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[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: 2014/05/26
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| 6 | // filename: SimuGps.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: Class for a simulation GPS
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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 "SimuGps.h"
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| 19 | #include <FrameworkManager.h>
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| 20 | #include <string.h>
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| 21 | #include <GeoCoordinate.h>
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[51] | 22 | #include <GpsData.h>
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[3] | 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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[15] | 30 | SimuGps::SimuGps(const FrameworkManager *parent, string name,
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[51] | 31 | NmeaGps::NMEAFlags_t NMEAFlags, uint8_t priority)
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| 32 | : Thread(parent, name, priority), NmeaGps(parent, name, NMEAFlags) {}
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[3] | 33 |
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[15] | 34 | SimuGps::~SimuGps() {
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| 35 | SafeStop();
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| 36 | Join();
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[3] | 37 | }
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| 38 |
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[15] | 39 | void SimuGps::Run(void) {
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| 40 | // double lat=0;
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[51] | 41 | char buf[500];
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| 42 | nmeaGPGGA gga;
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| 43 | nmeaGPVTG vtg;
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[15] | 44 | SetPeriodMS(500);
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| 45 | WarnUponSwitches(true);
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[3] | 46 |
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[51] | 47 | gga.sig=1;
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| 48 | gga.satinuse=2;
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| 49 | gga.lat=49.402313;
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| 50 | gga.lon=2.795463;
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| 51 |
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| 52 | vtg.spn=1;
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| 53 | vtg.dir=0;
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| 54 |
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[15] | 55 | while (!ToBeStopped()) {
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| 56 | WaitPeriod();
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[51] | 57 |
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| 58 | nmea_gen_GPGGA(buf,sizeof(buf),&gga);
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| 59 | parseFrame(buf,sizeof(buf));
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[15] | 60 | position->SetCoordinates(49.402313, 2.795463, 0);
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| 61 | // lat+=.5;
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| 62 | }
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[3] | 63 |
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[15] | 64 | WarnUponSwitches(false);
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[3] | 65 | }
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| 66 |
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| 67 | } // end namespace sensor
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| 68 | } // end namespace framewor
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