source: flair-src/trunk/lib/FlairSensorActuator/src/SimuGps.cpp@ 157

Last change on this file since 157 was 157, checked in by Sanahuja Guillaume, 5 years ago

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2

File size: 4.4 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2014/05/26
6// filename: SimuGps.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Class for a simulation GPS
14//
15//
16/*********************************************************************/
17
18#include "SimuGps.h"
19#include <FrameworkManager.h>
20#include <GeoCoordinate.h>
21#include <GpsData.h>
22#include <SharedMem.h>
23#include <SpinBox.h>
24#include <DoubleSpinBox.h>
25#include <GroupBox.h>
26#include <Euler.h>
27#include <cvmatrix.h>
28#include <sstream>
29#include "geodesie.h"
30
31using std::string;
32using std::ostringstream;
33using namespace flair::core;
34using namespace flair::gui;
35using namespace Geodesie;
36
37namespace flair {
38namespace sensor {
39
40SimuGps::SimuGps(string name,
41 NmeaGps::NMEAFlags_t NMEAFlags, uint32_t deviceId,uint8_t priority)
42 : NmeaGps(name, NMEAFlags),Thread(getFrameworkManager(), name, priority) {
43
44 dataRate = new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 500, 1, 200);
45 latitudeRef = new DoubleSpinBox(GetGroupBox()->NewRow(), "latitude ref", " deg", -90, 90, 1, 6,49.402313);
46 longitudeRef = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "longitude ref", " deg", -180, 180, 1, 6,2.795463);
47 altitudeRef= new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "altitude ref", " m", 0, 6000, 100, 1,0);
48 fixQuality = new SpinBox(GetGroupBox()->NewRow(), "fix quality", 1, 8, 1, 1);
49 numberOfSatellites = new SpinBox(GetGroupBox()->NewRow(), "number of satellites", 1, 15, 1, 5);
50
51 ostringstream dev_name;
52 dev_name << "simu_gps_" << deviceId;
53 shmem = new SharedMem((Thread *)this, dev_name.str().c_str(),
54 sizeof(gps_states_t));
55
56 SetIsReady(true);
57}
58
59
60SimuGps::SimuGps(const IODevice *parent, string name, uint32_t deviceId)
61 : NmeaGps(parent, name), Thread(parent, name, 0) {
62 dataRate = NULL;
63
64 ostringstream dev_name;
65 dev_name << "simu_gps_" << deviceId;
66 shmem = new SharedMem((Thread *)this, dev_name.str().c_str(),
67 sizeof(gps_states_t));
68
69 SetIsReady(true);
70}
71
72SimuGps::~SimuGps() {
73 SafeStop();
74 Join();
75}
76
77void SimuGps::UpdateFrom(const io_data *data) {
78 if (data != NULL) {
79 cvmatrix *input = (cvmatrix *)data;
80 gps_states_t state;
81
82 input->GetMutex();
83 //simulator is ned, convert it to enu
84 //TODO: put simulator in enu?
85 state.e = input->ValueNoMutex(5, 0);//y simulator
86 state.n = input->ValueNoMutex(4, 0);//x simulator
87 state.u = -input->ValueNoMutex(6, 0);//z simulator
88 state.ve = input->ValueNoMutex(11, 0);//vy simulator
89 state.vn = input->ValueNoMutex(10, 0);//vx simulator
90 input->ReleaseMutex();
91
92 shmem->Write((char *)&state, sizeof(gps_states_t));
93 }
94}
95
96void SimuGps::Run(void) {
97 gps_states_t state;
98 char buf[512];
99 nmeaGPGGA gga;
100 nmeaGPVTG vtg;
101 nmeaPOS pos;
102 nmeaINFO info;
103
104 vtg.dir_t='T';
105 vtg.dec_m='M';
106 vtg.spk_k='K';
107 vtg.spn_n='N';
108
109 if (dataRate == NULL) {
110 Thread::Err("not applicable for simulation part.\n");
111 return;
112 }
113
114 SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
115
116 WarnUponSwitches(true);
117
118
119 while (!ToBeStopped()) {
120 WaitPeriod();
121
122 if (dataRate->ValueChanged() == true) {
123 SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
124 }
125
126 shmem->Read((char *)&state, sizeof(gps_states_t));
127
128 double x, y, z;
129 ENU_2_ECEF(state.e, state.n, state.u, x,y,z, Euler::ToRadian(longitudeRef->Value()), Euler::ToRadian(latitudeRef->Value()), altitudeRef->Value());
130 ECEF_2_Geographique( x, y, z,pos.lon, pos.lat, gga.elv);
131 nmea_pos2info(&pos,&info);
132
133 if(pos.lat>0) {
134 gga.ns='N';
135 gga.lat=info.lat;
136 } else {
137 gga.ns='S';
138 gga.lat=-info.lat;
139 }
140 if(pos.lon>0) {
141 gga.ew='E';
142 gga.lon=info.lon;
143 } else {
144 gga.ew='W';
145 gga.lon=-info.lon;
146 }
147
148 gga.sig=fixQuality->Value();
149 gga.satinuse=numberOfSatellites->Value();
150
151 nmea_gen_GPGGA(buf,sizeof(buf),&gga);
152 parseFrame(buf,sizeof(buf));
153
154 vtg.dir=90-Euler::ToDegree(atan2f(state.vn,state.ve));
155 vtg.spk=sqrtf(state.ve*state.ve+state.vn*state.vn)*3600./1000.;
156 nmea_gen_GPVTG(buf,sizeof(buf),&vtg);
157 parseFrame(buf,sizeof(buf));
158 }
159
160 WarnUponSwitches(false);
161}
162
163} // end namespace sensor
164} // end namespace framewor
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