On Wednesday 26 November 2008 13:44:01 arne anka wrote:
> please post your .h and .cpp -- that might help, to get a clue, where to
> look.
Hi,
here they are..
I've implemented all Gypsy get-methods and signals except the
SatelliteChanged-singal so far..
is there a Wiki to put this functions as an example? is OM-Wiki the right
place?
#include "MokoGPS.h"
#include <QtDBus>
#include <QDebug>
#include <QDBusReply>
#include <QDateTime>
#include <QtTest>
#include <math.h>
/****************************************************
* << and >> Operators declaration for DBus metatypes
*****************************************************/
// Marshall the GPSSatellite data into a D-BUS argument
QDBusArgument &operator<<(QDBusArgument &argument, const GPSSatellite &sat)
{
argument.beginStructure();
argument << sat.ID << sat.InUse << sat.Elevation << sat.Azimuth << sat.SNR;
argument.endStructure();
return argument;
}
// Retrieve the GPSSatellite data from the D-BUS argument
const QDBusArgument &operator>>(const QDBusArgument &argument, GPSSatellite &sat)
{
argument.beginStructure();
argument >> sat.ID >> sat.InUse >> sat.Elevation >> sat.Azimuth >> sat.SNR;
argument.endStructure();
return argument;
}
const QDebug operator<<(QDebug debug, const GPSSatellite &sat) {
debug << sat.ID << sat.InUse << sat.Elevation << sat.Azimuth << sat.SNR;
return debug;
}
const QDebug operator<<(QDebug debug, const QList<GPSSatellite> &lsat) {
foreach(GPSSatellite sat, lsat) debug << sat;
return debug;
}
/*********************************
* MokoGPS class
*********************************/
MokoGPS::MokoGPS(){
///***************************
///* Connection to system bus
///***************************
//register GPSSatellite metatype
qDBusRegisterMetaType<GPSSatellite>();
qDBusRegisterMetaType<QList<GPSSatellite> >();
QDBusConnection GPSConnection = QDBusConnection::systemBus();
/// check connection
if (GPSConnection.isConnected())
qDebug() << "successfully connected to system bus \n";
else
qFatal("Failed to connect to session bus");
/// create a proxy object for method calls
QString ServiceBusName = "org.freedesktop.Gypsy";
QString ObjectPath = "/org/freedesktop/Gypsy" ;
GPSInterface = new QDBusInterface( ServiceBusName,
ObjectPath,
///method path = "" search recursive in
///all subfolders for the called method
"",
QDBusConnection::systemBus() );
connect(GPSInterface, SIGNAL( FixStatusChanged(int) ),this, SLOT( handleFixStatusChanged(int) ) );
//next line is to try types to connect to Signal
connect(GPSInterface, SIGNAL( SatellitesChanged(QDBusMessage) ) ,this, SLOT( handleSatellitesChanged(QDBusMessage) ) );
}
///* destructor
MokoGPS::~MokoGPS(){
///close on prog.exit
logPosition.close();
logAccuracy.close();
logCourse.close();
//logSatellites.close();
}
/*
* Slots to interact with GUI
*/
/// enable GPS
void MokoGPS::StartDevice()
{
GPSInterface->call("Enable");
qDebug()<<"device started \n";
emit sendOutput("device started ", 1);
}
/// disable GPS
void MokoGPS::StopDevice()
{
GPSInterface->call("Disable");
qDebug()<<"device stopped \n";
emit sendOutput("device stopped ", 1);
}
void MokoGPS::StartLog() {
qDebug()<<"start logging";
emit sendOutput("start logging", 1);
/// timestamp to prepend to Logfile name
QDateTime *thisDay = new QDateTime();
QString thisDate = thisDay->currentDateTime().toString("yyyy-MM-dd_hh.mm.ss");
///open logfiles
QString positionlog = "GPSPosition.log";
QString accuracylog = "GPSAccuracy.log";
QString courselog = "GPSCourse.log";
QString satelliteslog = "GPSSatellites.log";
positionlog.prepend(thisDate);
accuracylog.prepend(thisDate);
courselog.prepend(thisDate);
satelliteslog.prepend(thisDate);
