[89] | 1 | /*********************************************************************
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| 2 | // created: 20011/07/06 - 16:51
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| 3 | // filename: DbtPlyCPTComponent.h
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| 4 | //
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| 5 | // author: Sergio Rodriguez
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| 6 | // Copyright Heudiasyc UMR UTC/CNRS 6599
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| 7 | //
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| 8 | // version: $Id: $
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| 9 | //
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| 10 | // purpose:
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| 11 | *********************************************************************/
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| 12 |
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| 13 | #ifndef DBTPLYCPTCOMPONENT_H
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| 14 | #define DBTPLYCPTCOMPONENT_H
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| 15 |
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| 16 | #include "DbitePlayer/DbtPlyFileManager.h"
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| 17 | #include "extlib/NMEA0183/nmea0183.h"
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| 18 |
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| 19 | //#include <boost/scoped_ptr.hpp>
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| 20 | //#include <QScopedPointer>
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| 21 |
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| 22 | #include "structure/structure_gps.h"
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| 23 | #include "structure/genericStructures.h"
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| 24 |
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| 25 | // Export macro for DbtPlyCPTComponent DLL for Windows only
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| 26 | #ifdef WIN32
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| 27 | # ifdef DBTPLYCPTCOMPONENT_EXPORTS
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| 28 | // make DLL
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| 29 | # define DBTPLYCPTCOMPONENT_API __declspec(dllexport)
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| 30 | # else
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| 31 | // use DLL
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| 32 | # define DBTPLYCPTCOMPONENT_API __declspec(dllimport)
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| 33 | # endif
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| 34 | #else
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| 35 | // On other platforms, simply ignore this
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| 36 | # define DBTPLYCPTCOMPONENT_API
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| 37 | #endif
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| 38 |
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| 39 | //#include "../PoseViewer/PoseViewer.h"
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| 40 |
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| 41 | namespace pacpus {
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| 42 |
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| 43 | //class PoseViewer;
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| 44 | class ShMem;
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| 45 |
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| 46 | //struct Pose;
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| 47 |
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| 48 | struct Stream8Position
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| 49 | {
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| 50 | int32_t dataPos;
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| 51 | int32_t length;
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| 52 | };
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| 53 |
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| 54 | #define UNKNOWN_NMEA_FRAME -1
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| 55 |
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| 56 | class DBTPLYCPTCOMPONENT_API DbtPlyCPTComponent
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| 57 | : public DbtPlyFileManager
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| 58 | {
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| 59 | Q_OBJECT
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| 60 |
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| 61 | public:
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| 62 | DbtPlyCPTComponent(QString name);
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| 63 | ~DbtPlyCPTComponent();
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| 64 |
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| 65 | protected:
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| 66 | void processData(road_time_t t, road_timerange_t tr , void * buf);
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| 67 | void displayUI();
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| 68 |
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| 69 | virtual ComponentBase::COMPONENT_CONFIGURATION configureComponent(XmlComponentConfig config);
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| 70 | virtual void startActivity();
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| 71 | virtual void stopActivity();
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| 72 |
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| 73 | void addInputOutput();
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| 74 |
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| 75 | //Q_SIGNALS:
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| 76 | //void newPoseAvailable(Pose pose);
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| 77 |
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| 78 | private:
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| 79 | //boost::scoped_ptr<PoseViewer> mPoseViewer;
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| 80 | //QScopedPointer<PoseViewer> mPoseViewer;
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| 81 |
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| 82 | //ShMems
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| 83 | ShMem * mShMem;
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| 84 | //ShMem data variables
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| 85 | char * allFramesBuffer;
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| 86 |
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| 87 | QString mDataFilename;
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| 88 |
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| 89 | //NMEA to do
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| 90 | NMEA0183 nmea0183_;
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| 91 |
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| 92 | trame_gga_dbl ggaFrame_;
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| 93 | trame_gsa gsaFrame_;
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| 94 | trame_gst gstFrame_;
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| 95 | trame_gsv gsvFrame_;
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| 96 | trame_hdt hdtFrame_;
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| 97 | trame_rmc rmcFrame_;
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| 98 | trame_rot rotFrame_;
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| 99 | trame_vtg vtgFrame_;
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| 100 | trame_zda zdaFrame_;
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| 101 |
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| 102 | //SPAN done
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| 103 | TimestampedBestgpsposaFrame bestgpsposaFrame_;
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| 104 | TimestampedInspvaaFrame inspvaFrame_;
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| 105 | TimestampedInscovFrame inscovFrame_;
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| 106 | TimestampedRawimusaFrame rawimuFrame_;
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| 107 |
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| 108 | Pose3D genericEnuPose_;
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| 109 | };
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| 110 |
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| 111 | } // namespace pacpus
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| 112 |
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| 113 | #endif // DBTPLYCPTCOMPONENT_H
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