int CCONV gps_on_position_change(CPhidgetGPSHandle gps, void *userptr, double latitude, double longitude, double altitude) {
PhidgetInfo *info = userptr;
GpsInfo *gps_info = info->type_info;
// Calculate the sample time:
sample_tick(gps_info->sample_rate, NULL);
// Get the GPS time:
GPSDate date;
GPSTime time;
if ( (CPhidgetGPS_getDate(gps, &date) == EPHIDGET_OK) &&
(CPhidgetGPS_getTime(gps, &time) == EPHIDGET_OK) ) {
gps_info->now_at_utc.tm_sec = time.tm_sec;
gps_info->now_at_utc.tm_min = time.tm_min;
gps_info->now_at_utc.tm_hour = time.tm_hour;
gps_info->now_at_utc.tm_mday = date.tm_mday;
gps_info->now_at_utc.tm_mon = date.tm_mon;
gps_info->now_at_utc.tm_year = date.tm_year;
gps_info->now_at_utc_ms = (time.tm_ms >= 1000) ? 0 : time.tm_ms;
gps_info->is_now_at_utc_known = true;
} else
gps_info->is_now_at_utc_known = false;
// Get Position values:
if (gps_info->latitude != PUNK_DBL) {
gps_info->is_latitude_known = true;
gps_info->latitude = latitude;
} else
gps_info->is_latitude_known = false;
if (gps_info->longitude != PUNK_DBL) {
gps_info->is_longitude_known = true;
gps_info->longitude = longitude;
} else
gps_info->is_longitude_known = false;
if (gps_info->altitude != PUNK_DBL) {
gps_info->is_altitude_known = true;
gps_info->altitude = altitude;
} else
gps_info->is_altitude_known = false;
double heading, velocity;
if (CPhidgetGPS_getHeading(gps, &heading) == EPHIDGET_OK) {
gps_info->heading = heading;
gps_info->is_heading_known = true;
} else
gps_info->is_heading_known = false;
if (CPhidgetGPS_getVelocity(gps, &velocity) == EPHIDGET_OK) {
gps_info->velocity = velocity;
gps_info->is_velocity_known = true;
} else
gps_info->is_velocity_known = false;
return 0;
}
int GpsSync::runStep()
{
if(!this->is_signal_acquired)
{
// Reset status
initStatusValues();
// Do nothing - Sleep
std::this_thread::sleep_for(this->period_time);
}
else
{
// Work
// Date and time
// TODO check
CPhidgetGPS_getDate(this->gps_handle_, &date);
CPhidgetGPS_getTime(this->gps_handle_, &time);
// NMEA data
// TODO check
CPhidgetGPS_getNMEAData(this->gps_handle_, &NMEAdata);
// Checks
if(!is_position_fixed)
{
is_position_acquired=false;
initPoseValues();
}
// Fix Status
this->positionFixStatusChangeHandler(status);
// Position change
this->positionHandler(latitude, longitude, altitude);
this->headingHandler(heading);
this->velocityHandler(velocity);
this->dateAndTimeHandler(date, time);
this->nmeaDataHandler(NMEAdata);
// Sleep
this->time_ref = this->time_ref + period_time;
std::this_thread::sleep_until(this->time_ref);
}
return 0;
}
int GpsAsync::PositionChange_Handler(CPhidgetGPSHandle gps, double latitude, double longitude, double altitude)
{
double heading, velocity;
GPSDate date;
GPSTime time;
NMEAData NMEAdata;
// Heading and Velocity
// TODO check
CPhidgetGPS_getHeading(gps, &heading);
CPhidgetGPS_getVelocity(gps, &velocity);
// Date and time
// TODO check
CPhidgetGPS_getDate(gps, &date);
CPhidgetGPS_getTime(gps, &time);
// NMEA data
// TODO check
CPhidgetGPS_getNMEAData(gps, &NMEAdata);
// Function to use the data
this->positionHandler(latitude, longitude, altitude);
this->headingHandler(heading);
this->velocityHandler(velocity);
this->dateAndTimeHandler(date, time);
this->nmeaDataHandler(NMEAdata);
return 1;
}
