source: pacpussensors/trunk/Gps/UbloxComponent.h@ 63

Last change on this file since 63 was 59, checked in by DHERBOMEZ Gérald, 10 years ago

Integration of new modules:

  • GPS NMEA0183 decoder
  • Span CPT Decoder

Update of:

File size: 3.6 KB
Line 
1
2#include <QThread>
3#include <QSemaphore>
4#include <QApplication>
5
6#include "kernel/ComponentBase.h"
7#include "kernel/ComponentFactory.h"
8
9#ifdef WIN32
10#include "../driver/win32SerialPort.h"
11//#include "network/gpsServerSocket.h"
12#else
13#include "../driver/PosixSerialPort.h"
14#endif
15
16
17#include "structure/structureUBX.h"
18#include "SerialCom/SerialCOM_Handle_Stream.hpp"
19#include "SerialCom/Ublox/SerialCOM_Protocol_UBX.hpp"
20#include "SerialCom/NMEA/SerialCOM_Protocol_NMEA.hpp"
21#include "SerialCom/SerialCOM_Msg.hpp"
22#include "SerialCom/Ublox/SerialCOM_Msg_RXM_RAW.hpp"
23#include "SerialCom/Ublox/SerialCOM_Msg_RXM_SFRB.hpp"
24#include "SerialCom/Ublox/SerialCOM_Msg_NAV_CLOCK.hpp"
25#include "SerialCom/Ublox/SerialCOM_Msg_NAV_POSLLH.hpp"
26#include "SerialCom/Ublox/SerialCOM_Msg_NAV_POSUTM.hpp"
27#include "SerialCom/Ublox/SerialCOM_Msg_NAV_SOL.hpp"
28#include "SerialCom/Ublox/SerialCOM_Msg_NAV_VELNED.hpp"
29#include "SerialCom/Ublox/SerialCOM_Msg_NAV_SBAS.hpp"
30#include "SerialCom/Ublox/SerialCOM_Msg_NAV_SVINFO.hpp"
31
32
33/*! \class ubloxComponent
34 * \brief DByte component used to record ublox messages
35 * \author Olivier LE MARCHAND
36 * \version 1.0
37 * \date august 2009
38 * \bug Problem with the serial communication
39 * \warning None
40 *
41 * This class follows the DByte sensor architecture and acquire data from
42 * the ublox receiver with a serial communication port. Hence messages are
43 * decoded with the help of the SerialCOM librairy where Ublox protocol and
44 * Messages are implemeted.
45 *
46 */
47
48class ubloxComponent : public QThread, public ComponentBase
49{
50Q_OBJECT
51
52public:
53 /*! \brief Constructor. Create and configure objects from the SerialCOM librairy, and
54 * intialize member variables*/
55 ubloxComponent(QString name);
56
57 /*! \brief Detructor. Free the memory of the objects from the SerialCOM library*/
58 ~ubloxComponent();
59
60 /*! \brief Virtual function herited from ComponentBase. Start the thread and create
61 * and configure the serial port*/
62 void startActivity();
63
64 /*! \brief Virtual function herited from ComponentBase. Stop the thread and destroy
65 * the serial port*/
66 void stopActivity();
67
68 /*! \brief Virtual function herited from ComponentBase. Configure part of the serial port
69 * with data contained in the xml configuration file*/
70 ComponentBase::COMPONENT_CONFIGURATION configureComponent(XmlComponentConfig config);
71
72
73 /*! \brief Virtual function herited from ComponentBase. Main loop of the thread*/
74 /*! Receive data from the serial port, transmit it to the SerialCOM_Handle_Stream
75 * and record the data once a full message has been identified*/
76 void run();
77
78 /*! Serial Port object*/
79#ifdef WIN32
80 Win32SerialPort* serialPort;
81#else
82 PosixSerialPort *serialPort;
83#endif
84
85public slots:
86 /*! \brief to unlock the processing thread */
87 void unlockProcessing(int v);
88
89protected:
90 /*! \brief data frame currently read from the serial com port */
91 std::string currentDataFrame;
92
93 /*! \brief time of arrival of the current data frame at the serial port */
94 road_time_t currentRoadtime;
95
96 /*! \brief time uncertainty on the currentRoadtime */
97 road_timerange_t currentTimerange;
98
99
100 /*!\brief Object used to bufferize data and extract messages with the help of registered protocolhandle messages*/
101 SerialCOM_Handle_Stream *pHandleStream;
102
103 /*! Object to handle ublox protocol */
104 Ublox::SerialCOM_Protocol_UBX *pProtocolUBX;
105
106 /*! Object to handle NMEA protocol */
107 NMEA::SerialCOM_Protocol_NMEA *pProtocolNMEA;
108
109 QSemaphore semaphore;
110
111 /*!\brief Name of the serial port*/
112 QString portName;
113
114};
115
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