source: flair-src/trunk/lib/FlairSensorActuator/src/SimuGps.cpp@ 52

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2014/05/26
//  filename:   SimuGps.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Class for a simulation GPS
//
//
/*********************************************************************/

#include "SimuGps.h"
#include <FrameworkManager.h>
#include <string.h>
#include <GeoCoordinate.h>
#include <GpsData.h>

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

namespace flair {
namespace sensor {

SimuGps::SimuGps(const FrameworkManager *parent, string name,
                 NmeaGps::NMEAFlags_t NMEAFlags, uint8_t priority)
    : Thread(parent, name, priority), NmeaGps(parent, name, NMEAFlags) {}

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

void SimuGps::Run(void) {
  // double lat=0;
  char buf[500];
  nmeaGPGGA gga;
  nmeaGPVTG vtg;
  SetPeriodMS(500);
  WarnUponSwitches(true);

  gga.sig=1;
  gga.satinuse=2;
  gga.lat=49.402313;
  gga.lon=2.795463;

  vtg.spn=1;
  vtg.dir=0;

  while (!ToBeStopped()) {
    WaitPeriod();

    nmea_gen_GPGGA(buf,sizeof(buf),&gga);
    parseFrame(buf,sizeof(buf));
    position->SetCoordinates(49.402313, 2.795463, 0);
    //      lat+=.5;
  }

  WarnUponSwitches(false);
}

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