[3] | 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 | // 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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| 26 | namespace flair
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| 27 | {
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| 28 | namespace sensor
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| 29 | {
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| 30 |
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| 31 | Novatel::Novatel(const FrameworkManager* parent,string name,SerialPort *serialport,Gps::NMEAFlags_t NMEAFlags,uint8_t priority) : Gps(parent,name,NMEAFlags), Thread(parent,name,priority)
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| 32 | {
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| 33 | this->serialport=serialport;
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| 34 | }
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| 35 |
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| 36 | Novatel::~Novatel()
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| 37 | {
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| 38 | SafeStop();
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| 39 | Join();
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| 40 | }
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| 41 |
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| 42 | void Novatel::Run(void)
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| 43 | {
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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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| 47 |
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| 48 | WarnUponSwitches(true);
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| 49 |
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| 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 | {
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| 54 | Thread::Err("erreur write (%s)\n",strerror(-written));
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| 55 | }
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| 56 | char to_send2[]="log gpvtg ontime 0.05\n";
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| 57 | written=serialport->Write(to_send2, sizeof(to_send2));
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| 58 | if(written<0)
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| 59 | {
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| 60 | Thread::Err("erreur write (%s)\n",strerror(-written));
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| 61 | }
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| 62 |
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| 63 | Sync();
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| 64 |
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| 65 | while(!ToBeStopped())
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| 66 | {
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| 67 | size=0;
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| 68 | while(1)
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| 69 | {
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| 70 | //ssize_t read = rt_dev_read(uart_fd, &response[size],1);
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| 71 | ssize_t Read = serialport->Read(&response[size],1);
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| 72 | if(Read<0)
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| 73 | {
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| 74 | Thread::Err("erreur Read (%s)\n",strerror(-Read));
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| 75 | }
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| 76 | if(response[size]==0x0a) break;
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| 77 | size++;
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| 78 | }
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| 79 | size++;
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| 80 | parseFrame(response, size);
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| 81 | }
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| 82 |
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| 83 | WarnUponSwitches(false);
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| 84 | }
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| 85 |
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| 86 | void Novatel::Sync(void)
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| 87 | {
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| 88 | char data=0;
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| 89 | ssize_t Read = 0;
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| 90 |
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| 91 | //attente fin trame
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| 92 | while(data!=0x0a)
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| 93 | {
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| 94 | Read = serialport->Read(&data,1);
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| 95 | if(Read<0)
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| 96 | {
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| 97 | Thread::Err("erreur Read (%s)\n",strerror(-Read));
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| 98 | }
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| 99 | }
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| 100 | }
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| 101 |
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| 102 | } // end namespace sensor
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| 103 | } // end namespace framewor
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