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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009 - 2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
#include "GPSProvider.h"
#define TIMEOUT_5HZ 500
#include <QDebug>
#include "Drivers/src/ubx.h"
#include "Drivers/src/gps_helper.h"
#include "definitions.h"
void GPSProvider::run()
{
if (_serial) delete _serial;
_serial = new QSerialPort();
_serial->setPortName(_device);
if (!_serial->open(QIODevice::ReadWrite)) {
qWarning() << "GPS: Failed to open Serial Device" << _device;
return;
}
_serial->setBaudRate(QSerialPort::Baud9600);
_serial->setDataBits(QSerialPort::Data8);
_serial->setParity(QSerialPort::NoParity);
_serial->setStopBits(QSerialPort::OneStop);
_serial->setFlowControl(QSerialPort::NoFlowControl);
unsigned int baudrate;
GPSHelper* gpsHelper = nullptr;
while (!_requestStop) {
if (gpsHelper) {
delete gpsHelper;
gpsHelper = nullptr;
}
gpsHelper = new GPSDriverUBX(&callbackEntry, this, &_reportGpsPos, _pReportSatInfo);
if (gpsHelper->configure(baudrate, GPSHelper::OutputMode::RTCM) == 0) {
/* reset report */
memset(&_reportGpsPos, 0, sizeof(_reportGpsPos));
int helperRet;
while ((helperRet = gpsHelper->receive(TIMEOUT_5HZ)) > 0 && !_requestStop) {
if (helperRet & 1) {
publishGPSPosition();
}
if (_pReportSatInfo && (helperRet & 2)) {
publishGPSSatellite();
}
}
if (_serial->error() != QSerialPort::NoError) {
break;
}
}
}
qDebug() << "Exiting GPS thread";
}
GPSProvider::GPSProvider(const QString& device, bool enableSatInfo, const std::atomic_bool& requestStop)
: _device(device), _requestStop(requestStop)
{
if (enableSatInfo) _pReportSatInfo = new satellite_info_s();
}
GPSProvider::~GPSProvider()
{
if (_pReportSatInfo) delete(_pReportSatInfo);
if (_serial) delete _serial;
}
void GPSProvider::publishGPSPosition()
{
GPSPositionMessage msg;
msg.position_data = _reportGpsPos;
emit positionUpdate(msg);
}
void GPSProvider::publishGPSSatellite()
{
GPSSatelliteMessage msg;
msg.satellite_data = *_pReportSatInfo;
emit satelliteInfoUpdate(msg);
}
void GPSProvider::gotRTCMData(uint8_t* data, size_t len)
{
QByteArray message((char*)data, len);
emit RTCMDataUpdate(message);
}
int GPSProvider::callbackEntry(GPSCallbackType type, void *data1, int data2, void *user)
{
GPSProvider *gps = (GPSProvider *)user;
return gps->callback(type, data1, data2);
}
int GPSProvider::callback(GPSCallbackType type, void *data1, int data2)
{
switch (type) {
case GPSCallbackType::readDeviceData: {
int timeout = *((int *) data1);
if (!_serial->waitForReadyRead(timeout))
return 0; //timeout
msleep(10); //give some more time to buffer data
return (int)_serial->read((char*) data1, data2);
}
case GPSCallbackType::writeDeviceData:
if (_serial->write((char*) data1, data2) >= 0) {
if (_serial->waitForBytesWritten(-1))
return data2;
}
return -1;
case GPSCallbackType::setBaudrate:
return _serial->setBaudRate(data2) ? 0 : -1;
case GPSCallbackType::gotRTCMMessage:
gotRTCMData((uint8_t*) data1, data2);
break;
case GPSCallbackType::surveyInStatus:
{
SurveyInStatus* status = (SurveyInStatus*)data1;
qInfo("Survey-in status: %is cur accuracy: %imm valid: %i active: %i",
status->duration, status->mean_accuracy, (int)(status->flags & 1), (int)((status->flags>>1) & 1));
}
break;
case GPSCallbackType::setClock:
/* do nothing */
break;
}
return 0;
}