source: flair-src/trunk/lib/FlairSensorActuator/src/Novatel.cpp@ 164

Last change on this file since 164 was 157, checked in by Sanahuja Guillaume, 5 years ago

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2

File size: 2.1 KB
RevLine 
[3]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[3]4// %flair:license}
5// created: 2013/08/23
6// filename: Novatel.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: objet integrant le recepteur gps Novatel
14//
15//
16/*********************************************************************/
17
18#include "Novatel.h"
19#include <SerialPort.h>
20#include <FrameworkManager.h>
21#include <string.h>
22
23using std::string;
24using namespace flair::core;
25
[15]26namespace flair {
27namespace sensor {
[3]28
[137]29Novatel::Novatel(string name,
[51]30 SerialPort *serialport, NmeaGps::NMEAFlags_t NMEAFlags,
[15]31 uint8_t priority)
[137]32 : NmeaGps(name, NMEAFlags), Thread(getFrameworkManager(), name, priority) {
[15]33 this->serialport = serialport;
[157]34
35 SetIsReady(true);
[3]36}
37
[15]38Novatel::~Novatel() {
39 SafeStop();
40 Join();
[3]41}
42
[15]43void Novatel::Run(void) {
44 char response[200] = {0};
45 int size;
46 ssize_t written;
[3]47
[15]48 WarnUponSwitches(true);
[3]49
[15]50 char to_send[] = "log gpggalong ontime 0.05\n";
51 written = serialport->Write(to_send, sizeof(to_send));
52 if (written < 0) {
53 Thread::Err("erreur write (%s)\n", strerror(-written));
54 }
55 char to_send2[] = "log gpvtg ontime 0.05\n";
56 written = serialport->Write(to_send2, sizeof(to_send2));
57 if (written < 0) {
58 Thread::Err("erreur write (%s)\n", strerror(-written));
59 }
[3]60
[15]61 Sync();
[3]62
[15]63 while (!ToBeStopped()) {
64 size = 0;
65 while (1) {
66 // ssize_t read = rt_dev_read(uart_fd, &response[size],1);
67 ssize_t Read = serialport->Read(&response[size], 1);
68 if (Read < 0) {
69 Thread::Err("erreur Read (%s)\n", strerror(-Read));
70 }
71 if (response[size] == 0x0a)
72 break;
73 size++;
[3]74 }
[15]75 size++;
76 parseFrame(response, size);
77 }
[3]78
[15]79 WarnUponSwitches(false);
[3]80}
81
[15]82void Novatel::Sync(void) {
83 char data = 0;
84 ssize_t Read = 0;
[3]85
[15]86 // attente fin trame
87 while (data != 0x0a) {
88 Read = serialport->Read(&data, 1);
89 if (Read < 0) {
90 Thread::Err("erreur Read (%s)\n", strerror(-Read));
[3]91 }
[15]92 }
[3]93}
94
95} // end namespace sensor
96} // end namespace framewor
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