ReceiverThread::ReceiverThread(boatReal * parent)
{
qRegisterMetaType<nmeaINFO>("nmeaINFO");
connect(this,SIGNAL(updateBoat(nmeaINFO)),parent,SLOT(updateBoat(nmeaINFO)));
connect(this,SIGNAL(finished()),parent,SLOT(slot_threadStartedOrFinished()));
connect(this,SIGNAL(started()),parent,SLOT(slot_threadStartedOrFinished()));
port=NULL;
//initPort();
this->parent=parent;
nmea_zero_INFO(&info);
nmea_parser_init(&parser);
if(parser.buff_size==0)
qWarning()<<"no parser!!!";
this->listNMEA=NULL;
}
void update(Boat boats[], Fish *fishes, int *fishesInCell,double dt){
// This should all be separate for each of the processes
// So one process each for each of the cells,
// and a process each for the captains.
for(int j = 0; j < GRIDCELLS; j++){
for(int i =0; i < fishesInCell[j];i++){
updateFish(boats,&fishes[FISHCOORD(j,i)],dt);
}
}
for(int i = 0; i < NUMBOATS; i++){
updateBoat(&boats[i]);
}
}
void ReceiverThread::run()
{
//qWarning() << "Starting thread loop (1)";
int numBytes = 0;
int l = 512;
#ifndef GPS_FILE
if(!port ||(port && !port->isOpen()))
{
qWarning()<<"anomaly 1";
if(port)
{
delete port;
port=NULL;
}
/*retry to open the port*/
if(!this->initPort())
{
qWarning() << "Port not open => not starting GPS thread";
if(port) port->close();
delete port;
port=NULL;
exit();
return;
}
}
#else
QFile fakeGPS("fakeGPS.data");
if(!fakeGPS.open(QIODevice::ReadOnly | QIODevice::Text))
{
qWarning()<<"failed to open fakeGPS.data";
return;
}
#endif
//qWarning() << "Starting thread loop (2)";
/*clear port*/
//port->readAll();
while (!parent->getPause() && port && port->isOpen())
{
#ifndef GPS_FILE
numBytes = port->bytesAvailable();
#else
numBytes=513;
#endif
if(numBytes > l)
{
QByteArray buffer;
#ifndef GPS_FILE
while(port->bytesAvailable()>0)
{
buffer=buffer+port->read(512);
}
#else
buffer.clear();
for(int pass=0;pass<50;++pass)
{
if(fakeGPS.atEnd())
{
fakeGPS.seek(0);
qWarning()<<"restarting fakeGPS file";
}
buffer=fakeGPS.readLine();
#endif
QList<QByteArray> lines=buffer.split('\n');
for (int n=0;n<lines.count();++n)
{
if(lines.at(n).count()>1)
{
#ifndef GPS_FILE
QString temp=QString(lines.at(n).left(lines.at(n).length()-1));
#else
QString temp=lines.at(n);
#endif
// if(temp.contains("RMC"))
// qWarning()<<temp;
#ifndef GPS_FILE
QByteArray data=lines.at(n).left(lines.at(n).length()-1);
#else
QByteArray data=lines.at(n);
#endif
//data.replace("$II","$GP"); would have been good but... checksum
data.push_back('\r' );
data.push_back('\n');
char * record=data.data();
nmea_parse(&parser, record, data.size(), &info);
if(listNMEA)
{
listNMEA->addItem(temp);
}
}
}
emit updateBoat(info);
#ifdef GPS_FILE
}
#endif
}
this->msleep(3000);
}
if(port)
{
if(port->isOpen())
port->close();
//qWarning()<<"deleting port";
delete port;
port=NULL;
}
//qWarning() << "Exiting thread loop";
this->exit();
}
