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 : 2009-06-26 00021 ** Authors: 00022 ** Marc Wathelet 00023 ** Marc Wathelet (LGIT, Grenoble, France) 00024 ** 00025 ***************************************************************************/ 00026 00027 #ifndef UBXDEVICE_H 00028 #define UBXDEVICE_H 00029 00030 #include <GpCoreTools.h> 00031 #include <WaranCore.h> 00032 00033 #include "NavigationTimer.h" 00034 00035 #define MONITOR_DRIFT_MODE 00036 00037 class GpsServer; 00038 class GpsBuffer; 00039 00040 class UbxDevice : public PThread 00041 { 00042 public: 00043 enum Mode {Off=0, Track=1, Stack=2}; 00044 00045 UbxDevice(const std::string& stationName, const std::string& basePath, 00046 const std::string& devicePath, GpsServer * server); 00047 ~UbxDevice(); 00048 00049 #ifdef MONITOR_DRIFT_MODE 00050 void setMonitorDriftMode(bool m) {_monitorDriftMode=m;} 00051 bool monitorDriftMode() const {return _monitorDriftMode;} 00052 #endif 00053 00054 void startBroadcast(); 00055 void startRecording(); 00056 void stopRecording(); 00057 bool requestNavigation(); 00058 00059 void sendState(GpsBuffer * client); 00060 unsigned long int recordingTime(); 00061 void sendRaw(GpsBuffer * client); 00062 00063 enum TimeStatus {NoLock, GpsLock, PpsLock, LostPpsLock, LostGpsLock, RecoverLockAfterPpsLost, RecoverLockAfterGpsLost}; 00064 void setTimeStatus(TimeStatus s); 00065 TimeStatus timeStatus(); 00066 00067 void resetGpsDrift(); 00068 bool isResetGpsDrift(); 00069 00070 void resetPpsDrift(); 00071 bool isResetPpsDrift(); 00072 00073 void setSatelliteCount(int c) {_satelliteCount=c;} 00074 void setGpsDriftCount(int c) {_gpsDriftCount=c;} 00075 void setPpsDriftCount(int c) {_ppsDriftCount=c;} 00076 00077 FILE * lockFixStream() {pthread_mutex_lock(&_fixStreamMutex); return _fixStream;} 00078 void unlockFixStream() {pthread_mutex_unlock(&_fixStreamMutex);} 00079 FILE * lockRawStream() {pthread_mutex_lock(&_rawStreamMutex); return _rawStream;} 00080 void unlockRawStream() {pthread_mutex_unlock(&_rawStreamMutex);} 00081 private: 00082 const char * timeStamp(char * buffer32); 00083 bool openFixFile(); 00084 void closeFixFile(); 00085 bool openRawFile(); 00086 void closeRawFile(); 00087 virtual void run(); 00088 void sendSeismic(const char * cmd); 00089 00090 std::string _basePath; 00091 std::string _stationName; 00092 pthread_mutex_t _fixStreamMutex; 00093 pthread_mutex_t _rawStreamMutex; 00094 std::string _fixFileName; 00095 std::string _rawFileName; 00096 FILE * _rawStream; 00097 FILE * _fixStream; 00098 time_t _startRecordingTime; 00099 Serial * _serial; 00100 GpsServer * _server; 00101 NavigationTimer _navigationTimer; 00102 pthread_mutex_t _timeStatusMutex; 00103 TimeStatus _timeStatus:3; 00104 int _satelliteCount, _gpsDriftCount, _ppsDriftCount; 00105 bool _resetGpsDrift:1; 00106 bool _resetPpsDrift:1; 00107 #ifdef MONITOR_DRIFT_MODE 00108 bool _monitorDriftMode; 00109 #endif 00110 }; 00111 00112 #endif // UBXDEVICE_H
