1 | /*********************************************************************
|
---|
2 | // created: 20011/07/06 - 16:51
|
---|
3 | // filename: DbtPlyCPTComponent.h
|
---|
4 | //
|
---|
5 | // author: Sergio Rodriguez
|
---|
6 | // Copyright Heudiasyc UMR UTC/CNRS 6599
|
---|
7 | //
|
---|
8 | // version: $Id: $
|
---|
9 | //
|
---|
10 | // purpose:
|
---|
11 | *********************************************************************/
|
---|
12 |
|
---|
13 | #ifndef DBTPLYCPTCOMPONENT_H
|
---|
14 | #define DBTPLYCPTCOMPONENT_H
|
---|
15 |
|
---|
16 | #include "DbitePlayer/DbtPlyFileManager.h"
|
---|
17 | #include "../NMEA0183/include/nmea0183.h"
|
---|
18 |
|
---|
19 | //#include <boost/scoped_ptr.hpp>
|
---|
20 | //#include <QScopedPointer>
|
---|
21 |
|
---|
22 | // Export macro for CPT DLL for Windows only
|
---|
23 | #ifdef WIN32
|
---|
24 | # ifdef CPT_EXPORTS
|
---|
25 | // make DLL
|
---|
26 | # define CPT_API __declspec(dllexport)
|
---|
27 | # else
|
---|
28 | // use DLL
|
---|
29 | # define CPT_API __declspec(dllimport)
|
---|
30 | # endif
|
---|
31 | #else
|
---|
32 | // On other platforms, simply ignore this
|
---|
33 | # define CPT_API
|
---|
34 | #endif
|
---|
35 |
|
---|
36 | #define UNKNOWN_NMEA_FRAME -1
|
---|
37 |
|
---|
38 | struct CPT_API Stream8Position
|
---|
39 | {
|
---|
40 | int32_t dataPos;
|
---|
41 | int32_t length;
|
---|
42 | };
|
---|
43 |
|
---|
44 |
|
---|
45 | #include "structure/structure_gps.h"
|
---|
46 | #include "structure/genericStructures.h"
|
---|
47 |
|
---|
48 | //#include "../PoseViewer/PoseViewer.h"
|
---|
49 |
|
---|
50 | namespace pacpus {
|
---|
51 |
|
---|
52 | //class PoseViewer;
|
---|
53 | class ShMem;
|
---|
54 |
|
---|
55 | //struct Pose;
|
---|
56 |
|
---|
57 | class CPT_API DbtPlyCPTComponent
|
---|
58 | : public DbtPlyFileManager
|
---|
59 | {
|
---|
60 | Q_OBJECT
|
---|
61 |
|
---|
62 | public:
|
---|
63 | DbtPlyCPTComponent(QString name);
|
---|
64 | ~DbtPlyCPTComponent();
|
---|
65 |
|
---|
66 | protected:
|
---|
67 | void processData(road_time_t t, road_timerange_t tr , void * buf);
|
---|
68 | void displayUI();
|
---|
69 |
|
---|
70 | ComponentBase::COMPONENT_CONFIGURATION configureComponent(XmlComponentConfig config);
|
---|
71 | void startActivity();
|
---|
72 | void stopActivity();
|
---|
73 |
|
---|
74 | virtual void addInputs();
|
---|
75 | virtual void addOutputs();
|
---|
76 |
|
---|
77 | //Q_SIGNALS:
|
---|
78 | //void newPoseAvailable(Pose pose);
|
---|
79 |
|
---|
80 | private:
|
---|
81 | //boost::scoped_ptr<PoseViewer> mPoseViewer;
|
---|
82 | //QScopedPointer<PoseViewer> mPoseViewer;
|
---|
83 |
|
---|
84 | //ShMems
|
---|
85 | ShMem * mShMem;
|
---|
86 | //ShMem data variables
|
---|
87 | char * allFramesBuffer;
|
---|
88 |
|
---|
89 | QString mDataFilename;
|
---|
90 |
|
---|
91 | //NMEA to do
|
---|
92 | NMEA0183 nmea0183_;
|
---|
93 |
|
---|
94 | trame_gga_dbl ggaFrame_;
|
---|
95 | trame_gsa gsaFrame_;
|
---|
96 | trame_gst gstFrame_;
|
---|
97 | trame_gsv gsvFrame_;
|
---|
98 | trame_hdt hdtFrame_;
|
---|
99 | trame_rmc rmcFrame_;
|
---|
100 | trame_rot rotFrame_;
|
---|
101 | trame_vtg vtgFrame_;
|
---|
102 | trame_zda zdaFrame_;
|
---|
103 |
|
---|
104 | //SPAN done
|
---|
105 | TimestampedBestgpsposaFrame bestgpsposaFrame_;
|
---|
106 | TimestampedInspvaaFrame inspvaFrame_;
|
---|
107 | TimestampedInscovFrame inscovFrame_;
|
---|
108 | TimestampedRawimusaFrame rawimuFrame_;
|
---|
109 |
|
---|
110 | Pose3D genericEnuPose_;
|
---|
111 | };
|
---|
112 |
|
---|
113 | } // namespace pacpus
|
---|
114 |
|
---|
115 | #endif // DBTPLYCPTCOMPONENT_H
|
---|