[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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[268] | 17 | #ifdef ARMV7A
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[3] | 18 |
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| 19 | #include "Novatel.h"
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| 20 | #include <SerialPort.h>
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| 21 | #include <FrameworkManager.h>
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| 22 | #include <string.h>
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| 23 |
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| 24 | using std::string;
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| 25 | using namespace flair::core;
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| 26 |
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[15] | 27 | namespace flair {
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| 28 | namespace sensor {
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[3] | 29 |
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[137] | 30 | Novatel::Novatel(string name,
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[51] | 31 | SerialPort *serialport, NmeaGps::NMEAFlags_t NMEAFlags,
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[15] | 32 | uint8_t priority)
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[137] | 33 | : NmeaGps(name, NMEAFlags), Thread(getFrameworkManager(), name, priority) {
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[15] | 34 | this->serialport = serialport;
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[157] | 35 |
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| 36 | SetIsReady(true);
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[3] | 37 | }
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| 38 |
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[15] | 39 | Novatel::~Novatel() {
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| 40 | SafeStop();
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| 41 | Join();
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[3] | 42 | }
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| 43 |
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[15] | 44 | void Novatel::Run(void) {
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| 45 | ssize_t written;
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[3] | 46 |
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[15] | 47 | WarnUponSwitches(true);
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[3] | 48 |
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[15] | 49 | char to_send[] = "log gpggalong ontime 0.05\n";
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| 50 | written = serialport->Write(to_send, sizeof(to_send));
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| 51 | if (written < 0) {
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| 52 | Thread::Err("erreur write (%s)\n", strerror(-written));
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| 53 | }
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| 54 | char to_send2[] = "log gpvtg ontime 0.05\n";
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| 55 | written = serialport->Write(to_send2, sizeof(to_send2));
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| 56 | if (written < 0) {
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| 57 | Thread::Err("erreur write (%s)\n", strerror(-written));
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| 58 | }
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[3] | 59 |
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[15] | 60 | Sync();
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[3] | 61 |
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[15] | 62 | while (!ToBeStopped()) {
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[196] | 63 | char response[1024] = {0};
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| 64 | int size = 0;
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| 65 | while (!ToBeStopped()) {
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| 66 | ssize_t read = serialport->Read(&response[size], 1);
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| 67 | if (read < 0) {
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| 68 | Thread::Err("erreur Read (%s)\n", strerror(-read));
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[15] | 69 | }
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[196] | 70 |
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| 71 | if (response[size] == 0x0a ) break;
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[15] | 72 | size++;
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[196] | 73 | if (size==sizeof(response)) break;
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[3] | 74 | }
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[196] | 75 | if (size!=sizeof(response)) {
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| 76 | size++;
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| 77 | parseFrame(response, size);
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| 78 | } else {
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| 79 | Thread::Warn("frame too long for buffer\n");
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| 80 | }
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[15] | 81 | }
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[3] | 82 |
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[15] | 83 | WarnUponSwitches(false);
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[3] | 84 | }
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| 85 |
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[15] | 86 | void Novatel::Sync(void) {
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| 87 | char data = 0;
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| 88 | ssize_t Read = 0;
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[3] | 89 |
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[15] | 90 | // attente fin trame
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| 91 | while (data != 0x0a) {
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| 92 | Read = serialport->Read(&data, 1);
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| 93 | if (Read < 0) {
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| 94 | Thread::Err("erreur Read (%s)\n", strerror(-Read));
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[3] | 95 | }
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[15] | 96 | }
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[3] | 97 | }
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| 98 |
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| 99 | } // end namespace sensor
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[170] | 100 | } // end namespace flair
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[268] | 101 |
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| 102 | #endif |
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