00001 /*************************************************************************** 00002 ** 00003 ** This file is part of warangpsd. 00004 ** 00005 ** This file may be distributed and/or modified under the terms of the 00006 ** GNU General Public License version 2 or 3 as published by the Free 00007 ** Software Foundation and appearing in the file LICENSE.GPL included 00008 ** in the packaging of this file. 00009 ** 00010 ** This file is distributed in the hope that it will be useful, but WITHOUT 00011 ** ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or 00012 ** FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for 00013 ** more details. 00014 ** 00015 ** You should have received a copy of the GNU General Public License 00016 ** along with this program. If not, see <http://www.gnu.org/licenses/>. 00017 ** 00018 ** See http://www.geopsy.org for more information. 00019 ** 00020 ** Created : 2009-06-28 00021 ** Authors: 00022 ** Marc Wathelet 00023 ** Marc Wathelet (LGIT, Grenoble, France) 00024 ** 00025 ***************************************************************************/ 00026 00027 #ifndef UBXBUFFER_H 00028 #define UBXBUFFER_H 00029 00030 #include <GpCoreTools.h> 00031 #include <WaranCore.h> 00032 00033 class GpsServer; 00034 class UbxDevice; 00035 00036 class UbxBuffer : public DynamicBuffer 00037 { 00038 public: 00039 UbxBuffer(int fd, GpsServer * server, UbxDevice * device); 00040 ~UbxBuffer(); 00041 00042 void startBroadcast(); 00043 protected: 00044 virtual int bytesAvailable(char * buffer, int byteCount); 00045 private: 00046 void read(MessageClassIdHeader& hdr, char * payload, unsigned short length); 00047 void broadcast(); 00048 void saveRaw(MessageClassIdHeader& hdr, char * payload, unsigned short length); 00049 void saveFix(); 00050 00051 void readNavPosLLH(const char * payload); 00052 void readNavStatus(const char * payload); 00053 void readNavDop(const char * payload); 00054 void readNavSvInfo(const char * payload); 00055 void readNavTimeUTC(const char * payload); 00056 void readNavTimeGPS(const char * payload); 00057 void readTimTP(const char * payload); 00058 00059 unsigned char _index; 00060 GpsFix * _oldFix; 00061 GpsFix * _newFix; 00062 GpsServer * _server; 00063 UbxDevice * _device; 00064 00065 LinearRegression _drift; 00066 int _falseCount; 00067 }; 00068 00069 00070 #endif // UBXBUFFER_H
