[3] | 1 | // %flair:license{
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[15] | 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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[3] | 4 | // %flair:license}
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| 5 | // created: 2013/08/23
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| 6 | // filename: Novatel.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: objet integrant le recepteur gps Novatel
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "Novatel.h"
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| 19 | #include <SerialPort.h>
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| 20 | #include <FrameworkManager.h>
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| 21 | #include <string.h>
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| 22 |
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| 23 | using std::string;
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| 24 | using namespace flair::core;
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| 25 |
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[15] | 26 | namespace flair {
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| 27 | namespace sensor {
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[3] | 28 |
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[137] | 29 | Novatel::Novatel(string name,
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[51] | 30 | SerialPort *serialport, NmeaGps::NMEAFlags_t NMEAFlags,
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[15] | 31 | uint8_t priority)
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[137] | 32 | : NmeaGps(name, NMEAFlags), Thread(getFrameworkManager(), name, priority) {
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[15] | 33 | this->serialport = serialport;
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[157] | 34 |
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| 35 | SetIsReady(true);
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[3] | 36 | }
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| 37 |
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[15] | 38 | Novatel::~Novatel() {
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| 39 | SafeStop();
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| 40 | Join();
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[3] | 41 | }
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| 42 |
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[15] | 43 | void Novatel::Run(void) {
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| 44 | char response[200] = {0};
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| 45 | int size;
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| 46 | ssize_t written;
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[3] | 47 |
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[15] | 48 | WarnUponSwitches(true);
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[3] | 49 |
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[15] | 50 | char to_send[] = "log gpggalong ontime 0.05\n";
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| 51 | written = serialport->Write(to_send, sizeof(to_send));
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| 52 | if (written < 0) {
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| 53 | Thread::Err("erreur write (%s)\n", strerror(-written));
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| 54 | }
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| 55 | char to_send2[] = "log gpvtg ontime 0.05\n";
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| 56 | written = serialport->Write(to_send2, sizeof(to_send2));
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| 57 | if (written < 0) {
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| 58 | Thread::Err("erreur write (%s)\n", strerror(-written));
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| 59 | }
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[3] | 60 |
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[15] | 61 | Sync();
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[3] | 62 |
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[15] | 63 | while (!ToBeStopped()) {
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| 64 | size = 0;
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| 65 | while (1) {
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| 66 | // ssize_t read = rt_dev_read(uart_fd, &response[size],1);
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| 67 | ssize_t Read = serialport->Read(&response[size], 1);
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| 68 | if (Read < 0) {
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| 69 | Thread::Err("erreur Read (%s)\n", strerror(-Read));
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| 70 | }
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| 71 | if (response[size] == 0x0a)
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| 72 | break;
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| 73 | size++;
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[3] | 74 | }
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[15] | 75 | size++;
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| 76 | parseFrame(response, size);
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| 77 | }
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[3] | 78 |
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[15] | 79 | WarnUponSwitches(false);
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[3] | 80 | }
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| 81 |
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[15] | 82 | void Novatel::Sync(void) {
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| 83 | char data = 0;
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| 84 | ssize_t Read = 0;
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[3] | 85 |
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[15] | 86 | // attente fin trame
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| 87 | while (data != 0x0a) {
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| 88 | Read = serialport->Read(&data, 1);
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| 89 | if (Read < 0) {
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| 90 | Thread::Err("erreur Read (%s)\n", strerror(-Read));
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[3] | 91 | }
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[15] | 92 | }
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[3] | 93 | }
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| 94 |
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| 95 | } // end namespace sensor
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[170] | 96 | } // end namespace flair
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