#include <uresgps.h>

Inheritance diagram for UResGps:

Public Member Functions
void	closePort ()

virtual bool	decodeReplayLine (char *line)

const char *	getDevice ()

const char *	getDeviceName ()

int	getDeviceSpeed ()

const char *	getLastLatLongSentance ()

UTime	getLastPositionTime ()

const char *	getLastSentance ()

const char *	getLastStatusSentance ()

const char *	getLastUtmSentance ()

int	getSpeed ()

UResBase *	getUtmHist ()

bool	isConnected ()

bool	isLogGpsOpen ()

void	openLogfile (bool open)

void	openPort ()

virtual const char *	print (const char preString, char buff, int buffCnt)

void	run ()

void	setDevice (const char *value)

bool	setResource (UResBase *resource, bool remove)

void	setSpeed (int value)

	UResGps ()

void	UResGpsInit ()

virtual	~UResGps ()

Public Member Functions inherited from UResVarPool
int	addMethod (const char formalName, const char paramTypes, const char *comment)

int	addMethodV (const char formalName, const char paramTypes, const char *comment)

UVarPool *	addStruct (const char name, const char comment, bool copy=false)

UVariable *	addVar (const char name, const double initialValue, const char type, const char *comment)

UVariable *	addVar (const char name, const char initialValue, const char type, const char comment)

UVariable *	addVarA (const char name, const char initialValue, const char type, const char comment)

bool	callGlobal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callGlobalV (const char name, const char paramOrder, UVariable params, UDataBase returnStruct, int *returnStructCnt)
	Call a method from the root var pool scope It may be in the structure direct (no '.') or in any sub-structure that the 'name.subname' indicate. More...

bool	callLocal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callVS (const char function, const char stringParam)

int	callVSCD (const char function, const char strPar, UDataBase *data, int cooSys)

void	createBaseVar ()

virtual bool	createVarSpace (const int varCnt, const int structCnt, const int methCnt, const char *note, bool copy=false)

bool	getGlobalString (const char name, const char *value)

bool	getGlobalValue (const char name, double value)

bool	getGlobalValue (const char name, const char *value)

bool	getGlobalValue (const char name, bool value)

bool	getGlobalValue (const char name, UTime value)

bool	getLocalValue (const char name, double value)
	get a value in this variable tree More...

bool	getLocalValue (const char name, bool value)

bool	getLocalValue (const char name, UTime value)

double	getLocalValue (int idx)

UPosition	getLocalValue3D (int idx)

UPosRot	getLocalValue6D (int idx)

bool	getLocalValueBool (int idx)

int	getLocalValueInt (int idx)

UTime	getLocalValueTime (int idx)

const char *	getLogFileName ()

const char *	getVarDescription (int idx)

UVarCalc *	getVarPool ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	isLogFileOpen ()

bool	isLogFileOpen (const char *structName)

bool	isVarPoolUpdated (int lastCnt, int *newCnt)

void	logFileClose ()

bool	logFileOpen ()

void	logFileStart (const char *structName, bool open)

virtual bool	methodCall (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct=NULL, int returnStructCnt=NULL)

bool	setGlobalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar (int idx, double value, const int element)

bool	setLocalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar3D (int idx, UPosition *value)

bool	setLocalVar6D (int idx, UPosRot *value)

bool	setLocalVarAdd (int idx, double value, const int element)

bool	setLocalVarPose (int idx, UPose *value)

void	setVarPool (UVarCalc *sharedVarPool)

int	updateQTvars (int structIdx)

	UResVarPool ()

virtual	~UResVarPool ()

Public Member Functions inherited from UResBase
void	createReplayVar (UVarPool *pool)

virtual void	createResources ()

UCmdExe *	getCorePointer ()

char *	getLogFileName (char *fn, const int fnCnt)

int	getResFuncIdx ()

const char *	getResID ()

int	getResVersion ()

bool	isA (const char *idStr)

bool	isAlsoA (const char *id)

virtual void	print (const char *preString)

virtual void	saveSettings ()

void	setCorePointer (UCmdExe *serverCore)

void	setResFuncIdx (int idx)

virtual void	setResID (const char *id, const int version)

virtual void	stop (bool)

virtual void	updateReplayStatus ()

	UResBase ()

virtual	~UResBase ()

Public Member Functions inherited from UReplay
void	addChild (UReplay *child)

char *	getLogFileName (char *fn, const int fnCnt)

char *	getReplayFileName (char *fn, const int fnCnt)

int	getReplayLogLine ()

bool	isReplay ()

bool	isReplayFileOpen ()

void	removeChild (UReplay *child)

virtual void	replayAdvanceTime (UTime untilTime)

void	replaySetBaseFileName (const char name, const char preName="")

void	replaySetFileName (const char *name)

virtual bool	replayStep ()

int	replayStep (int steps)

virtual bool	replayToTime (UTime untilTime)

void	setParent (UReplay *parent)

bool	setReplay (bool value)

