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Gps driver: make enable_sat_info a command line option

This commit is contained in:
Kynos 2014-06-08 17:54:50 +02:00
parent 3538773b99
commit 07458b284d
1 changed files with 19 additions and 9 deletions
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28
src/drivers/gps/gps.cpp
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@ -83,7 +83,7 @@ static const int ERROR = -1;
class GPS : public device::CDev
{
public:
GPS(const char *uart_path, bool fake_gps);
GPS(const char *uart_path, bool fake_gps, bool enable_sat_info);
virtual ~GPS();
virtual int init();
@ -113,6 +113,7 @@ private:
orb_advert_t _report_sat_info_pub; ///< uORB pub for satellite info
float _rate; ///< position update rate
bool _fake_gps; ///< fake gps output
bool _enable_sat_info; ///< enable sat info
/**
@ -157,7 +158,7 @@ GPS *g_dev;
}
GPS::GPS(const char *uart_path, bool fake_gps) :
GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info) :
CDev("gps", GPS_DEVICE_PATH),
_task_should_exit(false),
_healthy(false),
@ -167,7 +168,8 @@ GPS::GPS(const char *uart_path, bool fake_gps) :
_report_gps_pos_pub(-1),
_report_sat_info_pub(-1),
_rate(0.0f),
_fake_gps(fake_gps)
_fake_gps(fake_gps),
_enable_sat_info(enable_sat_info)
{
/* store port name */
strncpy(_port, uart_path, sizeof(_port));
@ -318,7 +320,7 @@ GPS::task_main()
switch (_mode) {
case GPS_DRIVER_MODE_UBX:
_Helper = new UBX(_serial_fd, &_report_gps_pos, &_report_sat_info, UBX_ENABLE_NAV_SVINFO);
_Helper = new UBX(_serial_fd, &_report_gps_pos, &_report_sat_info, _enable_sat_info);
break;
case GPS_DRIVER_MODE_MTK:
@ -464,6 +466,7 @@ GPS::print_info()
}
warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK");
warnx("sat info: %s", (_enable_sat_info) ? "enabled" : "disabled");
if (_report_gps_pos.timestamp_position != 0) {
warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type,
@ -487,7 +490,7 @@ namespace gps
GPS *g_dev;
void start(const char *uart_path, bool fake_gps);
void start(const char *uart_path, bool fake_gps, bool enable_sat_info);
void stop();
void test();
void reset();
@ -497,7 +500,7 @@ void info();
* Start the driver.
*/
void
start(const char *uart_path, bool fake_gps)
start(const char *uart_path, bool fake_gps, bool enable_sat_info)
{
int fd;
@ -505,7 +508,7 @@ start(const char *uart_path, bool fake_gps)
errx(1, "already started");
/* create the driver */
g_dev = new GPS(uart_path, fake_gps);
g_dev = new GPS(uart_path, fake_gps, enable_sat_info);
if (g_dev == nullptr)
goto fail;
@ -598,6 +601,7 @@ gps_main(int argc, char *argv[])
/* set to default */
const char *device_name = GPS_DEFAULT_UART_PORT;
bool fake_gps = false;
bool enable_sat_info = false;
/*
* Start/load the driver.
@ -619,7 +623,13 @@ gps_main(int argc, char *argv[])
fake_gps = true;
}
gps::start(device_name, fake_gps);
/* Detect sat info option */
for (int i = 2; i < argc; i++) {
if (!strcmp(argv[i], "-s"))
enable_sat_info = true;
}
gps::start(device_name, fake_gps, enable_sat_info);
}
if (!strcmp(argv[1], "stop"))
@ -644,5 +654,5 @@ gps_main(int argc, char *argv[])
gps::info();
out:
errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n][-f]");
errx(1, "unrecognized command, try 'start', 'stop', 'test', 'reset' or 'status' [-d /dev/ttyS0-n][-f][-s]");
}