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125 lines
4.6 KiB
C++
125 lines
4.6 KiB
C++
/**
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******************************************************************************
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*
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* @file telemetryparser.cpp
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* @author Edouard Lafargue & the OpenPilot team Copyright (C) 2010.
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup GPSGadgetPlugin GPS Gadget Plugin
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* @{
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* @brief A gadget that displays GPS status and enables basic configuration
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "telemetryparser.h"
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#include <math.h>
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#include <QDebug>
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#include <QStringList>
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/**
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* Initialize the parser
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*/
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TelemetryParser::TelemetryParser(QObject *parent) : GPSParser(parent)
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{
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
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UAVDataObject *gpsObj = dynamic_cast<UAVDataObject *>(objManager->getObject("GPSPosition"));
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if (gpsObj != NULL) {
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connect(gpsObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateGPS(UAVObject *)));
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} else {
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qDebug() << "Error: Object is unknown (GPSPosition).";
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}
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gpsObj = dynamic_cast<UAVDataObject *>(objManager->getObject("GPSTime"));
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if (gpsObj != NULL) {
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connect(gpsObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateTime(UAVObject *)));
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} else {
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qDebug() << "Error: Object is unknown (GPSTime).";
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}
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gpsObj = dynamic_cast<UAVDataObject *>(objManager->getObject("GPSSatellites"));
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if (gpsObj != NULL) {
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connect(gpsObj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(updateSats(UAVObject *)));
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}
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}
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TelemetryParser::~TelemetryParser()
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{}
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void TelemetryParser::updateGPS(UAVObject *object1)
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{
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UAVObjectField *field = object1->getField(QString("Satellites"));
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emit sv(field->getValue().toInt());
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double lat = object1->getField(QString("Latitude"))->getDouble();
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double lon = object1->getField(QString("Longitude"))->getDouble();
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double alt = object1->getField(QString("Altitude"))->getDouble();
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lat *= 1E-7;
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lon *= 1E-7;
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emit position(lat, lon, alt);
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double hdg = object1->getField(QString("Heading"))->getDouble();
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double spd = object1->getField(QString("Groundspeed"))->getDouble();
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emit speedheading(spd, hdg);
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QString fix = object1->getField(QString("Status"))->getValue().toString();
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emit fixtype(fix);
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double hdop = object1->getField(QString("HDOP"))->getDouble();
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double vdop = object1->getField(QString("VDOP"))->getDouble();
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double pdop = object1->getField(QString("PDOP"))->getDouble();
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emit dop(hdop, vdop, pdop);
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}
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void TelemetryParser::updateTime(UAVObject *object1)
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{
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double hour = object1->getField(QString("Hour"))->getDouble();
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double minute = object1->getField(QString("Minute"))->getDouble();
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double second = object1->getField(QString("Second"))->getDouble();
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double time = second + minute * 100 + hour * 10000;
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double year = object1->getField(QString("Year"))->getDouble();
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double month = object1->getField(QString("Month"))->getDouble();
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double day = object1->getField(QString("Day"))->getDouble();
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double date = day + month * 100 + year * 10000;
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emit datetime(date, time);
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}
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/**
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Updates the satellite constellation.
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Not really optimized for now, we should only send updates for the stas
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which have changed instead of updating everything... That said, Qt is supposed
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to be able to optimize redraws anyway.
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*/
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void TelemetryParser::updateSats(UAVObject *object1)
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{
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UAVObjectField *prn = object1->getField(QString("PRN"));
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UAVObjectField *elevation = object1->getField(QString("Elevation"));
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UAVObjectField *azimuth = object1->getField(QString("Azimuth"));
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UAVObjectField *snr = object1->getField(QString("SNR"));
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for (unsigned int i = 0; i < prn->getNumElements(); i++) {
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emit satellite(i, prn->getValue(i).toInt(), elevation->getValue(i).toInt(),
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azimuth->getValue(i).toInt(), snr->getValue(i).toInt());
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}
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}
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