source: flair-src/trunk/lib/FlairSensorActuator/src/SimuGps.h@ 206

Last change on this file since 206 was 206, checked in by Sanahuja Guillaume, 7 years ago

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File size: 2.2 KB
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[3]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[3]4// %flair:license}
5/*!
6 * \file SimuGps.h
7 * \brief Class for a simulation GPS
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2013/08/23
10 * \version 4.0
11 */
12
13#ifndef SIMUGPS_H
14#define SIMUGPS_H
15
16#include <Thread.h>
[51]17#include <NmeaGps.h>
[3]18
[15]19namespace flair {
[55]20 namespace core {
21 class SharedMem;
22 }
23 namespace gui {
24 class SpinBox;
25 class DoubleSpinBox;
26 }
[3]27}
28
[15]29namespace flair {
30namespace sensor {
31/*! \class SimuGps
32*
33* \brief Class for a simulation GPS
34*/
[51]35class SimuGps : public core::Thread, public NmeaGps {
[15]36public:
37 /*!
38 * \brief Constructor
39 *
[55]40 * Construct a simulation GPS. Control part.
[137]41 * It will be child of the FrameworkManager.
42 *
[15]43 * \param name name
44 * \param NMEAFlags NMEA sentances to enable
[158]45 * \param modelId Model id
46 * \param deviceId Gps id of the Model
[15]47 * \param priority priority of the Thread
48 */
[137]49 SimuGps(std::string name,
[158]50 NmeaGps::NMEAFlags_t NMEAFlags, uint32_t modelId,uint32_t deviceId,uint8_t priority);
[3]51
[15]52 /*!
[55]53 * \brief Constructor
54 *
55 * Construct a simulation GPS. Simulation part.\n
56 * The Thread of this class should not be run.
57 *
58 * \param parent parent
59 * \param name name
[158]60 * \param modelId Model id
61 * \param deviceId Gps id of the Model
[55]62 */
[158]63 SimuGps(const core::IODevice *parent, std::string name, uint32_t modelId,uint32_t deviceId);
[55]64
65 /*!
[15]66 * \brief Destructor
67 *
68 */
69 ~SimuGps();
[3]70
[15]71private:
72 /*!
73 * \brief Update using provided datas
74 *
75 * Reimplemented from IODevice.
76 *
77 * \param data data from the parent to process
78 */
[55]79 void UpdateFrom(const core::io_data *data);
[3]80
[15]81 /*!
82 * \brief Run function
83 *
84 * Reimplemented from Thread.
85 *
86 */
87 void Run(void);
[55]88
89 typedef struct {
[68]90 float e;
91 float n;
92 float u;
93 float ve;
94 float vn;
[55]95 } gps_states_t;
[158]96
97 std::string ShMemName(uint32_t modelId,uint32_t deviceId);
[55]98
99 core::SharedMem *shmem;
100 gui::SpinBox *dataRate,*fixQuality,*numberOfSatellites;
[206]101 gui::DoubleSpinBox *latitudeRef,*longitudeRef,*altitudeRef,*magneticDeclination;
[15]102};
[3]103} // end namespace sensor
[170]104} // end namespace flair
[3]105#endif // SIMUGPS_H
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