![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
demo with update made to thread depreciation
Dependencies: GPS_Provider X_NUCLEO_GNSS1A1
source/main.cpp
- Committer:
- HarryKeane
- Date:
- 2020-01-31
- Revision:
- 4:4e909af6e7b9
- Parent:
- 0:7b0a5a01caec
File content as of revision 4:4e909af6e7b9:
/** ******************************************************************************* * @file main.cpp * @author AST / Central Lab * @version V1.0.0 * @date June-2017 * @brief Teseo Location Hello World * ******************************************************************************* * @attention * * <h2><center>© COPYRIGHT(c) 2017 STMicroelectronics</center></h2> * * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License"); * You may not use this file except in compliance with the License. * You may obtain a copy of the License at: * * http://www.st.com/software_license_agreement_liberty_v2 * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. 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. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ******************************************************************************** */ #include "mbed.h" #include "Teseo.h" #include "GPSProvider.h" #include "geofence_config.h" #define DEBUG_RX_PIN D0 #define DEBUG_TX_PIN D1 /* appliation commands */ typedef enum AppCmd { APP_CMD_IDLE, // No special command APP_CMD_HELP, // Show the supported commands APP_CMD_START, // Start location APP_CMD_STOP, // Stop location APP_CMD_GETLASTLOC, // Get last location APP_CMD_ENGEOFENCE, // Enable Geofence APP_CMD_CONFGEOFENCE, // Config Geofence APP_CMD_GEOFENCEREQ, // Request Geofence status APP_CMD_ENODO, // Enable Odometer APP_CMD_STARTODO, // Start Odometer system APP_CMD_STOPODO, // Stop Odometer system APP_CMD_ENDATALOG, // Enable Datalog APP_CMD_CONFDATALOG, // Config Datalog APP_CMD_STARTDATALOG, // Start Datalog APP_CMD_STOPDATALOG, // Stop Datalog APP_CMD_ERASEDATALOG, // Erase Datalog APP_CMD_VERBOSE, // Enable verbose mode APP_CMD_RESET, // Debug command, pull reset pin high level APP_CMD_GET_DEVICE_INFO // Get Device Info } eAppCmd; static void _AppShowCmd(void); static void _ConsoleRxHandler(void); static void _AppCmdProcess(char *pCmd); static void _AppShowLastPosition(const GPSProvider::LocationUpdateParams_t *lastLoc); static void _AppEnGeofence(const bool isGeofenceSupported); static void _AppGeofenceCfg(void); static void _AppEnOdometer(const bool isOdometerSupported); static void _AppEnDatalogging(const bool isDataloggingSupported); static void _AppDatalogCfg(void); static void _ExecAppCmd(void); static int sAppCmd = APP_CMD_IDLE; static eGeofenceId geofenceId; Serial serialDebug(DEBUG_TX_PIN, DEBUG_RX_PIN); #define TESEO_APP_LOG_INFO(...) serialDebug.printf(__VA_ARGS__) #define WARNING_NOT_RUN_MSG TESEO_APP_LOG_INFO("GNSS is not running. Please, type 'start' to make it runnable.\r\n"); #define WARNING_ALREADY_RUN_MSG TESEO_APP_LOG_INFO("GNSS is already running.\r\n"); static GPSProvider gnss; static bool gnssRunning = false; static int level = 1; void locationHandler(const GPSProvider::LocationUpdateParams_t *params) { if (params->valid) { /* application specific handling of location data; */ TESEO_APP_LOG_INFO("locationHandler...\r\n"); } } void geofenceCfg(int ret_code) { TESEO_APP_LOG_INFO("geofenceCfg...