source: flair-src/trunk/lib/FlairSensorActuator/src/NmeaGps.h @ 164

Last change on this file since 164 was 137, checked in by Sanahuja Guillaume, 5 years ago

singleton manager

File size: 3.9 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/*!
6 * \file NmeaGps.h
7 * \brief Base class for GPS using NMEA sentances
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2013/08/23
10 * \version 4.0
11 */
12
13#ifndef NMEAGPS_H
14#define NMEAGPS_H
15
16#include <IODevice.h>
17#include <nmea/nmea.h>
18
19namespace flair {
20  namespace core {
21    class FrameworkManager;
22    class GeoCoordinate;
23    class Vector3D;
24    class GpsData;
25  }
26  namespace gui {
27    class Layout;
28    class DataPlot1D;
29    class Tab;
30    class TabWidget;
31    class PushButton;
32    class Map;
33    class Label;
34    class GroupBox;
35  }
36}
37
38namespace flair {
39namespace sensor {
40
41/*! \class NmeaGps
42*
43* \brief Base class for GPS using NMEA sentances
44*/
45class NmeaGps : public core::IODevice {
46public:
47  /*!
48  \enum NMEAFlags_t
49  \brief NMEA flags
50  */
51  enum NMEAFlags_t {
52    GGA = 0x01, /*!< GGA */
53    VTG = 0x02, /*!< VTG */
54    GST = 0x04, /*!< GST */
55  };
56
57  /*!
58  * \brief Constructor
59  *
60  * Construct a NmeaGps.
61  *     It will be child of the FrameworkManager.
62        *
63  * \param name name
64  * \param NMEAFlags NMEA sentances to enable
65  */
66  NmeaGps(std::string name,
67      NMEAFlags_t NMEAFlags);
68
69  /*!
70  * \brief Constructor
71  *
72  * Construct a NmeaGps. \n
73  * This contructor must only be called for a simulated device.
74  *
75  * \param parent parent
76  * \param name name
77  */
78  NmeaGps(const core::IODevice *parent, std::string name);
79
80  /*!
81  * \brief Destructor
82  *
83  */
84  ~NmeaGps();
85
86  /*!
87  * \brief Get GPS datas
88  *
89  * \return GpsData
90  */
91  const core::GpsData *GetDatas(void) const;
92
93  /*!
94  * \brief Use default plot
95  *
96  */
97  void UseDefaultPlot(void);
98
99  /*!
100  * \brief East plot
101  *
102  * \return east plot
103  */
104  gui::DataPlot1D *EPlot(void) const;
105
106  /*!
107  * \brief North plot
108  *
109  * \return north plot
110  */
111  gui::DataPlot1D *NPlot(void) const;
112
113  /*!
114  * \brief Up plot
115  *
116  * \return up plot
117  */
118  gui::DataPlot1D *UPlot(void) const;
119
120  /*!
121  * \brief East velocity plot
122  *
123  * \return east velocity plot
124  */
125  gui::DataPlot1D *VEPlot(void) const;
126
127  /*!
128  * \brief North velocity plot
129  *
130  * \return north velocity plot
131  */
132  gui::DataPlot1D *VNPlot(void) const;
133
134  /*!
135  * \brief Main tab
136  *
137  * \return main tab
138  */
139  gui::TabWidget *GetTab(void) const;
140
141  /*!
142  * \brief Setup Layout
143  *
144  * \return setup Layout
145  */
146  gui::Layout *GetLayout(void) const;
147
148  /*!
149  * \brief Plot tab
150  *
151  * \return plot Tab
152  */
153  gui::Tab *GetPlotTab(void) const;
154
155  /*!
156  * \brief Set reference for ENU coordinates
157  *
158  * The actual position is used as reference to calculate
159  * ENU coordinates.
160  *
161  * \return fix quality
162  */
163  void SetRef(void);
164
165  /*!
166  * \brief Get ENU position
167  *
168  * \param point to store position
169  */
170  void GetEnu(core::Vector3D *point);
171
172protected:
173  /*!
174  * \brief Parse a NMEA frame
175  *
176  * This function must be called by the reimplemented class. \n
177  * When a frame is parsed, GPS datas are filled.
178  *
179  * \param frame NMEA frame
180  * \param frame_size frame size
181  *
182  */
183  void parseFrame(const char *frame, int frame_size);
184
185  NMEAFlags_t NMEAFlags;
186
187  /*!
188  * \brief Get GPS datas
189  *
190  * \param gpsData GPS datas
191  */
192  void GetDatas(core::GpsData **gpsData) const;
193
194  /*!
195  * \brief Setup GroupBox
196  *
197  * \return setup GroupBox
198  */
199  gui::GroupBox *GetGroupBox(void) const;
200
201private:
202  gui::Tab *mainTab, *sensorTab;
203  gui::TabWidget *tab;
204  gui::GroupBox *setupGroupbox;
205  gui::PushButton *buttonRef;
206  gui::DataPlot1D *ePlot;
207  gui::DataPlot1D *nPlot;
208  gui::DataPlot1D *uPlot;
209  gui::DataPlot1D *vePlot;
210  gui::DataPlot1D *vnPlot;
211  gui::Tab *plotTab;
212  gui::Map *map;
213  gui::Label *nbSatLabel, *fixLabel;
214  core::GeoCoordinate *position;
215  bool takeRef;
216  nmeaINFO info;
217  nmeaPARSER parser;
218  nmeaGPGGA pack;
219  nmeaPOS pos;
220  double latRef, longRef, altRef;
221  core::GpsData* gpsData;
222};
223} // end namespace sensor
224} // end namespace framewor
225#endif // NMEAGPS_H
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