TaskGPS.h

00001 /**
00002  * @file TaskGPS.h
00003  *
00004  * @author Adrian
00005  * @date 30.05.2016
00006  *
00007  */
00008 #include "uBlox.h "
00009 #include "UBloxGPSMessage.h "
00010 #include "main.h"
00011 
00012 #ifndef TASKGPS_H_
00013 #define TASKGPS_H_
00014 
00015 /**
00016  * @class TaskGPS
00017  * @brief This TaskGPS Class handles the GPS measurement using the uBlox.
00018  * Starting the task using the start() starts the measurement.
00019  * It can be used alongside with other measurement Tasks inside the mbed::rtos
00020  * environment. The Task Class basically wraps mbeds Thread functionality.
00021  */
00022 class TaskGPS {
00023 public:
00024     TaskGPS(uBlox*,Mutex*, Queue<UBloxGPSMessage,GPS_QUEUE_LENGHT>*);
00025     TaskGPS(uBlox*,Mutex*,Queue<UBloxGPSMessage,GPS_QUEUE_LENGHT>*,
00026             osPriority, uint32_t, unsigned char*);
00027     virtual ~TaskGPS();
00028 
00029 
00030     /**
00031      * Starts the task by building and its measurement
00032      * @return
00033      */
00034     osStatus start();
00035 
00036     /**
00037      * Stops the task. Should only be used after start() was used
00038      * @return
00039      */
00040     osStatus stop();
00041 
00042 
00043     /**
00044      * Gets the actual state of the Task either RUNNING or SLEEPING
00045      * @return
00046      */
00047     TASK_STATE getState();
00048 
00049 private:
00050     rtos::Thread* thread;
00051     rtos::Queue<UBloxGPSMessage,GPS_QUEUE_LENGHT>* queue;
00052     rtos::Mutex* mutexUART ;
00053     osPriority priority ;
00054     uint32_t stack_size;
00055     unsigned char *stack_pointer;
00056 
00057     TASK_STATE state;
00058 
00059     uBlox* mUBlox;
00060     uBLOX_MODE uBloxMode;
00061 
00062 
00063     /**
00064      * @brief A Callback function thats called by the mbed::Thread of this TaskClass
00065      * @param
00066      */
00067     static void callBack(void const *);
00068 
00069     /**
00070      * @brief A thread safe method that acquires GPS values. After acquiring GPS Data
00071      *  it stores the data inside a uBLoxGPSMessage
00072      */
00073     void measureGps();
00074 
00075 
00076     /**
00077      * @brief Sets the message Queue of the Task where the acquired data will be stored
00078      * after the acquisition
00079      * @param queueGps the queue where the MPU9250AccelerationMessage will be stored
00080      */
00081     void setQueue(Queue<UBloxGPSMessage,GPS_QUEUE_LENGHT>* queueGps);
00082 
00083     /**
00084      * @brief Sets the mutex thats used for a thread safe acquisition
00085      * @param mutexI2C the I2C mutex
00086      */
00087     void setMutex(Mutex* mutexI2C);
00088 
00089     /**
00090      * @brief Sets the priority of the Task
00091      * @param priority priority of the Task
00092      */
00093     void setPriority(osPriority priority);
00094 
00095     /**
00096      * @brief Sets the size of the Task
00097      * @param stackSize the stack size in Bytes
00098      */
00099     void setStackSize(uint32_t stackSize);
00100 
00101     /**
00102      * @brief Sets the stack pointer of for the task stack
00103      * @param stackPointer
00104      */
00105     void setStackPointer(unsigned char* stackPointer);
00106 
00107 
00108     /**
00109      * @brief Sets the actual state of the Task
00110      * @param taskState either RUNNING or SLEEPING
00111      */
00112     void setState(TASK_STATE taskState);
00113 };
00114 
00115 #endif /* TASKGPS_H_ */