TaskGPS.cpp

00001 /*
00002  * TaskGPS.cpp
00003  *
00004  *  Created on: May 30, 2016
00005  *      Author: Adrian
00006  */
00007 
00008 #include "TaskGPS.h "
00009 
00010 TaskGPS::TaskGPS(uBlox* uBlox,Mutex* mutexUART, Queue<UBloxGPSMessage,GPS_QUEUE_LENGHT>* queue){
00011     this->mUBlox = uBlox;
00012     setMutex(mutexUART);
00013     setQueue(queue);
00014 }
00015 
00016 TaskGPS::TaskGPS(uBlox* uBlox,rtos::Mutex* mutexUART,
00017         rtos::Queue<UBloxGPSMessage,GPS_QUEUE_LENGHT>* queue,
00018         osPriority priority, uint32_t stackSize, unsigned char *stackPointer){
00019     this->mUBlox = uBlox;
00020     setMutex(mutexUART);
00021     setQueue(queue);
00022     setPriority(priority);
00023     setStackSize(stackSize);
00024     setStackPointer(stackPointer);
00025     setState(SLEEPING);
00026 }
00027 
00028 TaskGPS::~TaskGPS() {
00029     // TODO Auto-generated destructor stub
00030 }
00031 
00032 osStatus TaskGPS::start(){
00033     setState(RUNNING);
00034     this->thread = new rtos::Thread(callBack,this);
00035 }
00036 
00037 osStatus TaskGPS::stop(){
00038     thread->terminate();
00039     setState(SLEEPING);
00040     delete this->thread;
00041 }
00042 
00043 void TaskGPS::callBack(void const* data){
00044     // WOODHAMMER METHOD of Casting!
00045     const TaskGPS* constInstance = static_cast<const TaskGPS* >(data);
00046     TaskGPS* instance = const_cast<TaskGPS*>(constInstance);
00047 
00048     instance->measureGps();
00049 }
00050 
00051 void TaskGPS::measureGps(){
00052     UBloxGPSMessage uBloxGPSMessage;
00053 
00054     while(true){
00055         mutexUART->lock(osWaitForever);
00056         uBloxGPSMessage.setLongitude(mUBlox->getLongitude());
00057         uBloxGPSMessage.setLatitude(mUBlox->getLatitude());
00058         mutexUART->unlock();
00059 
00060         queue->put(&uBloxGPSMessage,osWaitForever);
00061         osDelay(GPS_TASK_DELAY_MS);
00062     }
00063 
00064 
00065 }
00066 
00067 void TaskGPS::setQueue(Queue<UBloxGPSMessage,GPS_QUEUE_LENGHT>* queue){
00068     this->queue = queue;
00069 }
00070 
00071 void TaskGPS::setMutex(Mutex* mutex){
00072     this->mutexUART = mutex;
00073 }
00074 
00075 void TaskGPS::setPriority(osPriority priority){
00076     this->priority = priority;
00077 }
00078 
00079 void TaskGPS::setStackSize(uint32_t stacksize){
00080     this->stack_size = stacksize;
00081 }
00082 
00083 void TaskGPS::setStackPointer(unsigned char* stackPointer){
00084     this->stack_pointer = stackPointer;
00085 }
00086 
00087 void TaskGPS::setState(TASK_STATE state){
00088     this->state = state;
00089 }
00090 
00091 TASK_STATE TaskGPS::getState(){
00092     return state;
00093 }
00094