GPSDirectionSource.h

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/* ========================================================================
 * Copyright (c) 2006,
 * Institute for Computer Graphics and Vision
 * Graz University of Technology
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are
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 *
 * Redistributions of source code must retain the above copyright notice,
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 *
 * Redistributions in binary form must reproduce the above copyright
 * notice, this list of conditions and the following disclaimer in the
 * documentation and/or other materials provided with the distribution.
 *
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 * its contributors may be used to endorse or promote products derived from
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 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
 * IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
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 * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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 * ========================================================================
 * PROJECT: OpenTracker
 * ======================================================================== */
/* ======================================================================= */

#ifndef _GPSDIRECTIONSOURCE_H
#define _GPSDIRECTIONSOURCE_H

#include "../OpenTracker.h"
#include "GPSDriver.h"


#ifndef OT_NO_GPS_SUPPORT


namespace ot {

    class OPENTRACKER_API GPSDirectionSource : public Node, public GPSListener
    {
    public:

        Event event;
        Event buffer;

        virtual int isEventGenerator()
        {
            return 1;
        }

        virtual void newData( const GPResult * point, const char * line, void * userData );

    protected:
        GPSDirectionSource() {};

        friend class GPSModule;
    };

    inline void GPSDirectionSource::newData( const GPResult * res, const char * line, void * userData )
    {
        ACE_ASSERT( userData != NULL );
        if( res->type == GPResult::GPVTG){
            GPVTG * point = (GPVTG *) res;
            GPSModule * module = (GPSModule *)userData;
            if( !module->driver->hasFix() )
                return;
            module->lock();
            buffer.timeStamp();
            // klm/h = 3.6 * m/s, 1/3.6 = 0.27777777777777777777777777777778
            buffer.getPosition()[0] = (float)(point->speedKlm * 0.27777777777777777777777777777778);
            float temp[4];
            temp[0] = 0;
            temp[1] = 1;
            temp[2] = 0;
            temp[3] = (float)(point->trueCourse * MathUtils::GradToRad);
            MathUtils::axisAngleToQuaternion( copyA2V(temp, 4), buffer.getOrientation() );
            buffer.getConfidence() = (float)(1 / module->driver->getHdop());
            module->unlock();
        }
    }

} // namespace ot


#endif // OT_NO_GPS_SUPPORT


#endif // !defined(_GPSDIRECTIONSOURCE_H)

/* 
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 *   End of GPSDirectionSource.h
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