GpsHandler.cpp

#include "GpsHandler.h"

using namespace std;

GpsHandler *GpsHandler::_gps = NULL;

void* acquireWrapper(void* obj){
    GpsHandler* ctrl = reinterpret_cast<GpsHandler*>(obj);
    ctrl->acquire();
    return nullptr;
}


GpsHandler::GpsHandler(){
	init();
}

GpsHandler::~GpsHandler(){
	close();
}


GpsHandler *GpsHandler::get()
{
	if(_gps == NULL)
	{
		_gps = new GpsHandler();
		_gps->lock();
		_gps->start();
	}
	return _gps;
}

void GpsHandler::kill()
{

	if (NULL != _gps)
	{
		cout << "Killing GPS..." << endl;
		_gps->stop();
		delete _gps;
		_gps = NULL;
		cout << "GPS killed !" << endl;
	}
}

void GpsHandler::start(){
	pthread_create(&t_acquire, NULL, acquireWrapper, this);
}

void GpsHandler::stop(){
	cout << "Stopping GPS thread..." << endl;
	m_acquire = false;
	pthread_join(t_acquire, NULL);
	cout << "GPS thread stopped !" << endl;
}


double GpsHandler::latitude(){
	return _gps->m_gpsdata->fix.latitude;
}

double GpsHandler::longitude(){
	return _gps->m_gpsdata->fix.longitude;
}


void GpsHandler::init(){
	string host = "localhost";
	string port = "2947";
	cout << "Trying to connect to " << host << ":" << port << endl;
	m_gpsrec = new gpsmm((char*) host.c_str(),(char*) port.c_str());


	//connect to local GPSd
	if((m_gpsdata = m_gpsrec->stream(WATCH_ENABLE | WATCH_JSON)) == NULL ){
		cerr << "No GPSd running." << endl;
		exit(-1);
	}

	cout << "Gpsd Running" << endl;
}

void GpsHandler::lock(){
	cout << "Locking GPS..." << endl;
	while(!m_gpsrec->waiting(50000000) )
	{
		cout << "Waiting for GPS locking..." << endl;
	}
	cout << "GPS locked !" << endl;
}

void GpsHandler::acquire(){
	m_acquire= true;
	while(m_acquire)
	{
		//wait for some data
		if (!m_gpsrec->waiting(5000000)){
			continue;
		}
		if ((m_gpsdata = m_gpsrec->read()) == NULL) {
			cerr << "Read error.\n" << endl;
			return;
		}
		pthread_yield();
	}
}

void GpsHandler::close(){
   m_gpsdata = m_gpsrec->stream(WATCH_DISABLE);
	//gps_close(m_gpsdata);
}