\r\n"); } void geofenceStatus(const GPSProvider::GeofenceStatusParams_t *params, int ret_code) { /* application specific handling of geofencing status data; */ TESEO_APP_LOG_INFO("geofenceStatus...\r\n"); } static void _ConsoleRxHandler(void) { static char cmd[32] = {0}; char ch; while(true) { while (!serialDebug.readable()) { ThisThread::yield(); // Allow other threads to run } ch = serialDebug.getc(); serialDebug.putc(ch); if (ch == '\r') { serialDebug.putc('\n'); if (strlen(cmd) > 0) { _AppCmdProcess(cmd); memset(cmd, 0, sizeof(cmd)); } } else { cmd[strlen(cmd)] = ch; } } } static void _ExecAppCmd(void) { while (true) { //TESEO_APP_LOG_INFO("main thread!!!\r\n"); switch (sAppCmd) { case APP_CMD_HELP: sAppCmd = APP_CMD_IDLE; _AppShowCmd(); break; case APP_CMD_IDLE: if(gnssRunning) { //TESEO_APP_LOG_INFO("process.\r\n"); gnss.process(); } break; case APP_CMD_START: sAppCmd = APP_CMD_IDLE; if(gnssRunning) { WARNING_ALREADY_RUN_MSG; } else { TESEO_APP_LOG_INFO("start gnss.\r\n"); gnss.start(); gnssRunning = true; } break; case APP_CMD_STOP: sAppCmd = APP_CMD_IDLE; if(!gnssRunning) { WARNING_NOT_RUN_MSG; } else { TESEO_APP_LOG_INFO("stop gnss.\r\n"); gnss.stop(); gnssRunning = false; } break; case APP_CMD_RESET: sAppCmd = APP_CMD_IDLE; if(!gnssRunning) { WARNING_NOT_RUN_MSG; } else { TESEO_APP_LOG_INFO("reset on.\r\n"); gnss.reset(); } break; case APP_CMD_GETLASTLOC: sAppCmd = APP_CMD_IDLE; if(!gnssRunning) { WARNING_NOT_RUN_MSG; } else { TESEO_APP_LOG_INFO("get last loc.\r\n"); _AppShowLastPosition(gnss.getLastLocation()); } break; case APP_CMD_ENGEOFENCE: sAppCmd = APP_CMD_IDLE; if(!gnssRunning) { WARNING_NOT_RUN_MSG; } else { TESEO_APP_LOG_INFO("enable geofence.\r\n"); _AppEnGeofence(gnss.isGeofencingSupported()); } break; case APP_CMD_CONFGEOFENCE: sAppCmd = APP_CMD_IDLE; if(!gnssRunning) { WARNING_NOT_RUN_MSG; } else { TESEO_APP_LOG_INFO("config geofence.\r\n"); _AppGeofenceCfg(); } break; case APP_CMD_GEOFENCEREQ: sAppCmd = APP_CMD_IDLE; if(!gnssRunning) { WARNING_NOT_RUN_MSG; } else { TESEO_APP_LOG_INFO("request geofence status.\r\n"); gnss.geofenceReq(); } break; case APP_CMD_ENODO: sAppCmd = APP_CMD_IDLE; if(!gnssRunning) { WARNING_NOT_RUN_MSG; } else { TESEO_APP_LOG_INFO("enable odometer.\r\n"); _AppEnOdometer(gnss.isOdometerSupported()); } break; case APP_CMD_STARTODO: sAppCmd = APP_CMD_IDLE; if(!gnssRunning) { WARNING_NOT_RUN_MSG; } else { TESEO_APP_LOG_INFO("start odo subystem.\r\n"); gnss.startOdo(1); } break; case APP_CMD_STOPODO: sAppCmd = APP_CMD_IDLE; if(!gnssRunning) { WARNING_NOT_RUN_MSG; } else { TESEO_APP_LOG_INFO("stop odo subystem.\r\n"); gnss.stopOdo(); } break; case APP_CMD_ENDATALOG: sAppCmd = APP_CMD_IDLE; if(!gnssRunning) { WARNING_NOT_RUN_MSG; } else { TESEO_APP_LOG_INFO("enable datalog.\r\n"); _AppEnDatalogging(gnss.isDataloggingSupported()); } break; case APP_CMD_CONFDATALOG: sAppCmd = APP_CMD_IDLE; if(!gnssRunning) { WARNING_NOT_RUN_MSG; } else { TESEO_APP_LOG_INFO("config datalog.\r\n"); _AppDatalogCfg(); } break; case APP_CMD_STARTDATALOG: sAppCmd = APP_CMD_IDLE; if(!gnssRunning) { WARNING_NOT_RUN_MSG; } else { TESEO_APP_LOG_INFO("start datalog.\r\n"); gnss.startDatalog(); } break; case APP_CMD_STOPDATALOG: sAppCmd = APP_CMD_IDLE; if(!gnssRunning) { WARNING_NOT_RUN_MSG; } else { TESEO_APP_LOG_INFO("stop datalog.\r\n"); gnss.stopDatalog(); } break; case APP_CMD_ERASEDATALOG: sAppCmd = APP_CMD_IDLE; if(!gnssRunning) { WARNING_NOT_RUN_MSG; } else { TESEO_APP_LOG_INFO("erase datalog.