| [59] | 1 | /*********************************************************************
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| 2 | // created: 2011/06/28 - 18:18
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| 3 | // filename: cptComponent.h
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| 4 | //
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| 5 | // author: Sergio Rodriguez
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| 6 | //
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| 7 | // version: $Id: $
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| 8 | //
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| 9 | // purpose: Acquire SPAN CPT data
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| 10 | //
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| 11 | *********************************************************************/
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| 12 |
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| 13 | #ifndef CPTCOMPONENT_H
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| 14 | #define CPTCOMPONENT_H
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| 15 |
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| 16 | #include <fstream>
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| 17 | #include <qobject.h>
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| 18 | #include <string>
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| 19 |
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| 20 | #include "../NMEA0183/include/nmea0183.h"
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| 21 | #include "Pacpus/kernel/ComponentBase.h"
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| 22 | #include "Pacpus/kernel/DbiteFile.h"
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| 23 | #include "Pacpus/kernel/pacpus.h"
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| 24 | #include "../Gps/structure_gps.h"
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| 25 |
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| 26 | #ifdef WIN32
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| 27 | # include "../driver/win32SerialPort.h"
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| 28 | #else
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| 29 | # include "../driver/PosixSerialPort.h"
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| 30 | #endif
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| 31 |
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| 32 | // Export macro for CPTComponent DLL for Windows only
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| 33 | #ifdef WIN32
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| 34 | # ifdef CPTCOMPONENT_EXPORTS
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| 35 | // make DLL
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| 36 | # define CPTCOMPONENT_API __declspec(dllexport)
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| 37 | # else
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| 38 | // use DLL
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| 39 | # define CPTCOMPONENT_API __declspec(dllimport)
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| 40 | # endif
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| 41 | #else
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| 42 | // On other platforms, simply ignore this
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| 43 | # define CPTCOMPONENT_API
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| 44 | #endif
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| 45 |
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| 46 | namespace pacpus {
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| 47 |
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| 48 | class ShMem;
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| 49 |
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| 50 | struct CPTCOMPONENT_API Stream8Position
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| 51 | {
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| 52 | int32_t dataPos;
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| 53 | int32_t length;
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| 54 | };
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| 55 |
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| 56 | #define UNKNOWN_NMEA_FRAME -1
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| 57 |
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| 58 | /// The definition of the CPTComponent class
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| 59 | class CPTCOMPONENT_API CPTComponent
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| 60 | : public QObject
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| 61 | , public ComponentBase
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| 62 | {
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| 63 | Q_OBJECT
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| 64 |
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| 65 | public:
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| 66 | CPTComponent(QString name);
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| 67 | ~CPTComponent();
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| 68 |
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| 69 | virtual void stopActivity(); /*!< to stop the processing thread */
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| 70 | virtual void startActivity(); /*!< to start the processing thread */
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| 71 | virtual ComponentBase::COMPONENT_CONFIGURATION configureComponent(XmlComponentConfig config);
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| 72 |
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| 73 | void setPortCOM(const char * port);
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| 74 |
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| 75 | public slots:
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| 76 | void processing(int v); /*!< to unlock the processing thread */
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| 77 |
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| 78 | private:
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| 79 | char * mAllFramesBuffer;
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| 80 | #ifdef WIN32
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| 81 | Win32SerialPort * serialPort;
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| 82 | #else
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| 83 | PosixSerialPort * serialPort;
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| 84 | #endif
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| 85 |
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| 86 | road_time_t currentRoadtime_;
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| 87 | road_timerange_t currentTimerange_;
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| 88 | int currentDataFrameLength_;
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| 89 |
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| 90 | bool mVerbose;
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| 91 | bool enuRef_;
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| 92 | double LAT_REF;
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| 93 | double LON_REF;
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| 94 | double HE_REF;
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| 95 |
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| 96 | QString portName;
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| 97 |
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| 98 | //ShMems
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| 99 | ShMem * mShMem;
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| 100 |
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| 101 | //Dbt files
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| 102 | pacpus::DbiteFile raws8hdFile;
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| 103 | std::ofstream dataFile_;
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| 104 |
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| 105 | pacpus::DbiteFile bestgpsposaFile_;
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| 106 | pacpus::DbiteFile rawimuFile_;
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| 107 | pacpus::DbiteFile inspvaFile_;
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| 108 | pacpus::DbiteFile inscovFile_;
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| 109 |
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| 110 | Stream8Position s8Data_;
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| 111 |
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| 112 | //Decoding
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| 113 | QString currentDataFrame;
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| 114 | road_time_t currentRoadtime;
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| 115 | road_timerange_t currentTimerange;
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| 116 |
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| 117 | QString frameToDecode;
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| 118 | road_time_t timeOfFrameToDecode;
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| 119 | road_timerange_t timerangeOfFrameToDecode;
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| 120 |
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| 121 | QString restOfFrame;
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| 122 |
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| 123 | bool newFrameToDecode;
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| 124 | bool startOfFrame;
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| 125 | int sofIdx_;
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| 126 | bool endOfFrame;
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| 127 | int type;
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| 128 | int eofIdx_;
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| 129 |
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| 130 | NMEA0183 nmea0183_;
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| 131 |
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| 132 | trame_gga_dbl ggaFrame_;
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| 133 | trame_gsa gsaFrame_;
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| 134 | trame_gst gstFrame_;
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| 135 | trame_gsv gsvFrame_;
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| 136 | trame_hdt hdtFrame_;
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| 137 | trame_rmc rmcFrame_;
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| 138 | trame_rot rotFrame_;
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| 139 | trame_vtg vtgFrame_;
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| 140 | trame_zda zdaFrame_;
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| 141 |
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| 142 | trame_bestgpsposa bestgpsposaFrame_;
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| 143 | trame_rawimusa rawimuFrame_;
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| 144 | trame_inspvaa inspvaFrame_;
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| 145 | trame_inscov inscovFrame_;
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| 146 |
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| 147 | int analyzeFrame(void);
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| 148 | int frameType(const QString);
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| 149 | int decodeFrame(int);
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| 150 |
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| 151 | int parseCPTbestgpsposa(QString);
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| 152 | int parseCPTrawimusa(QString);
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| 153 | int parseCPTinspvaa(QString);
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| 154 | int parseCPTinscov(QString);
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| 155 |
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| 156 | void initBuffer( TimestampedBestgpsposaFrame*,
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| 157 | TimestampedRawimusaFrame*,
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| 158 | TimestampedInspvaaFrame*,
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| 159 | TimestampedInscovFrame*);
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| 160 | };
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| 161 |
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| 162 | } // namespace pacpus
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| 163 |
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| 164 | #endif // CPTCOMPONENT_H
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