logPosition.open(positionlog.toLatin1() );
logAccuracy.open(accuracylog.toLatin1() );
logCourse.open(courselog.toLatin1() );
//logSatellites.open(satelliteslog.toLatin1() );
/// connect dbus signals
connect(GPSInterface, SIGNAL( PositionChanged(int,int,double,double,double) ),this, SLOT( handlePositionChanged(int,int,double,double,double) ) );
connect(GPSInterface, SIGNAL( TimeChanged(int) ),this, SLOT( handleTimeChanged(int) ) );
connect(GPSInterface, SIGNAL( ConnectionStatusChanged(bool) ),this, SLOT( handleConnectionStatusChanged(bool) ) );
/// due to display this without logging in Gui it is connected in the constructor
//connect(GPSInterface, SIGNAL( FixStatusChanged(int) ),this, SLOT( handleFixStatusChanged(int) ) );
connect(GPSInterface, SIGNAL( CourseChanged(int,int,double,double,double) ),this, SLOT( handleCourseChanged(int,int,double,double,double) ) );
connect(GPSInterface, SIGNAL( AccuracyChanged(int,double,double,double) ),this, SLOT( handleAccuracyChanged(int,double,double,double) ) );
/// not jet possible to set the right parameter
//connect(GPSInterface, SIGNAL( SatellitesChanged(QDBusArgument) ),this, SLOT( handleSatellitesChanged(QDBusArgument) ) );
}
void MokoGPS::StopLog(){
qDebug()<<"stop logging";
emit sendOutput("stop logging", 1);
/// close logfiles
logPosition.close();
logAccuracy.close();
logCourse.close();
//logSatellites.close();
/// disconnect dbus signals
disconnect(GPSInterface, SIGNAL( PositionChanged(int,int,double,double,double) ),this, SLOT( handlePositionChanged(int,int,double,double,double) ) );
disconnect(GPSInterface, SIGNAL( TimeChanged(int) ),this, SLOT( handleTimeChanged(int) ) );
disconnect(GPSInterface, SIGNAL( ConnectionStatusChanged(bool) ),this, SLOT( handleConnectionStatusChanged(bool) ) );
/// due to display this without logging in Gui it is connected in the constructor
//disconnect(GPSInterface, SIGNAL( FixStatusChanged(int) ),this, SLOT( handleFixStatusChanged(int) ) );
disconnect(GPSInterface, SIGNAL( CourseChanged(int,int,double,double,double) ),this, SLOT( handleCourseChanged(int,int,double,double,double) ) );
disconnect(GPSInterface, SIGNAL( AccuracyChanged(int,double,double,double) ),this, SLOT( handleAccuracyChanged(int,double,double,double) ) );
///not jet possible to set the right parameter
//disconnect(GPSInterface, SIGNAL( SatellitesChanged(QDBusMessage) ),this, SLOT( handleSatellitesChanged(QDBusMessage) ) );
}
/*
* Slots handeling DBUS signals
*/
void MokoGPS::handlePositionChanged(int fields,int tstamp,double lat,double lon,double alt)
{
setPosition(fields, tstamp, lat, lon, alt);
logPosition << m_Position.TimeStamp
<<" "<< m_Position.Latitude
<<" "<< m_Position.Longitude
<<" "<< m_Position.Altitude
<< "\n";
//qDebug() << "position" << Position.TimeStamp;
}
void MokoGPS::handleTimeChanged(int GPStime)
{
qDebug() << "thime changed to:" << GPStime;
}
void MokoGPS::handleConnectionStatusChanged(bool ConnectionStatus){
qDebug() << "connectionstatus changed to " << ConnectionStatus;
}
void MokoGPS::handleFixStatusChanged(int fixstatus){
emit sendOutput("fixstatus is ", 1);
emit sendOutput(fixstatus, 0);
QString status ="";
switch (fixstatus) {
case 0:
status = "device off";
break;
case 1:
status = "trying";
break;
case 2:
status = "2D fix";
break;
case 3:
status = "3D fix";
break;
}
emit sendFixStatus(status);
// qDebug() << "fixstatus is " << fixstatus;
}
void MokoGPS::handleCourseChanged(int fields, int tstamp, double speed, double heading, double climb){
//emit sendOutput("coursechanged", 1);
logCourse << tstamp
<< " " << knots_to_MpS(speed)
<< " " << heading
<< " " << knots_to_MpS(climb);
///velocity in ned (north east down)
