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Added TTY serial device NMEA output (Linux only)

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git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@236 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas
2012-08-29 15:32:00 +00:00
parent 598512529f
commit cee0dd320d
6 changed files with 585 additions and 17 deletions
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107
src/algorithms/PVT/libs/nmea_printer.cc
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@@ -37,6 +37,8 @@
#include <glog/logging.h>
#include <gflags/gflags.h>
#include "boost/date_time/posix_time/posix_time.hpp"
#include <fcntl.h>
#include <termios.h>
#include "GPS_L1_CA.h"
#include "nmea_printer.h"
@@ -44,7 +46,7 @@ using google::LogMessage;
//DEFINE_string(NMEA_version, "2.1", "Specifies the NMEA version (2.1)");
Nmea_Printer::Nmea_Printer(std::string filename)
Nmea_Printer::Nmea_Printer(std::string filename, bool flag_nmea_tty_port, std::string nmea_dump_devname)
{
nmea_filename=filename;
nmea_file_descriptor.open(nmea_filename.c_str(), std::ios::out);
@@ -52,6 +54,19 @@ Nmea_Printer::Nmea_Printer(std::string filename)
{
DLOG(INFO) << "NMEA printer writing on " << nmea_filename.c_str();
}
nmea_devname=nmea_dump_devname;
if (flag_nmea_tty_port==true)
{
nmea_dev_descriptor=init_serial(nmea_devname.c_str());
if (nmea_dev_descriptor!=-1)
{
DLOG(INFO) << "NMEA printer writing on " << nmea_devname.c_str();
}
}else{
nmea_dev_descriptor=-1;
}
}
Nmea_Printer::~Nmea_Printer()
@@ -60,30 +75,112 @@ Nmea_Printer::~Nmea_Printer()
{
nmea_file_descriptor.close();
}
close_serial();
}
int Nmea_Printer::init_serial (std::string serial_device) {
/*!
* Opens the serial device and sets the deffault baud rate for a NMEA transmission (9600,8,N,1)
*/
int fd = 0;
struct termios options;
long BAUD;
long DATABITS;
long STOPBITS;
long PARITYON;
long PARITY;
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
if (fd == -1) return fd; //failed to open TTY port
fcntl(fd, F_SETFL, 0); // clear all flags on descriptor, enable direct I/O
tcgetattr(fd, &options); // read serial port options
BAUD = B9600;
//BAUD = B38400;
DATABITS = CS8;
STOPBITS = 0;
PARITYON = 0;
PARITY = 0;
options.c_cflag = BAUD | DATABITS | STOPBITS | PARITYON | PARITY | CLOCAL | CREAD;
// enable receiver, set 8 bit data, ignore control lines
//options.c_cflag |= (CLOCAL | CREAD | CS8);
options.c_iflag = IGNPAR;
// set the new port options
tcsetattr(fd, TCSANOW, &options);
return fd;
}
void Nmea_Printer::close_serial ()
{
if (nmea_dev_descriptor != -1)
{
close(nmea_dev_descriptor);
}
}
bool Nmea_Printer::Print_Nmea_Line(gps_l1_ca_ls_pvt* pvt_data, bool print_average_values)
{
std::string GPRMC;
std::string GPGGA;
std::string GPGSA;
std::string GPGSV;
// set the new PVT data
d_PVT_data=pvt_data;
// generate the NMEA sentences
//GPRMC
GPRMC=get_GPRMC();
//GPGGA (Global Positioning System Fixed Data)
GPGGA=get_GPGGA();
//GPGSA
GPGSA=get_GPGSA();
//GPGSV
GPGSV=get_GPGSV();
// write to log file
try{
//GPRMC
nmea_file_descriptor<<get_GPRMC();
nmea_file_descriptor<<GPRMC;
//GPGGA (Global Positioning System Fixed Data)
nmea_file_descriptor<<get_GPGGA();
nmea_file_descriptor<<GPGGA;
//GPGSA
nmea_file_descriptor<<get_GPGSA();
nmea_file_descriptor<<GPGSA;
//GPGSV
nmea_file_descriptor<<get_GPGSV();
nmea_file_descriptor<<GPGSV;
}catch(std::exception ex)
{
DLOG(INFO) << "NMEA printer can not write on output file" << nmea_filename.c_str();;
}
//write to serial device
if (nmea_dev_descriptor!=-1)
{
try{
int n_bytes_written;
//GPRMC
n_bytes_written=write(nmea_dev_descriptor, GPRMC.c_str(), GPRMC.length());
//GPGGA (Global Positioning System Fixed Data)
n_bytes_written=write(nmea_dev_descriptor, GPGGA.c_str(), GPGGA.length());
//GPGSA
n_bytes_written=write(nmea_dev_descriptor, GPGSA.c_str(), GPGSA.length());
//GPGSV
n_bytes_written=write(nmea_dev_descriptor, GPGSV.c_str(), GPGSV.length());
}catch(std::exception ex)
{
DLOG(INFO) << "NMEA printer can not write on serial device" << nmea_filename.c_str();;
}
}
return true;
}