\r\n"); gnss.eraseDatalog(); } break; case APP_CMD_VERBOSE: sAppCmd = APP_CMD_IDLE; if(!gnssRunning) { WARNING_NOT_RUN_MSG; } else { TESEO_APP_LOG_INFO("set verbose mode.\r\n"); gnss.setVerboseMode(level); } break; case APP_CMD_GET_DEVICE_INFO: sAppCmd = APP_CMD_IDLE; if(!gnssRunning) { WARNING_NOT_RUN_MSG; } else { TESEO_APP_LOG_INFO("get device info.\r\n"); if(gnss.haveDeviceInfo()) { TESEO_APP_LOG_INFO(gnss.getDeviceInfo()); } TESEO_APP_LOG_INFO("\r\n"); } break; } ThisThread::yield(); // Allow other threads to run } } int main() { Thread consoleThread; Thread cmdThread; consoleThread.set_priority(osPriorityIdle); cmdThread.set_priority(osPriorityIdle); serialDebug.format(8, Serial::None, 1); serialDebug.baud(115200); consoleThread.start(_ConsoleRxHandler); gnss.reset(); gnss.onLocationUpdate(locationHandler); TESEO_APP_LOG_INFO("Success to new GNSS.\r\n"); _AppShowCmd(); cmdThread.start(_ExecAppCmd); while(1) { ThisThread::yield(); } } static void _AppShowLastPosition(const GPSProvider::LocationUpdateParams_t *lastLoc) { char msg[256]; GPSProvider::LocationUpdateParams_t lastLocation = *lastLoc; if(lastLocation.valid == true) { sprintf(msg,"Latitude:\t\t[ %.0f' %d'' ]\n\r", (lastLocation.lat - ((int)lastLocation.lat % 100)) / 100, ((int)lastLocation.lat % 100)); TESEO_APP_LOG_INFO(msg); sprintf(msg,"Longitude:\t\t[ %.0f' %d'' ]\n\r", (lastLocation.lon - ((int)lastLocation.lon % 100)) / 100, ((int)lastLocation.lon % 100)); TESEO_APP_LOG_INFO(msg); sprintf(msg,"Altitude:\t\t[ %.2f ]\n\r", lastLocation.altitude); TESEO_APP_LOG_INFO(msg); sprintf(msg,"Satellites locked:\t[ %d ]\n\r", lastLocation.numGPSSVs); TESEO_APP_LOG_INFO(msg); sprintf(msg, "UTC:\t\t\t[ %d ]\n\r", (int)lastLocation.utcTime); TESEO_APP_LOG_INFO(msg); } else { sprintf(msg, "Last position wasn't valid.\n\n\r"); TESEO_APP_LOG_INFO(msg); } } static void _AppEnGeofence(const bool isGeofenceSupported) { if(isGeofenceSupported) { gps_provider_error_t ret = gnss.enableGeofence(); if(ret == GPS_ERROR_NONE) { TESEO_APP_LOG_INFO("Enabling Geofencing subsystem...\n\r"); } } else { TESEO_APP_LOG_INFO("Geofencing is not supported!\n\r"); } } static void _AppGeofenceCfg(void) { GPSGeofence gf; switch (geofenceId) { case LecceId: gf.setGeofenceCircle(STLecce); break; case CataniaId: gf.setGeofenceCircle(Catania); break; } /* GPSGeofence::GeofenceCircle_t c = gf.getGeofenceCircle(); printf("_AppGeofenceCfg id=%d\r\n", c.id); printf("_AppGeofenceCfg en=%d\r\n", c.enabled); printf("_AppGeofenceCfg tol=%d\r\n", c.tolerance); printf("_AppGeofenceCfg lat=%.2f\r\n", c.lat); printf("_AppGeofenceCfg lon=%.2f\r\n", c.lon); printf("_AppGeofenceCfg radius=%.2f\r\n", c.radius); */ GPSGeofence *geofenceTable[] = {&gf}; gnss.onGeofenceCfgMessage(geofenceCfg); gnss.onGeofenceStatusMessage(geofenceStatus); gps_provider_error_t ret = gnss.configGeofences(geofenceTable, sizeof(geofenceTable)/sizeof(GPSGeofence *)); if(ret == GPS_ERROR_NONE) { TESEO_APP_LOG_INFO("Configuring Geofence circles...\n\r"); } } static void _AppEnOdometer(const bool isOdometerSupported) { if(isOdometerSupported) { gps_provider_error_t ret = gnss.enableOdo(); if(ret == GPS_ERROR_NONE) { TESEO_APP_LOG_INFO("Enabling Odometer subsystem...\n\r"); } } else { TESEO_APP_LOG_INFO("Odometer is not supported!\n\r"); } } static void _AppEnDatalogging(const bool isDataloggingSupported) { if(isDataloggingSupported) { gps_provider_error_t ret = gnss.enableDatalog(); if(ret == GPS_ERROR_NONE) { TESEO_APP_LOG_INFO("Enabling Datalog subsystem...