source: flair-src/trunk/lib/FlairSensorActuator/src/SimulatedGps.cpp

Last change on this file was 286, checked in by Sanahuja Guillaume, 3 years ago

draw vrpn axis in simulator

File size: 3.7 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: SimulatedGps.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#ifdef CORE2_64
18
19#include "SimulatedGps.h"
20#include <FrameworkManager.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 <Matrix.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
40SimulatedGps::SimulatedGps(string name,
41 NmeaGps::NMEAFlags_t NMEAFlags, uint32_t modelId,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 magneticDeclination= new DoubleSpinBox(GetGroupBox()->NewRow(), "magnetic declination", " deg", -180, 180, .1, 2,0);
51
52 shmem = new SharedMem((Thread *)this, ShMemName(modelId, deviceId),
53 sizeof(gps_states_t));
54
55 SetIsReady(true);
56}
57
58
59SimulatedGps::~SimulatedGps() {
60 SafeStop();
61 Join();
62}
63
64string SimulatedGps::ShMemName(uint32_t modelId,uint32_t deviceId) {
65 ostringstream dev_name;
66 dev_name << "simu" << modelId << "_gps_" << deviceId;
67 return dev_name.str().c_str();
68}
69
70void SimulatedGps::Run(void) {
71 gps_states_t state;
72 char buf[512];
73 nmeaGPGGA gga;
74 nmeaGPVTG vtg;
75 nmeaPOS pos;
76 nmeaINFO info;
77
78 vtg.dir_t='T';
79 vtg.dec_m='M';
80 vtg.spk_k='K';
81 vtg.spn_n='N';
82 gga.elv_units='M';
83 gga.diff_units='M';
84
85 SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
86
87 WarnUponSwitches(true);
88
89
90 while (!ToBeStopped()) {
91 WaitPeriod();
92
93 if (dataRate->ValueChanged() == true) {
94 SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
95 }
96
97 shmem->Read((char *)&state, sizeof(gps_states_t));
98
99 double x, y, z;
100 ENU_2_ECEF(state.e, state.n, state.u, x,y,z, Euler::ToRadian(longitudeRef->Value()), Euler::ToRadian(latitudeRef->Value()), altitudeRef->Value());
101 ECEF_2_Geographique( x, y, z,pos.lon, pos.lat, gga.elv);
102 nmea_pos2info(&pos,&info);
103
104 if(pos.lat>0) {
105 gga.ns='N';
106 gga.lat=info.lat;
107 } else {
108 gga.ns='S';
109 gga.lat=-info.lat;
110 }
111 if(pos.lon>0) {
112 gga.ew='E';
113 gga.lon=info.lon;
114 } else {
115 gga.ew='W';
116 gga.lon=-info.lon;
117 }
118
119 gga.sig=fixQuality->Value();
120 gga.satinuse=numberOfSatellites->Value();
121
122 int size=nmea_gen_GPGGA(buf,sizeof(buf),&gga);
123 parseFrame(buf,size);
124
125 vtg.dir=90-Euler::ToDegree(atan2f(state.vn,state.ve));
126 vtg.spk=sqrtf(state.ve*state.ve+state.vn*state.vn)*3600./1000.;
127 size=nmea_gen_GPVTG(buf,sizeof(buf),&vtg);
128 parseFrame(buf,size);
129 }
130
131 WarnUponSwitches(false);
132}
133
134} // end namespace sensor
135} // end namespace flair
136
137#endif
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