m_Velocity_ned.n = knots_to_MpS(speed) * cos(heading*PI/180) ;
m_Velocity_ned.e = knots_to_MpS(speed) * sin(heading*PI/180);
m_Velocity_ned.d = knots_to_MpS(climb);
logCourse << " " << m_Velocity_ned.n
<< " " << m_Velocity_ned.e
<< " " << m_Velocity_ned.d << "\n";
// qDebug() << "course" << tstamp;
}
void MokoGPS::handleAccuracyChanged(int fields, double pdop, double hdop, double vdop) {
//emit sendOutput("accuracy changed", 1);
logAccuracy << GetTime()
<< " " << pdop
<< " " << hdop
<< " " << vdop << "\n";
//qDebug() << "accuracy" << GetTime();
}
void MokoGPS::handleSatellitesChanged(QDBusMessage SatellitesDbus) {
qDebug() << SatellitesDbus;
emit sendOutput("SattelitesArray signal",1);
}
/*
*
* Methods to get GPS-data deliberately at any time
*
*/
/// returns: 3 = 3dFix , 2= 2dFix , 1= no Fix yet , 0=not started
int MokoGPS::GetFixStatus()
{
QDBusReply<int> reply = GPSInterface->call("GetFixStatus");
FixStatus=reply.value();
// print data to console for Debugging
////qDebug()<<"GetFixStatus Reply: "<<FixStatus<<"\n";
return FixStatus;
}
/// Get Time
int MokoGPS::GetTime()
{
QDBusReply<int> reply = GPSInterface->call("GetTime");
Time=reply.value();
// print data to console for Debugging
////qDebug()<<"Time: "<<Time<<"\n";
return Time;
}
//* returns True if Device is Connected
bool MokoGPS::GetConnectionStatus()
{
QDBusReply<bool> reply = GPSInterface->call("GetConnectionStatus");
ConnectionStatus=reply.value();
// print data to console for Debugging
////qDebug()<<"GetConnectionStatus Reply: "<<ConnectionStatus<<"\n";
return ConnectionStatus;
}
/// Position Fields tell which value is valid
/// GYPSY_POSITION_FIELDS_NONE = 1 << 0,
/// GYPSY_POSITION_FIELDS_LATITUDE = 1 << 1,
/// GYPSY_POSITION_FIELDS_LONGITUDE = 1 << 2,
/// GYPSY_POSITION_FIELDS_ALTITUDE = 1 << 3
/// Example 1000 means None of the values is valid
///* Fields/Timestamp/Lat/Lon/Alt
void MokoGPS::GetPosition()
{
QDBusMessage PositionReply;
PositionReply = GPSInterface->call("GetPosition");
QList<QVariant> ReplyData;
ReplyData = PositionReply.arguments();
setPosition(ReplyData[0].toInt(), //fields
ReplyData[1].toInt(), // tstamp
ReplyData[2].toDouble(), //lat
ReplyData[3].toDouble(), //lon
ReplyData[4].toDouble() ); //alt
/* print data to console for Debugging
qDebug() <<"Position"
<<"Fields: "<< Position.Fields
<<"TS: "<< Position.TimeStamp
<<"Lat: "<<Position.Latitude
<<"Lon: "<< Position.Longitude
<<"Alt: "<<Position.Altitude<< "\n";
*/
}
/// updates SatellitesArray
/// [ID/InUse/Elevation/Azimuth/SNR/NumberOfSats]
void MokoGPS::GetSatellites()
{
QDBusMessage SatelliteReply;
SatelliteReply = GPSInterface->call("GetSatellites");
QList<GPSSatellite> satList = qdbus_cast<QList<GPSSatellite> >(SatelliteReply.arguments()[0]);
qDebug() << satList;
}
/// Position Fields tell which value is valid
/// GYPSY_ACCURACY_FIELDS_NONE = 0,
/// GYPSY_ACCURACY_FIELDS_POSITION = 1 << 0,
/// GYPSY_ACCURACY_FIELDS_HORIZONTAL = 1 << 1,
/// GYPSY_ACCURACY_FIELDS_VERTICAL = 1 << 2,
/// Example 1000 means None of the values is valid
///returns /Field/Timestamp/pdop/hdop/vdop
void MokoGPS::GetAccuracy()
{
QDBusMessage AccuracyReply;
AccuracyReply = GPSInterface->call("GetAccuracy");
QList<QVariant> ReplyData;
ReplyData = AccuracyReply.arguments();
m_Accuracy.Fields=ReplyData[0].toInt();
m_Accuracy.PDop=ReplyData[1].toDouble();
m_Accuracy.HDop=ReplyData[2].toDouble();
m_Accuracy.VDop=ReplyData[3].toDouble();
/* print data to console for Debugging
qDebug() <<"Accuracy"
<<"Fields: "<< Accuracy.Fields
<<"PDop: "<< Accuracy.PDop
<<"HDop: "<<Accuracy.HDop
<<"VDop: "<< Accuracy.VDop<<"\n";
*/
}
void MokoGPS::GetCourse()
{
QDBusMessage CourseReply;
