qgps.cc

在linux系统下开发的GPS接收程序,具有良好的图形操作界面.

//----------------------------------------------------------------------------
// qgps.cc : implementation of GPS visualization classes
//
// 	- programmed by Boyoon Jung ([e-mail])
//----------------------------------------------------------------------------
#include "qgps.h"
#include "qgps_led.h"
#include "qgps_satmap.h"
#include "qglobe.h"
#include <math.h>
#include <cstdio>

// header files for Qt library
#include <qtabwidget.h>
#include <qlabel.h>
#include <qprogressbar.h>
#include <qcheckbox.h>


// constructor
QGps::QGps(GPS* gps, QWidget* parent, const char* name, WFlags f)
	: QGpsUI(parent, name, f)
{
    // store the pointer of the GPS
    if (gps) setGPS(gps);
    else gps = 0;

    // initialize variables
    aprns[0] = -1;

    // create LEDs
    led_red = qembed_findImage("led_red");
    led_green = qembed_findImage("led_green");
    led_blue = qembed_findImage("led_blue");

    // automatically start to update GPS info
    start();
}


// destructor
QGps::~QGps(void)
{
    // stop updating info
    terminate();
    wait();
}


// set the GPS
void QGps::setGPS(GPS* gps)
{
    // store the pointer of the GPS
    this->gps = gps;
}


// retrieve the GPS info from the device
void QGps::run(void)
{
    while (true)
    {
	// retrieve the next sentence
	int sid = gps->update();

	// update the information
	switch (sid)
	{
	    case GPGGA: updateGGA(); break;
	    case GPGSA: updateGSA(); break;
	    case GPGSV: updateGSV(); break;
	    case PGRME: updatePGRME(); break;
	    case PGRMV: updatePGRMV(); break;
	}

	// be nice to other threads
	usleep(10000);
    }
}


// update the position page
void QGps::updateGGA(void)
{
    if (gps && mainTab->currentPageIndex() == 0)
    {
	char buffer[20];
	double x, y, z;
	double e, n;

	// update fix quality information
	switch (gps->fix_quality)
	{
	    case 0:		// fix not available
		led->setPixmap(led_red);
		nsat_used->setNum(gps->nsat_used);
		dgps_on->setChecked(false);
		globe->hidePosition();
		return;
		
	    case 1:		// non-differential GPS fix
		led->setPixmap(led_green);
		dgps_on->setChecked(false);
		break;

	    case 2:		// differential GPS fix
		led->setPixmap(led_green);
		dgps_on->setChecked(true);
		drs_id->setNum(gps->drs_id);
		sprintf(buffer, "%02d:%02d:%02d", gps->dgps_age/3600,
			(gps->dgps_age%3600)/60, gps->dgps_age%60);
		rtcm_age->setText(buffer);
		break;

	    case 3:		// estimated
		dgps_on->setChecked(false);
		led->setPixmap(led_blue);
		break;
	}

	// update UTC time
	strncpy(buffer, gps->fix_time, 2);
	strncpy(buffer+3, gps->fix_time+2, 2);
	strncpy(buffer+6, gps->fix_time+4, 2);
	buffer[2] = buffer[5] = ':';
	buffer[8] = '\0';
	fix_time->setText(buffer);

	// update the number of satellites
	nsat_used->setNum(gps->nsat_used);

	// update geodetic position info
	latitude->setText(lat2str(gps->latitude, buffer));
	longitude->setText(long2str(gps->longitude, buffer));
	altitude->setNum(gps->altitude);
	geoid->setNum(gps->geoid);
	globe->setPosition(gps->latitude, gps->longitude, gps->altitude, gps->geoid);

	// update DOP info
	dop->setNum(gps->dop);

	// update ECEF position info
	gps->ecef(x, y, z);
	QString qs;
	ecefx->setText(qs.setNum(x,'f',4));
	ecefy->setText(qs.setNum(y,'f',4));
	ecefz->setText(qs.setNum(z,'f',4));

	// update UTM position info
	gps->utm(e, n);
	easting->setText(qs.setNum(e,'f',4));
	northing->setText(qs.setNum(n,'f',4));
    }
}


