// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2013/08/23
//  filename:   Novatel.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    objet integrant le recepteur gps Novatel
//
//
/*********************************************************************/

#include "Novatel.h"
#include <SerialPort.h>
#include <FrameworkManager.h>
#include <string.h>

using std::string;
using namespace flair::core;

namespace flair
{
namespace sensor
{

Novatel::Novatel(const FrameworkManager* parent,string name,SerialPort *serialport,Gps::NMEAFlags_t NMEAFlags,uint8_t priority) : Gps(parent,name,NMEAFlags), Thread(parent,name,priority)
{
    this->serialport=serialport;
}

Novatel::~Novatel()
{
    SafeStop();
    Join();
}

void Novatel::Run(void)
{
    char response[200] = {0};
    int size;
    ssize_t written;

    WarnUponSwitches(true);

    char to_send[]="log gpggalong ontime 0.05\n";
    written=serialport->Write(to_send, sizeof(to_send));
    if(written<0)
    {
        Thread::Err("erreur write (%s)\n",strerror(-written));
    }
    char to_send2[]="log gpvtg ontime 0.05\n";
    written=serialport->Write(to_send2, sizeof(to_send2));
    if(written<0)
    {
        Thread::Err("erreur write (%s)\n",strerror(-written));
    }

    Sync();

    while(!ToBeStopped())
    {
        size=0;
        while(1)
        {
            //ssize_t read = rt_dev_read(uart_fd, &response[size],1);
            ssize_t Read = serialport->Read(&response[size],1);
            if(Read<0)
            {
                Thread::Err("erreur Read (%s)\n",strerror(-Read));
            }
            if(response[size]==0x0a) break;
            size++;
        }
        size++;
        parseFrame(response, size);
    }

    WarnUponSwitches(false);
}

void Novatel::Sync(void)
{
    char data=0;
    ssize_t Read = 0;

    //attente fin trame
    while(data!=0x0a)
    {
        Read = serialport->Read(&data,1);
        if(Read<0)
        {
            Thread::Err("erreur Read (%s)\n",strerror(-Read));
        }
    }
}

} // end namespace sensor
} // end namespace framewor