CourseReply = GPSInterface->call("GetCourse");
QList<QVariant> ReplyData;
ReplyData = CourseReply.arguments();
m_Course.Fields=ReplyData[0].toInt();
m_Course.timestamp=ReplyData[1].toInt();
/// 1 knot = 0.51444 m/s
m_Course.speed=ReplyData[2].toDouble()*KNOT_TO_M_PER_SECOND; /// speed in knots calculated to m/s
m_Course.direction=ReplyData[3].toDouble(); /// in degree 0° = north
m_Course.climb=ReplyData[4].toDouble()*KNOT_TO_M_PER_SECOND; /// vertical speed in knots
qDebug() << "Field: " << m_Course.Fields
<< " speed: " << m_Course.speed
<< " direction: " << m_Course.direction
<< " climb: " << m_Course.climb << endl;
}
/************************
* setFuctions
***********************/
void MokoGPS::setPosition(int fields,int tstamp,double lat,double lon,double alt){
m_Position.Fields=fields;
m_Position.TimeStamp=tstamp;
m_Position.Latitude=lat;
m_Position.Longitude=lon;
m_Position.Altitude=alt;
}
/************************
* convertFuctions
***********************/
double MokoGPS::knots_to_MpS(double knots) {
double meterPerSecond = knots * KNOT_TO_M_PER_SECOND;
return meterPerSecond;
}
double MokoGPS::MpS_to_knots(double meterPerSecond) {
double knots = meterPerSecond / KNOT_TO_M_PER_SECOND;
return knots;
}
#ifndef MOKOGPS_H_
#define MOKOGPS_H_
#include <iostream>
#include <fstream>
#include <QDBusArgument>
#include <QDBusReply>
#include <QObject>
class QDBusConnection;
class QDBusInterface;
const double KNOT_TO_KMH = 1.852;
const double KNOT_TO_M_PER_SECOND = 0.51444;
struct GPSSatellite
{
int ID;
bool InUse;
unsigned int Elevation;
unsigned int Azimuth;
unsigned int SNR;
};
Q_DECLARE_METATYPE(GPSSatellite);
Q_DECLARE_METATYPE(QList<GPSSatellite>);
class MokoGPS : public QObject
{
Q_OBJECT
public:
int FixStatus;
int ConnectionStatus;
int NumberOfSats;
int Time;
struct GPSAccuracy{
int Fields;
double PDop;
double HDop;
double VDop;
}m_Accuracy;
struct GPSPosition{
int Fields;
int TimeStamp;
double Latitude;
double Longitude;
double Altitude;
}m_Position;
struct GPSPosition_ecef{
double x;
double y;
double z;
}m_Position_ecef;
struct GPSCourse{
int Fields;
int timestamp;
double speed; //here in m/s (from NMEA retrieved in knots)
double direction;
double climb; //z velocity here in m/s (from NMEA retrieved in knots)
}m_Course;
struct GPSVelocity_ned{
double n;
double e;
double d;
}m_Velocity_ned;
private:
QDBusInterface *GPSInterface;
std::ofstream logPosition;
std::ofstream logAccuracy;
std::ofstream logCourse;
std::ofstream logSatellites;
/*
* functions, slots and signals
*/
public:
MokoGPS();
~MokoGPS();
///get various GPS data
bool GetConnectionStatus();
void GetPosition();
void GetSatellites();
void GetAccuracy();
void GetCourse();
int GetFixStatus();
int GetTime();
private:
///setFunctions
void setPosition(int fields,int tstamp,double lat,double lon,double alt);
//convert functions
double knots_to_MpS(double knots);
double MpS_to_knots(double meterPerSecond);
public slots:
///control Device and device information
void StartDevice();
void StopDevice();
void StartLog();
void StopLog();
void handlePositionChanged(int fields,int tstamp,double lat,double lon,double alt);
void handleTimeChanged(int GPStime);
void handleConnectionStatusChanged(bool ConnectionStatus);
void handleFixStatusChanged(int fixstatus);
void handleCourseChanged(int fields, int tstamp, double speed, double heading, double climb);
void handleAccuracyChanged(int fields, double pdop, double hdop, double vdop);
void handleSatellitesChanged(QDBusMessage SatellitesDbus);
signals:
void sendOutput(QVariant, bool);
void sendFixStatus(QString);
};
#endif /*MOKOGPS_H_*/
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