101 | /*!
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| 102 | * \brief Up plot
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| 103 | *
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| 104 | * \return up plot
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| 105 | */
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| 106 | gui::DataPlot1D *UPlot(void) const;
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| 107 |
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| 108 | /*!
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| 109 | * \brief East velocity plot
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| 110 | *
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| 111 | * \return east velocity plot
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| 112 | */
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| 113 | gui::DataPlot1D *VEPlot(void) const;
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| 114 |
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| 115 | /*!
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| 116 | * \brief North velocity plot
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| 117 | *
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| 118 | * \return north velocity plot
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| 119 | */
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| 120 | gui::DataPlot1D *VNPlot(void) const;
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| 121 |
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| 122 | /*!
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| 123 | * \brief Main tab
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| 124 | *
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| 125 | * \return main tab
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| 126 | */
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| 127 | gui::TabWidget *GetTab(void) const;
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| 128 |
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| 129 | /*!
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| 130 | * \brief Setup Layout
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| 131 | *
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| 132 | * \return setup Layout
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| 133 | */
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| 134 | gui::Layout *GetLayout(void) const;
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| 135 |
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| 136 | /*!
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| 137 | * \brief Plot tab
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| 138 | *
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| 139 | * \return plot Tab
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| 140 | */
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| 141 | gui::Tab *GetPlotTab(void) const;
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| 142 |
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| 143 | /*!
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| 144 | * \brief Set reference for ENU coordinates
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| 145 | *
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| 146 | * The actual position is used as reference to calculate
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| 147 | * ENU coordinates.
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| 148 | *
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| 149 | * \return fix quality
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| 150 | */
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| 151 | void SetRef(void);
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| 152 |
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| 153 | /*!
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| 154 | * \brief Get ENU position
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| 155 | *
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| 156 | * \param point to store position
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| 157 | */
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| 158 | void GetEnu(core::Vector3D *point);
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| 159 |
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| 160 | protected:
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| 161 | /*!
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| 162 | * \brief Parse a NMEA frame
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| 163 | *
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| 164 | * This function must be called by the reimplemented class. \n
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| 165 | * When a frame is parsed, GPS datas are filled.
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| 166 | *
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| 167 | * \param frame NMEA frame
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| 168 | * \param frame_size frame size
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| 169 | *
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| 170 | */
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| 171 | void parseFrame(const char *frame, int frame_size);
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| 172 |
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| 173 | NMEAFlags_t NMEAFlags;
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| 174 |
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| 175 | protected:
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| 176 | core::GeoCoordinate *position;
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| 177 |
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| 178 | /*!
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| 179 | * \brief Get GPS datas
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| 180 | *
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| 181 | * \param gpsData GPS datas
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| 182 | */
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| 183 | void GetDatas(core::GpsData **gpsData) const;
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| 184 |
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| 185 | private:
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| 186 | /*!
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| 187 | * \brief Update using provided datas
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| 188 | *
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| 189 | * Reimplemented from IODevice.
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| 190 | *
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| 191 | * \param data data from the parent to process
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| 192 | */
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| 193 | void UpdateFrom(const core::io_data *data){};
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| 194 |
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| 195 | gui::Tab *main_tab, *sensor_tab;
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| 196 | gui::TabWidget *tab;
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| 197 | gui::PushButton *button_ref;
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| 198 | gui::DataPlot1D *e_plot;
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| 199 | gui::DataPlot1D *n_plot;
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| 200 | gui::DataPlot1D *u_plot;
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| 201 | gui::DataPlot1D *ve_plot;
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| 202 | gui::DataPlot1D *vn_plot;
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| 203 | gui::Tab *plot_tab;
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| 204 | gui::Map *map;
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| 205 | gui::Label *nb_sat_label, *fix_label;
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| 206 | bool take_ref;
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| 207 | nmeaINFO info;
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| 208 | nmeaPARSER parser;
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| 209 | nmeaGPGGA pack;
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| 210 | nmeaPOS pos;
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| 211 | double lat_ref, long_ref, alt_ref;
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| 212 | core::GpsData* gpsData;
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| 213 | };
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| 214 | } // end namespace sensor
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| 215 | } // end namespace framewor
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| 216 | #endif // NMEAGPS_H
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