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

// %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:   SimulatedGps.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Class for a simulation GPS
//
//
/*********************************************************************/
#ifdef CORE2_64

#include "SimulatedGps.h"
#include <FrameworkManager.h>
#include <GpsData.h>
#include <SharedMem.h>
#include <SpinBox.h>
#include <DoubleSpinBox.h>
#include <GroupBox.h>
#include <Euler.h>
#include <Matrix.h>
#include <sstream>
#include "geodesie.h"

using std::string;
using std::ostringstream;
using namespace flair::core;
using namespace flair::gui;
using namespace Geodesie;

namespace flair {
namespace sensor {

SimulatedGps::SimulatedGps(string name,
                 NmeaGps::NMEAFlags_t NMEAFlags, uint32_t modelId,uint32_t deviceId,uint8_t priority)
    : NmeaGps(name, NMEAFlags),Thread(getFrameworkManager(), name, priority) {

  dataRate = new SpinBox(GetGroupBox()->NewRow(), "data rate", " Hz", 1, 500, 1, 200);
  latitudeRef = new DoubleSpinBox(GetGroupBox()->NewRow(), "latitude ref", " deg", -90, 90, 1, 6,49.402313);
  longitudeRef = new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "longitude ref", " deg", -180, 180, 1, 6,2.795463);
  altitudeRef= new DoubleSpinBox(GetGroupBox()->LastRowLastCol(), "altitude ref", " m", 0, 6000, 100, 1,0);
  fixQuality = new SpinBox(GetGroupBox()->NewRow(), "fix quality", 1, 8, 1, 1);
  numberOfSatellites = new SpinBox(GetGroupBox()->NewRow(), "number of satellites", 1, 15, 1, 5);
  magneticDeclination= new DoubleSpinBox(GetGroupBox()->NewRow(), "magnetic declination", " deg", -180, 180, .1, 2,0);
  
  shmem = new SharedMem((Thread *)this, ShMemName(modelId, deviceId),
                        sizeof(gps_states_t));
                        
  SetIsReady(true);
}


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

string SimulatedGps::ShMemName(uint32_t modelId,uint32_t deviceId) {
  ostringstream dev_name;
  dev_name << "simu" <<  modelId << "_gps_" << deviceId;
  return dev_name.str().c_str();
}

void SimulatedGps::Run(void) {
  gps_states_t state;
  char buf[512];
  nmeaGPGGA gga;
  nmeaGPVTG vtg;
  nmeaPOS pos;
  nmeaINFO info;

  vtg.dir_t='T';
  vtg.dec_m='M';
  vtg.spk_k='K';
  vtg.spn_n='N';
  gga.elv_units='M';
  gga.diff_units='M';

  SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));

  WarnUponSwitches(true);


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

    if (dataRate->ValueChanged() == true) {
      SetPeriodUS((uint32_t)(1000000. / dataRate->Value()));
    }

    shmem->Read((char *)&state, sizeof(gps_states_t));

    double x, y, z;
    ENU_2_ECEF(state.e, state.n, state.u, x,y,z, Euler::ToRadian(longitudeRef->Value()), Euler::ToRadian(latitudeRef->Value()), altitudeRef->Value());
    ECEF_2_Geographique( x, y, z,pos.lon, pos.lat, gga.elv);
    nmea_pos2info(&pos,&info);

    if(pos.lat>0) {
      gga.ns='N';
      gga.lat=info.lat;
    } else {
      gga.ns='S';
      gga.lat=-info.lat;
    }
    if(pos.lon>0) {
      gga.ew='E';
      gga.lon=info.lon;
    } else {
      gga.ew='W';
      gga.lon=-info.lon;
    }

    gga.sig=fixQuality->Value();
    gga.satinuse=numberOfSatellites->Value();

    int size=nmea_gen_GPGGA(buf,sizeof(buf),&gga);
    parseFrame(buf,size);
    
    vtg.dir=90-Euler::ToDegree(atan2f(state.vn,state.ve));
    vtg.spk=sqrtf(state.ve*state.ve+state.vn*state.vn)*3600./1000.;
    size=nmea_gen_GPVTG(buf,sizeof(buf),&vtg);
    parseFrame(buf,size);
  }

  WarnUponSwitches(false);
}

} // end namespace sensor
} // end namespace flair

#endif