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 #include "Task.h"
00012 
00013 #ifndef TASKGPS_H_
00014 #define TASKGPS_H_
00015 
00016 /**
00017  * @class TaskGPS
00018  * @brief This TaskGPS Class handles the GPS measurement using the uBlox.
00019  * Starting the task using the start() starts the measurement.
00020  * It can be used alongside with other measurement Tasks inside the mbed::rtos
00021  * environment. The Task Class basically wraps mbeds Thread functionality.
00022  */
00023 class TaskGPS : public Task {
00024 public:
00025     TaskGPS(uBlox*,Mutex*, Queue<UBloxGPSMessage,GPS_QUEUE_LENGHT>*);
00026     TaskGPS(uBlox*,Mutex*,Queue<UBloxGPSMessage,GPS_QUEUE_LENGHT>*,
00027             osPriority, uint32_t, unsigned char*);
00028     virtual ~TaskGPS();
00029 
00030 private:
00031     rtos::Queue<UBloxGPSMessage,GPS_QUEUE_LENGHT>* queue;
00032     uBlox* mUBlox;
00033     uBLOX_MODE uBloxMode;
00034 
00035 
00036     /**
00037      * @brief A thread safe method that acquires GPS values. After acquiring GPS Data
00038      *  it stores the data inside a uBLoxGPSMessage
00039      */
00040     void measure();
00041 
00042     /**
00043      * @brief Sets the message Queue of the Task where the acquired data will be stored
00044      * after the acquisition
00045      * @param queueGps the queue where the MPU9250AccelerationMessage will be stored
00046      */
00047     void setQueue(Queue<UBloxGPSMessage,GPS_QUEUE_LENGHT>* queueGps);
00048 
00049 };
00050 
00051 #endif /* TASKGPS_H_ */