qgps.h

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.h : visualization widget for GPS device data
//
//	- assume GPGSA is followed by GPGSV.
//
// 	- programmed by Boyoon Jung ([e-mail])
//----------------------------------------------------------------------------
#ifndef __QGPS_H
#define __QGPS_H

// header files for IMU device
#include <gps.h>

// header files for Qt library
#include <qgps_ui.h>			// GPS UI
#include <qpixmap.h>
#include <qthread.h>
#include <qsocket.h>

// header files for debugging
#include <iostream>
#include <cstdio>
#include <cerrno>
using std::cerr;
using std::endl;


// constants
#define DGPS_MSG_MAX	1024


// class definition for GPS devices
class QGps : public QGpsUI, public QThread
{
    //Q_OBJECT

    protected:
	GPS* gps;			// GPS device
	int aprns[12];			// active PRNs

	char buffer[MAX_RTCM];		// message buffer

	QPixmap led_red, led_green, led_blue;	// LEDs

	// retrieve the GPS info from the device
	virtual void run(void);

	// update the position page
	void updateGGA(void);
	
	// update the satellites page (active-satellite info only)
	void updateGSA(void);

	// update the satellites page (satellite-in-view info only)
	void updateGSV(void);

	// update the garmin page (estimated errors only)
	void updatePGRME(void);

	// update the garmin page (3D velocity only)
	void updatePGRMV(void);

	// check if a PRN is active or not
	bool isActive(int prn);

	// convert a latitude to a string
	char* lat2str(float l, char str[]);

	// convert a longitude to a string
	char* long2str(float l, char str[]);

    public:
	// constructor
	QGps(GPS* gps=0, QWidget* parent=0, const char* name=0, WFlags f=0);
	// destructor
	~QGps(void);

	// set/get the IMU
	void setGPS(GPS* gps);
	GPS* getGPS(void) { return gps; }
};


// check if a PRN is active or not
inline bool QGps::isActive(int prn)
{
    for (int i=0; i<12 && aprns[i] >= 0; i++)
	if (aprns[i] == prn) return true;
    return false;
}


// convert a latitude to a string
inline char* QGps::lat2str(float l, char str[])
{
    float usl = fabs(l);
    int deg = int(usl);
    int min = int((usl-deg) * 60);
    int sec = int(((usl-deg) - (min/60.0)) * 3600);
    sprintf(str, "%dd %d\' %d\" %c", deg, min, sec, (l>0) ? 'N' : 'S');
    return str;
}


// convert a longitude to a string
inline char* QGps::long2str(float l, char str[])
{
    float usl = fabs(l);
    int deg = int(usl);
    int min = int((usl-deg) * 60);
    int sec = int(((usl-deg) - (min/60.0)) * 3600);
    sprintf(str, "%dd %d\' %d\" %c", deg, min, sec, (l>0) ? 'E' : 'W');
    return str;
}


#endif	// __QGPS_H