source: flair-src/trunk/lib/FlairSensorActuator/src/SimuGps.cpp @ 51

Last change on this file since 51 was 51, checked in by Sanahuja Guillaume, 5 years ago

gps

File size: 1.4 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 <string.h>
21#include <GeoCoordinate.h>
22#include <GpsData.h>
23
24using std::string;
25using namespace flair::core;
26
27namespace flair {
28namespace sensor {
29
30SimuGps::SimuGps(const FrameworkManager *parent, string name,
31                 NmeaGps::NMEAFlags_t NMEAFlags, uint8_t priority)
32    : Thread(parent, name, priority), NmeaGps(parent, name, NMEAFlags) {}
33
34SimuGps::~SimuGps() {
35  SafeStop();
36  Join();
37}
38
39void SimuGps::Run(void) {
40  // double lat=0;
41  char buf[500];
42  nmeaGPGGA gga;
43  nmeaGPVTG vtg;
44  SetPeriodMS(500);
45  WarnUponSwitches(true);
46
47  gga.sig=1;
48  gga.satinuse=2;
49  gga.lat=49.402313;
50  gga.lon=2.795463;
51
52  vtg.spn=1;
53  vtg.dir=0;
54
55  while (!ToBeStopped()) {
56    WaitPeriod();
57
58    nmea_gen_GPGGA(buf,sizeof(buf),&gga);
59    parseFrame(buf,sizeof(buf));
60    position->SetCoordinates(49.402313, 2.795463, 0);
61    //      lat+=.5;
62  }
63
64  WarnUponSwitches(false);
65}
66
67} // end namespace sensor
68} // end namespace framewor
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