// update the satellites page (active-satellite info only)
void QGps::updateGSA(void)
{
    if (gps && mainTab->currentPageIndex() == 1)
    {
	// update the GPS mode
	switch (gps->fix_type)
	{
	    case 1:		// not available
		sat_mode->setText("Not Available");
		return;

	    case 2:		// 2D fix
		if (gps->mode == 'M')
		    sat_mode->setText("Manual selection of 2D fix");
		else
		    sat_mode->setText("Auto selection of 2D fix");
		break;

	    case 3:		// 3D fix
		if (gps->mode == 'M')
		    sat_mode->setText("Manual selection of 3D fix");
		else
		    sat_mode->setText("Auto selection of 3D fix");
		break;
	}

	// update the active satelite info
	for (int i=0; i<12 && gps->prns_used[i] >= 0; i++)
	    aprns[i] = gps->prns_used[i];

	// update DOP info
	dop_pos->setNum(gps->dop_pos);
	dop_horiz->setNum(gps->dop_horiz);
	dop_vert->setNum(gps->dop_pos);
    }
}


// update the garmin page (estimated errors only)
void QGps::updatePGRME(void)
{
    if (gps && mainTab->currentPageIndex() == 2)
    {
	// update estimated error info
	if (gps->horiz_error > 0)
	    horiz_error->setNum(gps->horiz_error);
	else
	    horiz_error->setText("");

	if (gps->horiz_error > 0)
	    vert_error->setNum(gps->vert_error);
	else
	    vert_error->setText("");

	if (gps->horiz_error > 0)
	    pos_error->setNum(gps->pos_error);
	else
	    pos_error->setText("");
    }
}


// update the garmin page (3D velocity only)
void QGps::updatePGRMV(void)
{
    if (gps && mainTab->currentPageIndex() == 2)
    {
	// update estimated error info
	vel_east->setNum(gps->vel_east);
	vel_north->setNum(gps->vel_north);
	vel_up->setNum(gps->vel_up);
    }
}


// inline function used by updateGSV()
inline void update_prn(int idx, GPS* gps, QLabel* lbl, QProgressBar* bar, bool active)
{
    if (gps->nsat_view > idx)
    {
	// make it red if it is active; otherwise, make it black
	if (active) lbl->setPaletteForegroundColor(Qt::red);
	else lbl->setPaletteForegroundColor(Qt::black);

	// update the info
	lbl->setNum(gps->sat_view[idx].prn);
	bar->setProgress(gps->sat_view[idx].snr);
    }
    else
    {
	// reset
	lbl->setPaletteForegroundColor(Qt::black);
	lbl->setText("");
	bar->setProgress(0);
    }
}


// update the satellites page (satellite-in-view info only)
void QGps::updateGSV(void)
{
    if (gps && mainTab->currentPageIndex() == 1)
    {
	// update the number of satellites in view
	nsat_view->setNum(gps->nsat_view);

	// update the PRN & SNR info
	update_prn(0, gps, prn0, snr0, isActive(gps->sat_view[0].prn));
	update_prn(1, gps, prn1, snr1, isActive(gps->sat_view[1].prn));
	update_prn(2, gps, prn2, snr2, isActive(gps->sat_view[2].prn));
	update_prn(3, gps, prn3, snr3, isActive(gps->sat_view[3].prn));
	update_prn(4, gps, prn4, snr4, isActive(gps->sat_view[4].prn));
	update_prn(5, gps, prn5, snr5, isActive(gps->sat_view[5].prn));
	update_prn(6, gps, prn6, snr6, isActive(gps->sat_view[6].prn));
	update_prn(7, gps, prn7, snr7, isActive(gps->sat_view[7].prn));
	update_prn(8, gps, prn8, snr8, isActive(gps->sat_view[8].prn));
	update_prn(9, gps, prn9, snr9, isActive(gps->sat_view[9].prn));
	update_prn(10, gps, prn10, snr10, isActive(gps->sat_view[10].prn));
	update_prn(11, gps, prn11, snr11, isActive(gps->sat_view[11].prn));

	// update the satellite map
	satmap->updateSatellites(gps->nsat_view, gps->sat_view, gps->prns_used);
    }
}