	UReplay ()

virtual	~UReplay ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Public Member Functions inherited from UVarMethodImplement
virtual bool	methodCallV (const char name, const char paramOrder, UVariable params[], UDataBase returnStruct, int returnStructCnt)

virtual	~UVarMethodImplement ()

Static Public Member Functions
static const char *	getResClassID ()

Static Public Member Functions inherited from UResVarPool
static const char *	getResClassID ()

Public Attributes
ULogFile	logGps

Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Protected Member Functions
char	ascii2hex (char input)
	Implementation of a ASCII to HEX coverter. More...

void	createBaseVar ()

int	receiveFromDevice (FILE device, char buff, int buffCnt, const double timeoutSec)

bool	start ()

void	stop ()

void	toLog (const char *message)

void	updateVars ()

bool	validateNMEA (char *in_buf)

Protected Member Functions inherited from UResVarPool
void	setDescription (const char *note, bool copy=false)

Protected Member Functions inherited from UResBase
UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

Protected Attributes
int	dataRxMsgCnt

UTime	dataRxTime

char	logGpsName [MAX_FILENAME_LENGTH]

UResPoseHist *	mapPose

UResPoseHist *	odoPose

pthread_t	threadHandle

bool	threadRunning

bool	threadStop

UResPoseHist *	utmPose

Protected Attributes inherited from UResBase
int	resFuncIdx

char	resID [MAX_RESOURCE_ID_LENGTH]

char	resIsAlso [MAX_RESOURCE_ISALSO_LENGTH]

int	resVersion

Protected Attributes inherited from UReplay
bool	replay

FILE *	replayFile

char	replayFileName [REPLAY_FILE_NAME_LENGTH]
	replay filename More...

char	replayLine [MAX_LOG_LINE_LENGTH]

int	replayLogLine

UReplay *	replayParent

UTime	replayTimeNext

Private Member Functions
int	advanceNmeaMessage (char rxBuff, int rxBuffCnt, char pEnd)

void	clear ()

UTime	getTimeLocal ()

bool	hasNmeaMessage (char rxBuff, int rxBuffCnt, char *pEnd)

bool	parseNMEA (char *inBuf, UTime tod)
	Function to transform from Lat-Long to UTM in a given zone. More...

Private Attributes
UTime	lastTime

UGpsLatLong	latLong
	received Lat-Long position More...

bool	latLongUpdated
	set when Lat-Long is updated More...

ULogFile	log2
	debug log More...

UTime	msgTime
	Local computer time for last message - to be used in UTM pose history. More...

char	replaySentence [GPS_SENTENCE_MAX_LENGTH]
	replay line in NMEA format to replay More...

ULock	replaySentenceLock
	lock to protect integrity of sentence More...

bool	replaySentenceNew
	is new replay data available More...

char	sentence [GPS_SENTENCE_MAX_LENGTH]
	last message received More...

UGpsStatus	status
	Status of the GPS reception. More...

bool	statusUpdated
	set when status is updated More...

UGpsUTM	utm
	Received UTM position. More...

bool	utmUpdated
	set when utm is updated More...

UVariable *	varBaud
	device baudrate More...

UVariable *	varDevice
	device file name More...

UVariable *	varDop
	Dilution of position 1 is perfect, 5 is fair, >8 is bad. More...

UVariable *	varEasting
	index to UTM Easting in current zone in meter More...

UVariable *	varEgnos
	index to EGNOS variable More...

UVariable *	varFixRate
	Number of fixes per second. More...

UVariable *	varGmt
	Last received GMT time. More...

UVariable *	varGmts
	Last received GMT time. More...

UVariable *	varGPGGA

UVariable *	varGPGLL

UVariable *	varGPGSA

UVariable *	varGPGSV

UVariable *	varGPRMC

UVariable *	varGPVTG
	NMEA strings. More...

UVariable *	varHeading
	index to Heading received from GPS (compas degrees) More...

UVariable *	varHeight
	Longitude in decimal degrees, positive is East. More...

UVariable *	varLat
	Latitude in decimal degrees, positive is North. More...

UVariable *	varLong
	Longitude in decimal degrees, positive is East. More...

UVariable *	varMakeUTM
	Do automatic conversion to UTM. More...

UVariable *	varMapPoseKeep
	Maintain Map-pose with UTM coordinates. More...

