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