view main/robots/odr-sim/GpsStatus.cpp @ 231:783f69f37c64 main

Rework the simulator to better reflect the new/different nodes in the real hardware.
author Bob Cook <bob@bobcookdev.com>
date Sat, 12 Jul 2014 17:22:55 -0700
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// ----------------------------------------------------------------------------------------
//
//  robots/odr-sim/GpsStatus.cpp
//    
//  Bob Cook Development, Robotics Library
//  http://www.bobcookdev.com/rl/
// 
//  Thread that emulates the "ODR display" node.
//
//  Copyright (c) 2014 Bob Cook
//
//  Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
//
//  The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
//
//  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
//
// ----------------------------------------------------------------------------------------

#include "GpsStatus.h"

#include "packages/common/can/can_helpers.h"
#include "packages/common/can/can_messages.h"
#include "packages/common/can/can_nodes.h"

#include "packages/linux/can/CANMessage.h"

// ----------------------------------------------------------------------------------------

Poco::RWLock GpsStatus::sm_rwLock;

// ----------------------------------------------------------------------------------------

GpsStatus::GpsStatus()
    : Poco::Runnable(),
      m_quitEvent( true /* auto-reset */ )
{
}

// ----------------------------------------------------------------------------------------

GpsStatus::~GpsStatus()
{
}

// ----------------------------------------------------------------------------------------

void GpsStatus::timeToQuit()
{
    m_quitEvent.set();
}

// ----------------------------------------------------------------------------------------

void GpsStatus::run()
{
    for ( ;; )
    {
        try
        {
            Poco::RWLock::ScopedReadLock lock( sm_rwLock );

            uint32_t msgid = can_build_message_id( can_node_sensor_gps,
                                                   can_node_broadcast,
                                                   can_dataid_heartbeat );

            CANMessage::QueueToSend( new CANMessage( msgid ) );

        }
        catch ( ... )
        {
            // nothing to do, but don't stop the thread
        }

        if ( m_quitEvent.tryWait( 1250 /* milliseconds */ ) )
        {
            return;
        }
    }
}

// ----------------------------------------------------------------------------------------