UVariable *	varMapPoseRef
	Map-pose set with UTM coordinates relative to this position [east, north]. More...

UVariable *	varMode
	index to gps mode (1=noFix 3 = 3D fix) More...

UVariable *	varNorthing
	UTM northing in current zone in meter. More...

UVariable *	varOpen
	device file name More...

UVariable *	varPTNL

UVariable *	varSatsUsed
	Number of used satelites in calculation. More...

UVariable *	varSatsVisible
	Number of visible satellites. More...

UVariable *	varSpeed
	index to Speed received from GPS [m/s] More...

UVariable *	varTime
	Last fix time. More...

UVariable *	varTimes
	Last fix time. More...

UVariable *	varUpdCntLL
	index to number of UTM updates received More...

UVariable *	varUpdCntUTM
	index to replay flag More...

UVariable *	varUseOdoHeading
	use odometry history to estimate heading for map and utm pose update More...

UVariable *	varUtmPoseKeep
	Maintain UTM-pose with raw UTM coordinates. More...

UVariable *	varUTMZone
	index to variable with UTM zone More...

Additional Inherited Members
Static Protected Attributes inherited from UReplay
static const int	MAX_LOG_LINE_LENGTH = 10000

static const int	REPLAY_FILE_NAME_LENGTH = 264
	max length of replay filename More...

Detailed Description

This is the shared resource class. It must enherit from the resource base class (or one of its decendent) as shown.

Author: Christian Andersen

Constructor & Destructor Documentation

UResGps::UResGps ( )

inline

Constructor

UResGps::~UResGps ( )

virtual

Destructor

Member Function Documentation

int UResGps::advanceNmeaMessage	(	char *	rxBuff,
		int	rxBuffCnt,
		char *	pEnd
	)

private

Removes one NMEA message from input buffer, and if there is more than one, then the start of the new message - the '$' is moved to start of buffer, and the new buffer length is returned.If no new measse is found (no '$') then the buffer is returned empty.

Parameters

rxBuff	is the buffer to check.
rxBuffCnt	is the number of bytes in buffer.
pEnd	is end of massage to be discarded.

Returns: number of bytes in new buffer

char UResGps::ascii2hex ( char input )

protected

Implementation of a ASCII to HEX coverter.

Takes both upper and lower case ascii values but has no check for non HEX values.

Parameters

[in] input Character input in ascii values

Returns: hex value of the parameter for further processing.

void UResGps::clear ( void )

private

Clear all structures in this class

void UResGps::closePort ( )

inline

Close serial port

Referenced by UFunctionGps::handleCommand().

void UResGps::createBaseVar ( )

protected

Make the variables that will be available to other plugins

bool UResGps::decodeReplayLine ( char * line )

virtual

Decode this replay line, that is assumed to be valid.

Parameters

line	is a pointer to the line.

Returns: true if the line is valid and used (step is successfull).; false if line is not a valid step.

Reimplemented from UReplay.

References GPS_SENTENCE_MAX_LENGTH.

const char* UResGps::getDevice ( )

inline

set the serial device filename.

const char* UResGps::getDeviceName ( )

inline

Get serial port name

Referenced by UFunctionGps::handleCommand().

int UResGps::getDeviceSpeed ( )

inline

Get serial port speed (bit/sec) - may not be used if USB device.

Referenced by UFunctionGps::handleCommand().

const char* UResGps::getLastLatLongSentance ( )

inline

Get the latest lat-long received sentence.

UTime UResGps::getLastPositionTime ( )

inline

Get time of laset received sentence position sentence.

References UGpsStatus::clear().

Referenced by UFunctionGps::handleCommand().

const char* UResGps::getLastSentance ( )

inline

Get the latest received sentence - may or may not be used.

References UGpsStatus::sentence.

const char* UResGps::getLastStatusSentance ( )

inline

Get the latest status received sentence.

const char* UResGps::getLastUtmSentance ( )

inline

Get the latest UTM received sentence.

static const char* UResGps::getResClassID ( )

inlinestatic

Fixed name of this resource type

int UResGps::getSpeed ( )

inline

get the serial device speed.

UTime UResGps::getTimeLocal ( )

private

Get time local time for last (lat-long) message

References UTime::getTimeTm(), and UTime::setTime().

UResBase* UResGps::getUtmHist ( )

inline

Get pointer to the UTM pose history structure (or NULL is not available)

bool UResGps::hasNmeaMessage	(	char *	rxBuff,
		int	rxBuffCnt,
		char **	pEnd
	)

private

checks if first character is a '$' and ends with a '*xx' sequence. The CR character after the checksum is replaced by a '\0'

Parameters

rxBuff	is the buffer to check.
rxBuffCnt	is the number of bytes in buffer
pEnd	will be set to just after the message (most likely point to LF character after checksum) if there is a message, if no message is found, then pEnd is unchanged. (pEnd may be NULL).