\n\r"); } } else { TESEO_APP_LOG_INFO("Datalog is not supported!\n\r"); } } static void _AppDatalogCfg(void) { bool enableBufferFullAlarm = false; bool enableCircularBuffer = true; unsigned minRate = 5; unsigned minSpeed = 0; unsigned minPosition = 0; int logMask = 1; GPSDatalog dl(enableBufferFullAlarm, enableCircularBuffer, minRate, minSpeed, minPosition, logMask); gps_provider_error_t ret = gnss.configDatalog(&dl); if(ret == GPS_ERROR_NONE) { TESEO_APP_LOG_INFO("Configuring Datalog...\n\r"); } } static void _AppShowCmd(void) { TESEO_APP_LOG_INFO("Location commands:\r\n"); TESEO_APP_LOG_INFO(" help - help to show supported commands\r\n"); TESEO_APP_LOG_INFO(" start - begin location app\r\n"); TESEO_APP_LOG_INFO(" stop - end location app\r\n"); TESEO_APP_LOG_INFO(" getlastloc - get last location\r\n"); TESEO_APP_LOG_INFO(" en-geo - enable Geofence\r\n"); TESEO_APP_LOG_INFO(" geo-c - config Geofence [c=l Lecce, c=t Catania]\r\n"); TESEO_APP_LOG_INFO(" req-geo - request Geofence status\r\n"); TESEO_APP_LOG_INFO(" en-odo - enable Odoemter\r\n"); TESEO_APP_LOG_INFO(" start-odo - start Ododmeter [demo distance 1m]\r\n"); TESEO_APP_LOG_INFO(" stop-odo - stop Ododmeter\r\n"); TESEO_APP_LOG_INFO(" en-datalog - enable Datalog\r\n"); TESEO_APP_LOG_INFO(" cfg-dl - config Datalog\r\n"); TESEO_APP_LOG_INFO(" start-dl - start Datalog\r\n"); TESEO_APP_LOG_INFO(" stop-dl - stop Datalog\r\n"); TESEO_APP_LOG_INFO(" erase-dl - erase Datalog\r\n"); TESEO_APP_LOG_INFO(" verbose-l - nmea msg verbose mode [l=1 normal, l=2 debug]\r\n"); TESEO_APP_LOG_INFO(" reset - reset GNSS\r\n"); TESEO_APP_LOG_INFO(" getdevinfo - get device info\r\n"); } static void _AppCmdProcess(char *pCmd) { if (strcmp(pCmd, "help") == 0) { sAppCmd = APP_CMD_HELP; } else if (strcmp(pCmd, "start") == 0) { sAppCmd = APP_CMD_START; } else if (strcmp(pCmd, "stop") == 0) { sAppCmd = APP_CMD_STOP; } else if (strcmp(pCmd, "getlastloc") == 0) { sAppCmd = APP_CMD_GETLASTLOC; } else if (strcmp(pCmd, "en-geo") == 0) { sAppCmd = APP_CMD_ENGEOFENCE; } else if (strcmp(pCmd, "geo-l") == 0) { geofenceId = LecceId; sAppCmd = APP_CMD_CONFGEOFENCE; } else if (strcmp(pCmd, "geo-t") == 0) { geofenceId = CataniaId; sAppCmd = APP_CMD_CONFGEOFENCE; } else if (strcmp(pCmd, "req-geo") == 0) { sAppCmd = APP_CMD_GEOFENCEREQ; } else if (strcmp(pCmd, "en-odo") == 0) { sAppCmd = APP_CMD_ENODO; } else if (strcmp(pCmd, "start-odo") == 0) { sAppCmd = APP_CMD_STARTODO; } else if (strcmp(pCmd, "stop-odo") == 0) { sAppCmd = APP_CMD_STOPODO; } else if (strcmp(pCmd, "en-datalog") == 0) { sAppCmd = APP_CMD_ENDATALOG; } else if (strcmp(pCmd, "cfg-dl") == 0) { sAppCmd = APP_CMD_CONFDATALOG; } else if (strcmp(pCmd, "start-dl") == 0) { sAppCmd = APP_CMD_STARTDATALOG; } else if (strcmp(pCmd, "stop-dl") == 0) { sAppCmd = APP_CMD_STOPDATALOG; } else if (strcmp(pCmd, "erase-dl") == 0) { sAppCmd = APP_CMD_ERASEDATALOG; } else if (strcmp(pCmd, "verbose-1") == 0) { level = 1; sAppCmd = APP_CMD_VERBOSE; } else if (strcmp(pCmd, "verbose-2") == 0) { level = 2; sAppCmd = APP_CMD_VERBOSE; } else if (strcmp(pCmd, "reset") == 0) { sAppCmd = APP_CMD_RESET; } else if (strcmp(pCmd, "getdevinfo") == 0) { sAppCmd = APP_CMD_GET_DEVICE_INFO; } else { TESEO_APP_LOG_INFO("\r\nUnknown command %s\r\n", pCmd); } TESEO_APP_LOG_INFO("\r\n"); }