Returns: true if at least one NMEA message is available in buffer

bool UResGps::isConnected ( )

Is the serial port to the GPS open

Referenced by UFunctionGps::handleCommand().

bool UResGps::isLogGpsOpen ( )

inline

Is logfile open

Referenced by UFunctionGps::handleCommand().

void UResGps::openLogfile ( bool open )

inline

Open (or close) logfile for raw gps data. Nothing happens if trying to open an open file or close a closed file.

Parameters

[in] Set parameter to true to open port and false to close

References ULock::lock(), and ULock::unlock().

Referenced by UFunctionGps::handleCommand().

void UResGps::openPort ( )

inline

Open seial port to GPS

Referenced by UFunctionGps::handleCommand().

bool UResGps::parseNMEA	(	char *	inBuf,
		UTime	tod
	)

private

Function to transform from Lat-Long to UTM in a given zone.

The algorithm is supplied by Anders Gaasedal and is also used in his truck control project.

Attention: This algorithm is supplied as is. There is no guarantee that is works consistently and without faults. As can be seen from the code there are several unused variables, which there is no use for. This does not give much confidence in the code, but no errors has been seen when parsing messages. Conversion from UTM in a zone to lat-long.

Parameters

[in]	easting	in meter relative to central median (+ 500km)
[in]	northing	in meter from equator
[in]	zone	of central meridian
[out]	latitude	as calculated (in degrees)
[out]	longitude	as calculated (in degrees)

Returns: true. Parser for the contents of the NMEA strings.

Currently GPRMC, GPGGA, GPGSA, GPGSV anf PFST strings are supported.

Parameters

[in]	*inBuf	Pointer to the string to be parsed.
[in]	*tod	is the computer time data were received, to be used in utmHistory stack.

Returns: true on validate checksum, else the message is not parsed

References GPS_SENTENCE_MAX_LENGTH, and UGpsStatus::sentence.

const char * UResGps::print	(	const char *	preString,
		char *	buff,
		int	buffCnt
	)

virtual

print status to a string buffer

Reimplemented from UResVarPool.

References bool2str(), and UGpsStatus::sentence.

int UResGps::receiveFromDevice	(	FILE *	device,
		char *	buff,
		int	buffCnt,
		const double	timeoutSec
	)

protected

Receive data from device Returns when a newline '
' is received, and there may be more data and possibly more messages. in the received data buffer.

Parameters

[in]	'buff'	is the buffer place where the received data is stored,
[in]	Returns	when 'buffCnt' is reached - regardless of data
[in]	Return	if timeout ('timeoutSec' sec) has passed with no data.

Returns: the number of characters added to the buffer. If a read error occured, then -1 is returned.

References roundi(), and Wait().

void UResGps::run ( )

Run the receice loop for the GPS device. This call do not return until the threadStop flag is set true.

replace with non-blocking - see below

References UTime::Now(), setDeviceSpeed(), UTime::setTimeTod(), UTime::valid, and Wait().

Referenced by threadRunGps().

void UResGps::setDevice ( const char * value )

inline

set the serial device filename.

Referenced by UFunctionGps::handleCommand().

bool UResGps::setResource	(	UResBase *	resource,
		bool	remove
	)

virtual

Set (or remove) ressource (core pointer needed by event handling)

Reimplemented from UResVarPool.

References UResPoseHist::getMapPoseID(), UResPoseHist::getOdoPoseID(), UResPoseHist::getUtmPoseID(), UResBase::isA(), and UResVarPool::setResource().

void UResGps::setSpeed ( int value )

inline

set the serial device speed.

Referenced by UFunctionGps::handleCommand().

bool UResGps::start ( )

protected

Start read thread

Returns: Returns true if the read thread started.

References threadRunGps().

void UResGps::stop ( )

protected

Stop read thread - and wait for thread join

void UResGps::toLog ( const char * message )

protected

Save this string to the logfile after a timestamp with current time.

References UTime::getMicrosec(), UTime::getSec(), and UTime::now().

void UResGps::updateVars ( )

protected

Update global variables from received data

References UPose::add(), UPose::h, latlon2UTM(), limitToPi(), UPoseTVQ::set(), utm2latlon(), UPose::x, and UPose::y.

void UResGps::UResGpsInit ( )

Initialize resource

bool UResGps::validateNMEA ( char * in_buf )

protected

check if this is a valid NMEA message checksum is correct.

Parameters

[in] the sting with the message, of max length GPSSTRINGSIZE.

Returns: true if checksum match

Member Data Documentation

int UResGps::dataRxMsgCnt

protected

Number of full messages received

UTime UResGps::dataRxTime

protected

Timestamp of the letest received data

UTime UResGps::lastTime

private

Last time data was received - including date Used when message holds time but no date, especially needed during replay.

UGpsLatLong UResGps::latLong

private

received Lat-Long position

bool UResGps::latLongUpdated

private

set when Lat-Long is updated

ULogFile UResGps::log2

private

debug log

ULogFile UResGps::logGps

File handle to GPS log

Referenced by UFunctionGps::handleCommand().

char UResGps::logGpsName[MAX_FILENAME_LENGTH]

protected

Name of logfile

UResPoseHist* UResGps::mapPose

protected

Pointer to Map pose history resource

UTime UResGps::msgTime

private

Local computer time for last message - to be used in UTM pose history.

UResPoseHist* UResGps::odoPose

protected

Pointer to odometry pose history resource

char UResGps::replaySentence[GPS_SENTENCE_MAX_LENGTH]

private

replay line in NMEA format to replay

ULock UResGps::replaySentenceLock

private

lock to protect integrity of sentence

bool UResGps::replaySentenceNew

private

is new replay data available

char UResGps::sentence[GPS_SENTENCE_MAX_LENGTH]

private

last message received

UGpsStatus UResGps::status

private

Status of the GPS reception.

bool UResGps::statusUpdated

private

set when status is updated

pthread_t UResGps::threadHandle

protected

Thread handle for frame read thread.

bool UResGps::threadRunning

protected

Is thread actually running

bool UResGps::threadStop

protected

Should thread stop - terminate

UGpsUTM UResGps::utm

private

Received UTM position.

UResPoseHist* UResGps::utmPose

protected

The gps data received from GPS receiver Pointer to UTM pose history resource

bool UResGps::utmUpdated

private

set when utm is updated

UVariable* UResGps::varBaud

private

device baudrate

UVariable* UResGps::varDevice

private

device file name

UVariable* UResGps::varDop

private

Dilution of position 1 is perfect, 5 is fair, >8 is bad.

UVariable* UResGps::varEasting

private

index to UTM Easting in current zone in meter

UVariable* UResGps::varEgnos

private

index to EGNOS variable

UVariable* UResGps::varFixRate

private

Number of fixes per second.

UVariable* UResGps::varGmt

private

Last received GMT time.

UVariable* UResGps::varGmts

private

Last received GMT time.

UVariable* UResGps::varGPGGA

private

UVariable* UResGps::varGPGLL

private

UVariable* UResGps::varGPGSA

private

UVariable* UResGps::varGPGSV

private

UVariable* UResGps::varGPRMC

private

UVariable* UResGps::varGPVTG

private

NMEA strings.

UVariable* UResGps::varHeading

private

index to Heading received from GPS (compas degrees)

UVariable* UResGps::varHeight

private

Longitude in decimal degrees, positive is East.

UVariable* UResGps::varLat

private

Latitude in decimal degrees, positive is North.

UVariable* UResGps::varLong

private

Longitude in decimal degrees, positive is East.

UVariable* UResGps::varMakeUTM

private

Do automatic conversion to UTM.

UVariable* UResGps::varMapPoseKeep

private

Maintain Map-pose with UTM coordinates.

UVariable* UResGps::varMapPoseRef

private

Map-pose set with UTM coordinates relative to this position [east, north].

UVariable* UResGps::varMode

private

index to gps mode (1=noFix 3 = 3D fix)

UVariable* UResGps::varNorthing

private

UTM northing in current zone in meter.

UVariable* UResGps::varOpen

private

device file name

UVariable* UResGps::varPTNL

private

UVariable* UResGps::varSatsUsed

private

Number of used satelites in calculation.

UVariable* UResGps::varSatsVisible

private

Number of visible satellites.

UVariable* UResGps::varSpeed

private

index to Speed received from GPS [m/s]

UVariable* UResGps::varTime

private

Last fix time.

UVariable* UResGps::varTimes

private

Last fix time.

UVariable* UResGps::varUpdCntLL

private

index to number of UTM updates received

UVariable* UResGps::varUpdCntUTM

private

index to replay flag

index to number of UTM updates received

UVariable* UResGps::varUseOdoHeading

private

use odometry history to estimate heading for map and utm pose update

UVariable* UResGps::varUtmPoseKeep

private

Maintain UTM-pose with raw UTM coordinates.

UVariable* UResGps::varUTMZone

private

index to variable with UTM zone

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation