Validation utilisation centrale inertielle et camera ueye

+<application mode="gui">
+    <context>
+        <libraries>
+            <library path="../libs/libhmi.so"/>
+            <library path="../libs/libmti.so"/>
+        </libraries>
+        <components>
+            <component id="mti" type="MTiTracker"/>
+            <component id="repere" type="RotateView"/>
+            <component id="__statemachine__" type="StateMachine">
+                <statemachine>
+                    <first name="start"/>
+                    <last name="end"/>
+                    <transitions/>
+                </statemachine>
+            </component>
+        </components>
+        <constants/>
+    </context>
+    <processes>
+        <process controller="__statemachine__">
+            <sheet id="start">
+		    <preconnections>
+		    <invoke destination="mti" slot="setDevice(QString)" type="string">/dev/ttyUSB0</invoke>
+                    <invoke destination="mti" slot="setOrientationOutput(bool)" type="bool">true</invoke>
+                    <invoke destination="mti" slot="setPort(int)" type="int">4</invoke>
+                    <invoke destination="mti" slot="setQuaternionOutput()" type="void"/>
+                    <invoke destination="mti" slot="setThreaded(bool)" type="bool">true</invoke>
+                    <invoke destination="mti" slot="setTimeStampedOutput()" type="void"/>
+                    <invoke destination="mti" slot="setMagneticFilter(bool)" type="bool">true</invoke>
+                </preconnections>
+                <connections>
+                    <link source="mti" signal="sendQuaternion(float*)" destination="repere" slot="setQuaternion(float*)"/>
+                </connections>
+                <postconnections>
+                    <invoke destination="mti" slot="init()" type="void"/>
+                    <invoke destination="repere" slot="show()" type="void"/>
+                    <invoke destination="mti" slot="start()" type="void"/>
+                </postconnections>
+            </sheet>
+        </process>
+    </processes>
+</application>

+<application mode="gui">
+    <context>
+        <libraries>
+            <library path="../libs/hmi"/>
+            <library path="../libs/images"/>
+            <library path="../libs/ueye"/>
+            <library path="../libs/common"/>
+            <library path="../libs/ocv"/>
+        </libraries>
+        <components>
+            <component id="met" type="UEyeCamera"/>
+            <component id="rcv" type="RawCVImageConvertor"/>
+            <component id="tt" type="TokenTrigger"/>
+            <component id="ips" type="ImagePointSelector"/>
+            <component id="__statemachine__" type="StateMachine">
+                <statemachine>
+                    <first name=""/>
+                    <last name="E"/>
+                    <transitions>
+                        <transition source="S" destination="E" token="end"/>
+                    </transitions>
+                </statemachine>
+            </component>
+        </components>
+        <constants/>
+    </context>
+    <processes>
+        <process controller="__statemachine__">
+            <sheet id="S">
+                <preconnections>
+                    <invoke destination="ips" slot="setPointNumber(int)" type="int">1</invoke>
+                    <invoke destination="rcv" slot="setChannels(int)" type="int">4</invoke>
+                    <invoke destination="tt" slot="setToken(QString)" type="string">end</invoke>
+                    <invoke destination="ips" slot="setBGR2RGB(bool)" type="bool">true</invoke>
+                </preconnections>
+                <connections>
+                    <link source="met" signal="sendImage(int,int,char*)" destination="rcv" slot="convertRaw(int,int,char*)"/>
+                    <link source="rcv" signal="rawProcessed(IplImage*)" destination="ips" slot="setImage(IplImage*)"/>
+                    <link source="ips" signal="clicked()" destination="tt" slot="tic()"/>
+                    <link source="tt" signal="sendToken(QString)" destination="__statemachine__" slot="setToken(QString)"/>
+                </connections>
+                <postconnections>
+                    <invoke destination="met" slot="initDevice()" type="void"/>
+                    <invoke destination="met" slot="setFrameRate(double)" type="double">10.0</invoke>
+                    <invoke destination="met" slot="setThreaded(bool)" type="bool">true</invoke>
+                    <invoke destination="ips" slot="show()" type="void"/>
+                    <invoke destination="met" slot="start()" type="void"/>
+                </postconnections>
+            </sheet>
+            <sheet id="E">
+                <preconnections>
+                    <invoke destination="met" slot="stop()" type="void"/>
+                    <invoke destination="ips" slot="hide()" type="void"/>
+                </preconnections>
+                <connections/>
+                <postconnections/>
+            </sheet>
+        </process>
+    </processes>
+</application>

 <?xml version="1.0" encoding="UTF-8"?>
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by Qt Creator 2.4.1, 2012-05-04T11:55:36. -->
+<!-- Written by Qt Creator 2.4.1, 2012-05-04T15:48:00. -->
 <qtcreator>
 <qtcreator>
  <data>
  <data>
   <variable>ProjectExplorer.Project.ActiveTarget</variable>
   <variable>ProjectExplorer.Project.ActiveTarget</variable>

@@ -24,3 +24,7 @@ arcslibrary.commands = arcslibmaker ${QMAKE_FILE_NAME}
 arcslibrary.variable_out = SOURCES
 arcslibrary.variable_out = SOURCES
 QMAKE_EXTRA_COMPILERS += arcslibrary
 QMAKE_EXTRA_COMPILERS += arcslibrary
 
 
+
+DESTDIR=../libs
+DLL_DESTDIR=../libs
+

-unix:  TEMPLATE = lib
-win32: TEMPLATE = vclib
-
-LANGUAGE	= C++
-
-HEADERS	+= nmea.h
-
-SOURCES	+= nmea.cpp
-
-FORMS	= gpswidget.ui
-
-HEADERS += gpswwidget.h
-HEADERS += gpstracker.h
-HEADERS += gpstranslator.h
-HEADERS += gpslog.h
-HEADERS += gpstoogr.h
-HEADERS += triggps.h
-HEADERS += synsensor.h
-HEADERS += synchro.h
-
-SOURCES += gpstracker.cpp
-SOURCES += gpstranslator.cpp
-SOURCES += gpslog.cpp
-SOURCES += gpstoogr.cpp
-SOURCES += triggps.cpp
-SOURCES += synsensor.cpp
-SOURCES += synchro.cpp
-HEADERS+= gpsserial.h
-SOURCES+= gpsserial.cpp
-
-SOURCES += lib.cpp
-
-MOC_DIR = ./moc
-UI_DIR = ./ui
-OBJECTS_DIR = ./obj
-
-
-CONFIG += qt thread release
-
-unix {
-INCLUDEPATH+=/usr/local/include
-LIBS+= -L/usr/local/lib
-
-HAS_OPENCV = $$system(/sbin/ldconfig -p | grep -F libopencv-)
-HAS_CV     = $$system(/sbin/ldconfig -p | grep -F libcv.)
-HAS_CXCORE = $$system(/sbin/ldconfig -p | grep -F libcxcore.)
-HAS_HIGHGUI= $$system(/sbin/ldconfig -p | grep -F libhighgui.)
-HAS_CVAUX  = &&system(/sbin/ldconfig -p | grep -F libcvaux-)
-
-!isEmpty(HAS_OPENCV) {
-	message("libopencv found")
-	LIBS += -lopencv
-}
-
-!isEmpty(HAS_CV) {
-	message("libcv found")
-	LIBS += -lcv
-}
-
-!isEmpty(HAS_CXCORE) {
-	message("libcxcore found")
-	LIBS += -lcxcore
-}
-
-!isEmpty(HAS_HIGHGUI) {
-	message("libhighgui found")
-	LIBS += -lhighgui
-}
-
-!isEmpty(HAS_CVAUX) {
-	message("libcvaux found")
-	LIBS += -lcvaux
-}
-
-}
-
-win32 { 
-INCLUDEPATH+=$$(ARCSDIR)/include
-LIBS += -L$$(ARCSDIR)/lib -lcv -lcxcore -lcvaux -lhighgui 
-CONFIG += dll exceptions
-DEFINES += _CRT_SECURE_NO_DEPRECATE
-}
-
-unix: QMAKE_POST_LINK=mv *.so* ../../../libs
-win32: DLLDESTDIR = ../../../libs

-<application>
-    <defines/>
-    <libraries>
-	    <library name="../../../libs/libgps.so" />
-    </libraries>
-    <objects>
-        <object classname="GPSWWidget" persistent="true" id="widget" />
-        <object classname="GPSTracker" persistent="true" id="gpstrack" />
-    </objects>
-    <sheets>
-        <sheet id="start" >
-            <preconnection>
-                <init value="115200" type="int" slot="setBaudrate(int)" object="gpstrack" />
-		<init value="/dev/tts/USB0" type="string" slot="setDevice(QString)" object="gpstrack" />
-                <init value="1000" type="int" slot="setPeriod(int)" object="gpstrack" />
-                <init value="true" type="bool" slot="setThreaded(bool)" object="gpstrack" />
-                <init value="9" type="int" slot="setFrameCount(int)" object="gpstrack" />
-                <init value="" type="void" slot="init()" object="gpstrack" />
-                <init value="" type="void" slot="show()" object="widget" />
-            </preconnection>
-            <connection>
-                <wire objsource="gpstrack" objdest="widget" signal="sendNMEAFrame(NMEAFrame)" slot="displayNMEAFrame(NMEAFrame)" />
-            </connection>
-            <postconnection>
-                <init value="" type="void" slot="start()" object="gpstrack" />
-            </postconnection>
-        </sheet>
-    </sheets>
-    <statemachine terminal="end" initial="start" />
-</application>

-#!/bin/sh
-
-# Small script to handle GPS under the toshiba portege 3500 
-# This should be adapted to become more generic if possible.
-dmabt
-rfcomm -i hci0 bind rfcomm0 00:80:37:28:32:96 2
-chmod 666 /dev/rfcomm0

-#include "gpsserial.h"
-#include <cstdio>
-
-
-GPSSerial::GPSSerial()
-{
-     portOpen = false;
-}
-
-
-bool GPSSerial::openPort(const int portNumber, BaudRates baudrate, const unsigned long inqueueSize, const unsigned long outqueueSize)
-{
-     if (portOpen)
-	  return true ;
-
-     char filename[15];
-#ifdef WIN32
-     sprintf(filename,"\\\\.\\COM%d",portNumber);	
-#else
-     sprintf(filename,"/dev/ttyS%d",portNumber);
-#endif
-     return openPort(filename, baudrate, inqueueSize, outqueueSize);
-}
-
-
-bool GPSSerial::openPort(const char *portName, BaudRates baudrate, const unsigned long inqueueSize, const unsigned long outqueueSize)
-{
-     if (portOpen)
-	  return true ;
-
-#ifdef WIN32
-	
-	wchar_t wPortName[15]; 
-	mbstowcs(wPortName,portName, 15);
-
-     fd = CreateFile((LPCWSTR)wPortName, GENERIC_READ, 0, NULL, OPEN_EXISTING, 0, NULL);
-     if (fd == INVALID_HANDLE_VALUE) 
-	  return false;
-
-     // Once here, port is open
-     portOpen = true;
-
-     //Get the current state & then change it
-     DCB dcb;
-
-     GetCommState(fd, &dcb);	// Get current state
-
-     dcb.BaudRate = baudrate;			// Setup the baud rate
-     dcb.Parity = NOPARITY;				// Setup the Parity
-     dcb.ByteSize = 8;					// Setup the data bits
-     dcb.StopBits = ONESTOPBIT;			// Setup the stop bits
-     dcb.fDsrSensitivity = FALSE;		// Setup the flow control 
-     dcb.fOutxCtsFlow = FALSE;			// NoFlowControl:
-     dcb.fOutxDsrFlow = FALSE;
-     dcb.fOutX = FALSE;
-     dcb.fInX = FALSE;
-     if (!SetCommState(fd, (LPDCB)&dcb)) 
-     {
-	  portOpen = false;
-	  return false;
-     }
-
-     // Set COM timeouts
-     COMMTIMEOUTS CommTimeouts;
-     
-     GetCommTimeouts(fd,&CommTimeouts);	// Fill CommTimeouts structure
-     
-     // immediate return if data is available, wait 1ms otherwise
-     CommTimeouts.ReadTotalTimeoutConstant = 1;
-     CommTimeouts.ReadIntervalTimeout = MAXDWORD;
-     CommTimeouts.ReadTotalTimeoutMultiplier = MAXDWORD; 
-
-     // immediate return whether data is available or not
-     SetCommTimeouts(fd, &CommTimeouts);	// Set CommTimeouts structure
-
-     // Other initialization functions
-     SetupComm(fd,inqueueSize,outqueueSize);	// Set queue size
-
-     SetCommMask(fd, EV_CTS | EV_DSR | EV_BREAK | EV_RING | EV_RXCHAR); 
-
-     // Remove any 'old' data in buffer
-     PurgeComm(fd, PURGE_TXCLEAR | PURGE_RXCLEAR);
-
-     return true;
-#else
-     struct termios options;
-
-     /* Open port */
-     fd = open(portName, O_RDONLY | O_NOCTTY);
-
-
-     if (fd < 0) 
-	  return false;
-     
-     // Once here, port is open
-     portOpen = true;
-
-     /* Start configuring of port for non-canonical transfer mode */
-     // Get current options for the port
-     tcgetattr(fd, &options);
-	
-     // Set baudrate. 
-     cfsetispeed(&options, baudrate);
-     cfsetospeed(&options, baudrate);
-
-     // Enable the receiver and set local mode
-     options.c_cflag = (CLOCAL | CREAD | CSIZE | CS8 );
-     // Set character size to data bits and set no parity Mask the characte size bits
-     //options.c_cflag &= ~(CSIZE|PARENB);
-     //options.c_cflag |= CS8;		// Select 8 data bits
-     //options.c_cflag &= ~CSTOPB;	// send 1 stop bit
-     // Disable hardware flow control
-     //options.c_cflag &= ~CRTSCTS;
-     options.c_lflag &= ~(ECHO|ECHONL|ICANON|ISIG|IEXTEN);
-     // Disable software flow control
-     options.c_iflag &= 0; //~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL|IXON);
-     // Set Raw output
-     options.c_oflag &= ~OPOST;
-     // Timeout 0.005 sec for first byte, read minimum of 0 bytes
-     options.c_cc[VMIN]     = 0;
-     options.c_cc[VTIME]    = 5;
-
-     // Set the new options for the port
-     if ( tcsetattr(fd,TCSANOW, &options) < 0)
-     {
-	  portOpen = false;
-	  return false;
-     }
-	
-     tcflush(fd, TCIOFLUSH);
-
-     return true;
-#endif
-}
-
-
-void GPSSerial::flush()
-{
-     if (portOpen)
-     {
-#ifdef WIN32
-	  PurgeComm(fd, PURGE_TXCLEAR | PURGE_RXCLEAR);
-#else
-	  tcflush(fd, TCIOFLUSH);
-#endif    
-     }
-}
-
-
-void GPSSerial::close()
-{
-     if (portOpen) 
-     {
-#ifdef WIN32
-	  flush();
-	  CloseHandle(fd);
-#else
-	  ::close(fd);
-#endif
-     }
-     portOpen = false;
-}
-
-
-int GPSSerial::readNMEAFrame(unsigned char* buffer, int maxSize)
-{
-     if (!portOpen) 
-	  return 0;
-
-     buffer[maxSize-1] = '\0';
-     int i=0;
-
-#ifdef WIN32
-     DWORD bytes;
-     BOOL retval;
-     do 
-     {
-	  retval = ReadFile(fd, &buffer[i], 1 , &bytes, NULL);
-	  i += bytes ;
-
-     } while ( i < maxSize - 1 && buffer[i-1] !=  '\x0a' && retval );
-#else
-     int bytes;
-     do 
-     {
-	  bytes = read(fd, &buffer[i],1);
-	  i ++ ;
-     } while ( i < maxSize - 1 && buffer[i-1] !=  '\x0a' && bytes > 0);
-#endif
-	 buffer[i] = '\0';
-     return i;
-}
-
-int GPSSerial::waitNMEAFrame(unsigned char* buffer, int maxSize)
-{
-     if (!portOpen )
-	  return 0;
-
-#ifdef WIN32
-     BOOL retval;
-     DWORD evt;
-     retval = WaitCommEvent(fd,&evt, NULL);
-     if (retval )
-     {
-	  if (evt & EV_DSR || evt & EV_CTS || evt & EV_RXCHAR )
-	       readNMEAFrame(buffer, maxSize);
-	  else return 0;
-     }
-     else
-	  return 0;
-#else
-     struct timeval tv;
-     int retval;
-     fd_set rfds;
-     FD_ZERO(&rfds);
-     FD_SET(fd,&rfds);
-
-     tv.tv_sec = 10 ;
-     tv.tv_usec = 0 ;
-
-     retval = select(fd + 1, &rfds, NULL,NULL, &tv);
-
-     if (retval == -1)
-	  return 0;
-     else
-	  return readNMEAFrame(buffer, maxSize);
-#endif 
-}

-#ifndef __GPSSERIAL_H__
-#define __GPSSERIAL_H__
-
-#ifdef WIN32
-#include <windows.h>
-#include <conio.h>
-#include <time.h>
-#else
-#include <fcntl.h>     	/* POSIX Standard: 6.5 File Control Operations     */
-#include <termios.h>   	/* terminal i/o system, talks to /dev/tty* ports  */
-#include <unistd.h>		/* Read function */
-#include <sys/time.h>	/* gettimeofday function */
-#include <sys/select.h> 
-#endif
-
-
-/*! \brief Low-level class for serial connection with GPS.
- *
- * This class is intended to be cross-platform as much as possible.
- * It establishes a serial connection to a GPS. The intent is to recieve NMEA frames.
- * \author Jean-Yves Didier
- * \date February, the 4th, 2008.
- * \ingroup gps
- */
-class GPSSerial
-{
-public:
-     GPSSerial(); //!< GPS Constructor
-     ~GPSSerial() { close(); } //!< GPS Destructor
-
-
-     /*! \brief Portable baudrates definitions
-      */
-#ifdef WIN32
-     enum BaudRates { PBR_110 = CBR_110,   PBR_300 = CBR_300,    PBR_600 = CBR_600,
-		      PBR_1200 = CBR_1200, PBR_2400 = CBR_2400,  PBR_4800 = CBR_4800,
-		      PBR_9600 = CBR_9600, PBR_19200 = CBR_19200, PBR_38400 = CBR_38400,
-		      PBR_57600 = CBR_57600, PBR_115200 = CBR_115200 };
-#else
-     enum BaudRates { PBR_110 = B110,   PBR_300 = B300,    PBR_600 = B600,
-		      PBR_1200 = B1200, PBR_2400 = B2400,  PBR_4800 = B4800,
-		      PBR_9600 = B9600, PBR_19200 = B19200, PBR_38400 = B38400,
-		      PBR_57600 = B57600, PBR_115200 = B115200 };
-#endif 
-
-
-     /*! \brief Opens the serial connection between PC and GPS 
-      *
-      * This method is mainly intended to connect a serial connection sous windows.
-      *
-      * \param portNumber a port number, that is to say the number of the COM port.
-      */
-     bool openPort(const int portNumber, BaudRates baudrate = PBR_4800, const unsigned long inqueueSize = 4096, const unsigned long outqueueSize = 1024);
-
-     /*! \brief Opens the serial connection between PC and GPS
-      *
-      * This method is the generic purpose connection tool.
-      * You just need to indicate which file is representing the serial port.
-      * Under unix, this might be <tt>/dev/ttyS0</tt> whereas under windows it should be <tt>\\\\.\\COM0</tt>
-      * To simplify configuration: the serial port is intended to communicate with these parameters :
-      * <ul>
-      * <li> 8 bits for each data byte ;</li>
-      * <li> no parity check ;</li>
-      * <li> 1 bit stop ;</li>
-      * <li> no hardware control.</li>
-      * </ul>
-      * \param portName name of the file representing the serial device.
-      * \param baudrate a baudrate for serial communication ;
-      * \param inqueueSize (for windows use only) the queue size for input ;
-      * \param outqueueSize (for windows use only) the queue size for output.
-      * \return <tt>true</tt> if the communication is established, <tt>false</tt> otherwise. 
-      */
-     bool openPort(const char *portName, BaudRates baudrate = PBR_4800, const unsigned long inqueueSize = 4096, const unsigned long outqueueSize = 1024);
-
-
-     bool isPortOpen() const { return portOpen; }
-     /*! \brief Waits for an NMEA Frame from the serial line.
-      * 
-      * This uses something similar to the select system call under unix.
-      * \param buffer a buffer where NMEA Frame should be written. Note this buffer should be allocated.
-      * \param maxSize the buffer size.
-      * \return the number of read characters.
-      */
-     int waitNMEAFrame(unsigned char* buffer,int maxSize=128);
-     
-     /*! \brief Reads an NMEA Frame from the serial line.
-      * 
-      * \param buffer a buffer where NMEA Frame should be written. Note this buffer should be allocated.
-      * \param maxSize the buffer size.
-      * \return the number of read characters.
-      */
-     int readNMEAFrame(unsigned char* buffer,int maxSize=128);
-
-     void close();//!< Closes the serial port
-     void flush();//!< Flushes all the data in the internal buffer associated to serial line.
-     
-
-private:     
-#ifdef WIN32
-     HANDLE fd ;
-#else
-     int fd;
-#endif
-     bool portOpen;
-};
-
-
-
-
-#endif //__GPSSERIAL_H__

-#include "gpsserial.h"
-#include <iostream>
-
-/* Simple GPS serial test program 
-   compile with :
-   g++ gpstester.cpp gpsserial.cpp -o testgps
-*/
-
-
-int main(int argc, char* argv[])
-{
-     GPSSerial gps;
-     int i;
-
-     gps.openPort("/dev/rfcomm0", GPSSerial::PBR_115200);
-     unsigned char frame[128];
-
-     if (!gps.isPortOpen())
-     {
-	  std::cerr << "Port not opened" << std::endl;
-     }
-
-     for(int i=0; i < 100; i++)
-     {
-	  int res;
-	  res = gps.readNMEAFrame(frame,128);
-	  if (res > 3)
-	       std::cout << "Frame #" << i << " " << res << " " << frame ;
-     }
-     gps.close();
-     
-     return 0;
-}

-#include "gpstracker.h"
-
-#define NUM_BAUDRATES 11
-
-long unsigned int GPSTracker::baudrates[][2] = {
-     { GPSSerial::PBR_110, 110 }, { GPSSerial::PBR_300, 300 }, { GPSSerial::PBR_600, 600 },
-     { GPSSerial::PBR_1200, 1200 }, { GPSSerial::PBR_2400, 2400 }, { GPSSerial::PBR_4800, 4800 },
-     { GPSSerial::PBR_9600, 9600 }, { GPSSerial::PBR_19200, 19200}, { GPSSerial::PBR_38400, 38400 },
-     { GPSSerial::PBR_57600, 57600 }, { GPSSerial::PBR_115200, 115200 }};
-
-
-GPSTracker::GPSTracker(QObject* parent, const char* name) : QObject(parent, name)
-{
-     period = 0;
-     baudrate = GPSSerial::PBR_4800;
-     port = 0;
-     frameCount =1;
-     device = "/etc/ttyS0" ;     
-     autoSend = false;
-     initialized = false;
-}
-
-GPSTracker::~GPSTracker()
-{
-     if (gps.isPortOpen())
-     {
-	  gps.flush();
-	  gps.close();
-     }
-}
-
-
-void GPSTracker::init()
-{
-
-#ifdef WIN32
-     if (!gps.openPort(port, (GPSSerial::BaudRates)computeRealBaudrate()))
-#else
-	  if (!gps.openPort(device.ascii(),(GPSSerial::BaudRates)computeRealBaudrate()))	  
-#endif
-     {
-		 #ifdef WIN32
-		 		std::cerr << "[GPS] Cannot access GPS. num port" << port << std::endl;
-		#else
-				std::cerr << "[GPS] Cannot access GPS. " << device.ascii() << std::endl;
-		#endif
-	  
-				return ;
-     }
-
-     initialized = true;
-	startTime.start(); // = QTime::currentTime();
-     	double ts = startTime.getValue();//(double)(startTime.hour()*3600 + startTime.minute()*60 + startTime.second())
-	  //+ (double)(startTime.msec())/1000.0;
-	std::cout<<std::fixed<<"[GPS] start "<<ts<<std::endl;
-     emit sendStartTime(ts);
-}
-
-
-void GPSTracker::start()
-{
-     if (!initialized)
-	  return ;
-
-     //std::cout << "[GPS] Starting recieving GPS Frames" << std::endl;
-
-     if (autoSend)
-     {
-	  std::cout << "[GPS] GPS in threaded mode" << std::endl;
-	  connect( &selfTimer, SIGNAL(timeout()), this, SLOT(sendData()));
-	  selfTimer.start(period);
-	  gps.flush();
-     }
-}
-
-void GPSTracker::stop()
-{
-     if (!initialized)
-	  return ;
-
-     if (autoSend)
-     {
-	  selfTimer.stop();
-	  disconnect(&selfTimer, SIGNAL(timeout()), this, SLOT(sendData()));
-     }
-}
-
-void GPSTracker::sendData()
-{
-     if( !initialized)
-	  return;
-
-     unsigned char frameContent[128]; 
-     int res;
-
-     //std::cout << "[GPS] Recieving frames " << std::endl;
-     startTime.start();
-     
-     // emit sendTimeStamp(startTime.getValue());
-     //std::cout << "[GPS] elapsed time " << startTime.getValue() << std::endl;
-     for (int i = 0; i < frameCount; i++)
-     {
-	  do 
-	  {
-	       res = gps.readNMEAFrame(frameContent,128);
-	  } while (res < 3);
-	emit sendTimeStamp(startTime.getValue());
-	  sendNMEAFrame(NMEAFrame(QString((char*)frameContent)));
-     }
- //    std::cout << "[GPS] frames sent" << std::endl;
-}
-
-long unsigned int GPSTracker::computeRealBaudrate()
-{
-     if (baudrate > baudrates[NUM_BAUDRATES-1][1])
-	  return baudrates[NUM_BAUDRATES-1][0];
-
-     for (int i=1; i< NUM_BAUDRATES; i++)
-     {
-	  if ( baudrate < baudrates[i][1])
-	  {
-	       std::cerr << "[GPS] Setting baudrate to "<< baudrates[i-1][1] << " bps"<<std::endl;
-	       return baudrates[i-1][0];
-	  }
-     }
-
-     return GPSSerial::PBR_4800 ;
-}

-#ifndef __GPSTRACKER_H__
-#define __GPSTRACKER_H__
-
-#include <qobject.h>
-#include <qtimer.h>
-
-#include "gpsserial.h"
-#include "nmea.h"
-#include "../../include/atime.h"
-
-
-/*! \defgroup gps GPS sensor related classes.
- *
- * This is a set of classes built to collect, extract and parse GPS Data using NMEA Frames collected
- * over a serial line.
- * \ingroup tracker
- */
-
-
-
-
-/*! \brief The ARCS Component to collect GPS data over a serial line.
- * 
- * The GPS data collection is performed using a GPSSerial object.
- * \author Jean-Yves Didier
- * \date February, the 4th, 2008.
- * \ingroup gps
- */
-class GPSTracker : public QObject
-{
-Q_OBJECT
-
-public:
-GPSTracker(QObject* parent=0, const char* name=0); //!< ARCS Constructor
-~GPSTracker(); //!< ARCS Destructor
-
-public slots:
-/*! \brief The port number to open
- * 
- * This should be called before init().
- * It sets the port number to use to collect serial data from GPS.
- * This is mainly for windows use.
- * \param i the port number to use e.g. if using COM0, you should use 0 as a parameter of this function.
- */
-     void setPort(int i) { port = i;}
-
-/*! \brief The device filename to open.
- * This should be called before init().
- * \param s the device filename.
- */
-void setDevice(QString s) { device = s;}
-
-/*!\brief Inits the GPS serial line.
- * From this point, data can be collected.
- */
-void init();
-/*! \brief Tells wether the data collection process is pseudo-threaded or not.
- * Events are actually used so this is not really a thread.
- * This must be called before start().
- * When start() is called, events may be triggered periodically. 
- * This event will in return trigger the sendData() slot. 
- * \param b Set it to <tt>true</tt> to activate pseudo-threaded behaviour.
- */
-void setThreaded(bool b) {autoSend = b; }
-/*! \brief Sets the baudrate of the serial line.
- */
-void setBaudrate(int i) { baudrate = i; }
-
-/*! \brief Sets the period of a data collection cycle.
- * \param i The period expressed in milliseconds. Usually you will have something around 1000 msec.
- */
-void setPeriod(int i) { period=i; }
-
-/*!\brief Sets the number of frames constituing the data to read.
- * A GPS can send several NMEA frames at the same time.
- * This is intended to group the frame packets in one send.
- * \param i The number of frames returned at once by the GPS reciever.
- */
-void setFrameCount(int i) { frameCount = i; } 
-void start(); //!< Starts the GPS data collection. init() muste have been called before.
-void stop(); //!< Stops the GPS data collection.
-
-/*! \brief The actual collection process
- *
- * Triggers a sendNMEAFrame() signal.
- */
-void sendData();
-
-signals:
-void sendNMEAFrame(NMEAFrame); //!< Sends the newly acquired NMEAFrame
-void sendTimeStamp(double); //!< Sends a timestamp associated to the time of nmea frame acquisition
-void sendStartTime(double);
-private:
-long unsigned int computeRealBaudrate();
-
-static long unsigned int baudrates[][2];
-
-
-GPSSerial gps;
-
-QTimer selfTimer;
-int period;
-int baudrate;
-
-int port;
-QString device;
-bool autoSend;
-bool initialized;
-
-int frameCount;
-
-ATime startTime;
-};
-
-
-
-#endif //__GPSTRACKER_H__

-#include "gpstranslator.h"
-
-
-GPSTranslator::GPSTranslator(QObject* parent, const char* name) : QObject(parent, name)
-{
-     clearData();
-     frameAmount = 1;
-	 currentData.validityMask = 0;
-     frameCnt = 0;
-}
-
-void GPSTranslator::clearData()
-{
-     currentData.validityMask = 0;
-     frameCnt = 0;
-}
-
-double GPSTranslator::nmeaAngleToDouble(NMEAAngle a)
-{
-     double res = a.degrees + a.minutes / 60.0 ;
-     switch (a.direction)
-     {
-     case 'S': case 'E':
-	  res = -res ;
-     }
-     return  res;
-}
-
-float GPSTranslator::nmeaTimeToFloat(NMEATime t)
-{
-     return (t.seconds + (t.hours * 60 + t.minutes) * 60 );
-}
-
-void GPSTranslator::handleGGAFrame(NMEAFrameGGA frame)
-{
-     NMEAAngle lon = frame.getLongitude();
-     NMEAAngle lat = frame.getLatitude();
-     NMEATime tm = frame.getUTCTime();
-
-     if (lon.valid && !(currentData.validityMask & GPS_LONG ))
-     {
-	  currentData.longitude = nmeaAngleToDouble(lon);
-	  currentData.validityMask |= GPS_LONG ;  
-     }
-
-     if (lat.valid && !(currentData.validityMask & GPS_LAT))
-     {
-	  currentData.latitude = nmeaAngleToDouble(lat);
-	  currentData.validityMask |= GPS_LAT ;
-     }
-
-     if (tm.valid && ! (currentData.validityMask & GPS_TIME))
-     {
-	  currentData.time = nmeaTimeToFloat(tm);
-	  currentData.validityMask |= GPS_TIME ;
-     }
-	  
-     if (! ( currentData.validityMask & GPS_NBSAT) )
-	  currentData.nbSat = frame.getSVNumber();
-     if (! ( currentData.validityMask & GPS_Z ))
-	  currentData.z = frame.getAntennaHeight();
-     if (! ( currentData.validityMask & GPS_DOP))
-	  currentData.dop = frame.getDOP();
-	  
-     currentData.validityMask |= GPS_DOP | GPS_NBSAT | GPS_Z ; 
-}
-
-void GPSTranslator::handleRMCFrame(NMEAFrameRMC frame)
-{
-     NMEAAngle lon = frame.getLongitude();
-     NMEAAngle lat = frame.getLatitude();
-     float cape = frame.getTrackAngle();
-     NMEATime tm = frame.getUTCTime();
-
-     if (lon.valid && !(currentData.validityMask & GPS_LONG ))
-     {
-	  currentData.longitude = nmeaAngleToDouble(lon);
-	  currentData.validityMask |= GPS_LONG ;  
-     }
-
-     if (lat.valid && !(currentData.validityMask & GPS_LAT))
-     {
-	  currentData.latitude = nmeaAngleToDouble(lat);
-	  currentData.validityMask |= GPS_LAT ;
-     }
-
-     if (tm.valid && ! (currentData.validityMask & GPS_TIME))
-     {
-	  currentData.time = nmeaTimeToFloat(tm);
-	  currentData.validityMask |= GPS_TIME ;
-     }
-
-     if (! (currentData.validityMask & GPS_CAPE))
-     {
-	  currentData.cape = cape;
-	  currentData.validityMask |= GPS_CAPE ;
-     }
-}
-
-
-void GPSTranslator::handleVTGFrame(NMEAFrameVTG frame)
-{
-     float cape = frame.getTrackAngle();
-     
-     if ( ! (currentData.validityMask & GPS_CAPE))
-     {
-	  currentData.cape = cape;
-	  currentData.validityMask |= GPS_CAPE ;
-     }
-
-     if ( ! (currentData.validityMask & GPS_SPEED))
-	  currentData.speed = frame.getKMSpeed();
-
-     currentData.validityMask |= GPS_SPEED; 
-}
-
-void GPSTranslator::setNMEAFrame(NMEAFrame nmea)
-{
-
-     if (nmea.extractType() == "GGA" )
-	  handleGGAFrame(NMEAFrameGGA(nmea));
-
-     if (nmea.extractType() == "RMC" )
-	  handleRMCFrame(NMEAFrameRMC(nmea));
-
-     if (nmea.extractType() == "VTG")
-	  handleVTGFrame(NMEAFrameVTG(nmea));
-
-     /* put here something to determine how many frames have been processed */
-     
-     frameCnt ++ ;
-     if (frameCnt == frameAmount)
-     {
-	  emit sendGPSData(currentData);
-	  clearData();
-     }
-}
-
-
-
-
-
-
-

-#ifndef __GPS_TRANSLATOR_H__
-#define __GPS_TRANSLATOR_H__
-
-#include <qobject.h>
-
-#include "nmea.h"
-
-
-//* \todo maintain compatibility of structs
-
-enum GPSValidity {
-     GPS_TIME = 0x01,
-     GPS_LONG = 0x02,
-     GPS_LAT = 0x04,
-     GPS_DOP = 0x08,
-     GPS_NBSAT = 0x10,
-     GPS_Z = 0x20,
-     GPS_SPEED = 0x40,
-     GPS_CAPE = 0x80
-};
-
-
-/*! \brief This structure should contain the data gathered from 
- * the GPS reciever.
- *
- * The GPS data needed are :
- * <ul>
- * <li>the clock ;</li>
- * <li>dop (hdop and pdop) if available ; </li>
- * <li>nb_sat ;</li>
- * <li>longitude ;</li>
- * <li>latiude ; </li>
- * <li>speed over ground ;</li>
- * <li>cape </li>
- * </ul>
- * \ingroup gps
- */ 
-typedef struct {
-     float time; //!< time elapsed since 00:00
-     float dop;  //!< dop factor
-     int nbSat;  //!< number of satelites
-     double longitude; //!< longitude
-     double latitude;  //!< latitude
-     double z;   //!< height
-     float speed; //!< speed over ground
-     double cape; //!< direction
-     unsigned char validityMask;
-} GPSData ;
-
-
-/*! \brief This class should handle NMEA Frames and translate them into a GPSData structure.
- *
- * \author Jean-Yves Didier
- * \date September, the 26th, 2008
- * \ingroup gps
- */
-class GPSTranslator : public QObject
-{
-Q_OBJECT
-
-public:
-     GPSTranslator(QObject* parent = 0, const char* name=0); //!< ARCS Constructor
-
-public slots:
-     void setFrameAmount(int i) { frameAmount = i; } //!< Sets the number of frame to process before sending gps data.
-     void setNMEAFrame(NMEAFrame nmea); //!< Sets the nmea frame to process
-
-signals:
-     void sendGPSData(GPSData gd); //!< Sends the newly processed GPS Data
-     
-private:
-     void handleGGAFrame(NMEAFrameGGA frame);
-     void handleRMCFrame(NMEAFrameRMC frame);
-     void handleVTGFrame(NMEAFrameVTG frame);
-
-     void clearData();
-     double nmeaAngleToDouble(NMEAAngle a);
-     float nmeaTimeToFloat(NMEATime t);
-
-     int frameAmount;
-     GPSData currentData;
-     int frameCnt;
-};
-
-#endif //__GPS_TRANSLATOR_H__

-<!DOCTYPE UI><UI version="3.3" stdsetdef="1">
-<class>GPSWidget</class>
-<widget class="QWidget">
-    <property name="name">
-        <cstring>GPSWidget</cstring>
-    </property>
-    <property name="geometry">
-        <rect>
-            <x>0</x>
-            <y>0</y>
-            <width>203</width>
-            <height>140</height>
-        </rect>
-    </property>
-    <property name="caption">
-        <string>GPS Values</string>
-    </property>
-    <widget class="QLabel">
-        <property name="name">
-            <cstring>label2</cstring>
-        </property>
-        <property name="geometry">
-            <rect>
-                <x>10</x>
-                <y>10</y>
-                <width>70</width>
-                <height>21</height>
-            </rect>
-        </property>
-        <property name="text">
-            <string>Latitude :</string>
-        </property>
-    </widget>
-    <widget class="QLabel">
-        <property name="name">
-            <cstring>label1</cstring>
-        </property>
-        <property name="geometry">
-            <rect>
-                <x>10</x>
-                <y>40</y>
-                <width>70</width>
-                <height>21</height>
-            </rect>
-        </property>
-        <property name="text">
-            <string>Longitude :</string>
-        </property>
-    </widget>
-    <widget class="QLabel">
-        <property name="name">
-            <cstring>label4</cstring>
-        </property>
-        <property name="geometry">
-            <rect>
-                <x>10</x>
-                <y>70</y>
-                <width>70</width>
-                <height>21</height>
-            </rect>
-        </property>
-        <property name="text">
-            <string>DOP :</string>
-        </property>
-    </widget>
-    <widget class="QLabel">
-        <property name="name">
-            <cstring>latitude</cstring>
-        </property>
-        <property name="geometry">
-            <rect>
-                <x>80</x>
-                <y>10</y>
-                <width>111</width>
-                <height>20</height>
-            </rect>
-        </property>
-        <property name="frameShape">
-            <enum>Box</enum>
-        </property>
-        <property name="text">
-            <string>-</string>
-        </property>
-    </widget>
-    <widget class="QLabel">
-        <property name="name">
-            <cstring>longitude</cstring>
-        </property>
-        <property name="geometry">
-            <rect>
-                <x>80</x>
-                <y>40</y>
-                <width>111</width>
-                <height>20</height>
-            </rect>
-        </property>
-        <property name="frameShape">
-            <enum>Box</enum>
-        </property>
-        <property name="text">
-            <string>-</string>
-        </property>
-    </widget>
-    <widget class="QLabel">
-        <property name="name">
-            <cstring>dop</cstring>
-        </property>
-        <property name="geometry">
-            <rect>
-                <x>80</x>
-                <y>70</y>
-                <width>111</width>
-                <height>20</height>
-            </rect>
-        </property>
-        <property name="frameShape">
-            <enum>Box</enum>
-        </property>
-        <property name="text">
-            <string>-</string>
-        </property>
-    </widget>
-    <widget class="QLCDNumber">
-        <property name="name">
-            <cstring>sv</cstring>
-        </property>
-        <property name="geometry">
-            <rect>
-                <x>120</x>
-                <y>100</y>
-                <width>70</width>
-                <height>30</height>
-            </rect>
-        </property>
-        <property name="numDigits">
-            <number>2</number>
-        </property>
-    </widget>
-    <widget class="QLabel">
-        <property name="name">
-            <cstring>label3</cstring>
-        </property>
-        <property name="geometry">
-            <rect>
-                <x>10</x>
-                <y>100</y>
-                <width>110</width>
-                <height>30</height>
-            </rect>
-        </property>
-        <property name="text">
-            <string>Satellites in view :</string>
-        </property>
-    </widget>
-</widget>
-<includes>
-    <include location="local" impldecl="in declaration">nmea.h</include>
-    <include location="local" impldecl="in implementation">gpswidget.ui.h</include>
-</includes>
-<slots>
-    <slot specifier="non virtual">displayNMEAFrame( NMEAFrame f )</slot>
-</slots>
-<layoutdefaults spacing="6" margin="11"/>
-</UI>

-/****************************************************************************
-** ui.h extension file, included from the uic-generated form implementation.
-**
-** If you want to add, delete, or rename functions or slots, use
-** Qt Designer to update this file, preserving your code.
-**
-** You should not define a constructor or destructor in this file.
-** Instead, write your code in functions called init() and destroy().
-** These will automatically be called by the form's constructor and
-** destructor.
-*****************************************************************************/
-
-
-/*! \class GPSWidget A simple widget to display GPS values
- *  \author Jean-Yves Didier
- *  \date February, the 4th, 2008
- *  \ingroup gps
- */
-
-
-/*! \brief This slot intends to display GPS values 
- * \param f A NMEAFrame containing GPS data.
- */
-void GPSWidget::displayNMEAFrame( NMEAFrame f )
-{
-     longitude->setText("-NC-");
-     latitude->setText("-NC-");
-	       
-     //std::cout<<f.getRawFrame()<<std::endl;
-     if (f.extractType() == "GGA")
-     {
-	     //std::cout<<"GGA trame"<<std::endl;
-	  NMEAFrameGGA  frame(f); //!< \todo Assess this dirty line. It should do the trick.
-	  NMEAAngle lon = frame.getLongitude();
-	  NMEAAngle lat = frame.getLatitude();
-
-	  if (lon.valid)
-	  {
-	       QString llon = QString::number(lon.degrees) + "°" + QString::number(lon.minutes) + "' " + lon.direction ;
-	       longitude->setText(llon);
-	       longitude->update();
-	       std::cout<<"longitude "<<llon<<std::endl;
-	  }
- 
-	  if (lat.valid)
-	  {
-	       QString llat = QString::number(lat.degrees) + "°" + QString::number(lat.minutes) + "' " + lat.direction ; 
-	       latitude->setText(llat);
-	       latitude->update();
-	       std::cout<<"latitude "<<llat<<std::endl;
-	  }
-       
-	  dop->setText(QString::number(frame.getDOP()));
-	  dop->update();
-	  sv->display(frame.getSVNumber());
-     }
-}

-#ifndef __GPSWWIDGET_H__
-#define __GPSWWIDGET_H__
-
-#include "gpswidget.h"
-
-/*! \brief This is an ARCS wrapper for the GPSWidget control panel.
- * \author Jean-Yves Didier
- * \date February, the 4th, 2008.
- * \ingroup gps
- */
-class GPSWWidget : public GPSWidget
-{
-Q_OBJECT
-     public:
-/*! ARCS Constructor
- */
-GPSWWidget(QObject* parent=0, const char* name=0) 
-     : GPSWidget(dynamic_cast<QWidget*>(parent), name) {}
-};
-
-
-#endif //__GPSWWIDGET_H__

-#include <metalibrary/metalibrarytoolkit.h>
-#include "gpswwidget.h"
-#include "gpstracker.h"
-#include "gpstranslator.h"
-#include "gpslog.h"
-#include "gpstoogr.h"
-#include "triggps.h"
-#include "synsensor.h"
-#include "synchro.h"
-
-METALIB_BEGIN
-METALIB_OBJECT(GPSTracker)
-METALIB_OBJECT(GPSWWidget)
-METALIB_OBJECT(GPSTranslator)
-METALIB_OBJECT(GPSLogger)
-METALIB_OBJECT(LoadGps)
-METALIB_OBJECT(GpsToOgr)
-METALIB_OBJECT(SetAltitude)
-METALIB_OBJECT(SynSensor)
-METALIB_OBJECT(GpsTrigger)
-METALIB_OBJECT(Synchro)
-METALIB_END

@@ -178,7 +178,7 @@ void MTiTracker::init()
      if (tracker.openPort(qPrintable(device))  != MTRV_OK)
      if (tracker.openPort(qPrintable(device))  != MTRV_OK)
 #endif
 #endif
      {
      {
-	  std::cerr << "[MTi] Cannot open device. " << std::endl ;
+	  std::cerr << "[MTi] Cannot open device: " << qPrintable(device) << std::endl ;
 	  return ;
 	  return ;
      }
      }
      if (tracker.writeMessage(MID_GOTOCONFIG) != MTRV_OK)
      if (tracker.writeMessage(MID_GOTOCONFIG) != MTRV_OK)

-#include "nmea.h"
-#include <qstringlist.h>
-#include <iostream>
-
-bool NMEAFrame::isChecksumValid(QString s)
-{
-     unsigned char checksum = 0;
-     int i=0;
-
-     if (s[0].latin1() != '$')
-	  return false;
-
-     for ( i=1; i < s.length() && s[i].latin1() != '*'; i++ )
-	  checksum ^= (unsigned char)s[i].latin1(); 
-
-     i++;
-     if (s.length() < i + 2)
-	  return false;
-
-     bool ok;
-
-     unsigned int cmp = s.mid(i,2).toUInt(&ok, 16);
-
-     if (!ok)
-	  return false;
-
-     //std::cout << "Checksum comparison : " << cmp <<  ", ref=" << (unsigned int)checksum << std::endl;
-     
-     return (cmp == (unsigned int)checksum );
-}
-
-
-QString NMEAFrame::extractType()
-{
-     QString head = frame.section(',',0,0);
-
-     if (head.isEmpty() || head.length() < 3)
-	  return QString::null ;
-
-     return head.right(3);
-}
-
-
-NMEATime NMEAFrame::parseTime(QString s)
-{
-     NMEATime res;
-     res.valid = false;
-
-     if (s.isEmpty() || s.length() != 9)
-	  return res;
-
-     bool ok;
-
-     res.hours = s.left(2).toInt(&ok) ; 
-     if (!ok) return res;
-     res.minutes = s.mid(2,2).toInt();
-     if (!ok) return res;
-     res.seconds = s.right(s.length()-4).toFloat();
-     if (!ok) return res;
-
-     if ( res.hours >= 0 && res.hours <= 23 && 
-	  res.minutes >= 0  && res.minutes <= 59 &&
-	  res.seconds >= 0  && res.seconds < 60 )
-	  res.valid =  true;
-
-     return res;
-}
-
-
-NMEAAngle NMEAFrame::parseAngle(QString s, QString t, int n)
-{
-     NMEAAngle res;
-     res.valid = false;
-
-
-     /*if (s.isEmpty() || t.isEmpty() )
-	     return res;
-	std::cout << "Angle data passed " << s.ascii() << t.ascii() << n << std::endl;*/
-
-
-     if (s.isEmpty() || t.isEmpty() || t.length() != 1) // pas de test de longueur ici sur s car != norme NMEA
-	  return res;
-
-     if ( n == 2)
-	  if (t != "N" && t != "S")
-	       return res;
-
-     if ( n == 3)
-	  if (t != "W" && t != "E")
-	       return res;
-
-     bool ok;
-
-     res.degrees = s.left(n).toInt(&ok) ;
-     if (!ok) return res;
-     res.minutes = s.right(s.length()-n).toFloat(&ok);
-     if (!ok) return res;
-     
-//      if ( t == "S" || t == "W" )
-//      {
-// 	  res.degrees = -res.degrees ;
-// 	  res.minutes = -res.minutes ;
-//      }
-     res.direction = t[0].latin1(); 
-
-     res.valid = true;
-     
-     return res;
-}
-
-/********************************************************************
- * NMEA GGA Frame
- ********************************************************************/
-
-void NMEAFrameGGA::parseFrame()
-{
-     QStringList ls = QStringList::split(',',getRawFrame(),true);
-     if (ls.count() != 15)
-     {
-	  valid = false;
-	  return ;
-     }
-
-     time = parseTime(ls[1]); 
-     latitude = parseLatitude(ls[2],ls[3]);
-     longitude = parseLongitude(ls[4],ls[5]);
-     GPSQuality = ls[6].toInt();
-     SVNumber = ls[7].toInt();
-     DOP = ls[8].toFloat();
-     antennaHeight = ls[9].toFloat();
-     geoidSeparation = ls[11].toFloat();
-
-
-     valid = latitude.valid && longitude.valid && time.valid ;
-     return ;
-}
-
-void NMEAFrameGGA::dump()
-{
-     //std::cout << "NMEA GGA: time, position, fix" << std::endl;
-     if (!valid)
-     {
-	  std::cout << "\tInvalid !" << std::endl;
-	  return ;
-     }
-     
-     /*std::cout << "\t- time: " << time.hours << ":" << time.minutes << ":" << time.seconds << std::endl
-	       << "\t- lat : " << latitude.degrees <<"" << latitude.minutes << "' " << latitude.direction <<  std::endl
-	       << "\t- lon : " << longitude.degrees <<"" << longitude.minutes << "' " << longitude.direction << std::endl
-	       << "\t- alt : " << antennaHeight << "m" << std::endl
-	       << "\t- DOP,SV : " << DOP << "m, " << SVNumber << std::endl;*/
-}
-
-/********************************************************************
- * NMEA GLL Frame
- ********************************************************************/
-
-void NMEAFrameGLL::parseFrame()
-{
-     QStringList ls = QStringList::split(',',getRawFrame(),true);
-     if (ls.count() != 8)
-     {
-	  valid = false;
-	  return ;
-     }
-
-     time = parseTime(ls[5]);
-
-
-     latitude = parseLatitude(ls[1],ls[2]);
-     longitude = parseLongitude(ls[3],ls[4]);
-
-     valid = latitude.valid && longitude.valid && time.valid ;
-     return ;
-}
-
-
-void NMEAFrameGLL::dump()
-{
-     //std::cout << "NMEA GLL: time, position, fix" << std::endl;
-     if (!valid)
-     {
-	  std::cout << "\tInvalid !" << std::endl;
-	  return ;
-     }
-     
-     /*std::cout << "\t- time: " << time.hours << ":" << time.minutes << ":" << time.seconds << std::endl
-	       << "\t- lat : " << latitude.degrees <<"" << latitude.minutes << "' " << latitude.direction <<  std::endl
-	       << "\t- lon : " << longitude.degrees <<"" << longitude.minutes << "' " << longitude.direction << std::endl;*/
-}
-
-/********************************************************************
- * NMEA RMC Frame
- ********************************************************************/
-
-void NMEAFrameRMC::parseFrame()
-{
-     QStringList ls = QStringList::split(',',getRawFrame(),true);
-     if (ls.count() != 13)
-     {
-	  valid = false;
-	  return ;
-     }
-
-     time = parseTime(ls[1]);
-     latitude = parseLatitude(ls[3],ls[4]);
-     longitude = parseLongitude(ls[5],ls[6]);
-
-     speed = ls[7].toFloat();
-     trackAngle = ls[8].toFloat();
-     UTDate = ls[9].toInt();
-     MAGVariation = ls[10].toFloat();
-     MAGDir = (ls[11])[0].latin1();
-
-
-     valid = latitude.valid && longitude.valid && time.valid ;
-     return ;
-}
-
-
-void NMEAFrameRMC::dump()
-{
-     //std::cout << "NMEA RMC: time, position, fix" << std::endl;
-     if (!valid)
-     {
-	  std::cout << "\tInvalid !" << std::endl;
-	  return ;
-     }
-     
-     /*std::cout << "\t- time: " << time.hours << ":" << time.minutes << ":" << time.seconds << std::endl
-	       << "\t- lat : " << latitude.degrees <<"" << latitude.minutes << "' " << latitude.direction <<  std::endl
-	       << "\t- lon : " << longitude.degrees <<"" << longitude.minutes << "' " << longitude.direction << std::endl;*/
-     //!< \todo complete things here for complete dump.
-}
-
-
-/********************************************************************
- * NMEA VTG Frame
- ********************************************************************/
-
-void NMEAFrameVTG::parseFrame()
-{
-     QStringList ls = QStringList::split(',',getRawFrame(),true);
-     if (ls.count() != 9)
-     {
-	  return ;
-     }
-
-     knotSpeed = ls[5].toFloat();
-     kmSpeed = ls[7].toFloat();
-     trackAngle = ls[1].toFloat();
-
-     return ;
-}
-
-
-void NMEAFrameVTG::dump()
-{
-     //std::cout << "NMEA VTG: track angle, speed over ground" << std::endl;
-
-//      std::cout << "\t- time: " << time.hours << ":" << time.minutes << ":" << time.seconds << std::endl
-// 	       << "\t- lat : " << latitude.degrees <<"" << latitude.minutes << "' " << latitude.direction <<  std::endl
-// 	       << "\t- lon : " << longitude.degrees <<"" << longitude.minutes << "' " << longitude.direction << std::endl;
-     //!< \todo complete things here for complete dump.
-}
-
-

-#ifndef __NMEA_H__
-#define __NMEA_H__
-
-/*! \file nmea.h
- * \brief This file contains classes to handle NMEA messages 
- * \author Jean-Yves Didier
- * \date February, the 4th, 2008.
- * \ingroup gps
- */
-
-#include <qstring.h> 
-#include <iostream>
-
-
-
-/*! \brief A structure representing NMEA Time, which is expressed in UTC.
- * \author Jean-Yves Didier
- * \date February, the 4th, 2008.
- * \ingroup gps
- */
-typedef struct 
-{
-     int hours; //!< hours
-     int minutes; //!< minutes
-     float seconds; //!< seconds
-     bool valid; //!< <tt>false</tt> if there were troubles in decoding NMEAFrame
-} NMEATime ;
-
-
-/*! \brief A structure representing NMEA angles, in latitude or in longitude.
- * \author Jean-Yves Didier
- * \date February, the 4th, 2008.
- * \ingroup gps
- */
-typedef struct 
-{
-     int degrees; //!< degrees
-     float minutes; //!< minutes
-     char direction; //!< direction : should "N" or "S" if it is representing a latitude, "E" or "W" when it is a longitude.
-     bool valid; //!< <tt>false</tt> if there were troubles in decoding NMEAFrame
-} NMEAAngle ; 
-
-
-
-
-/*! \brief This is typical NMEA Frame handler
- * \author Jean-Yves Didier
- * \date February, the 4th, 2008.
- * \ingroup gps
- */
-class NMEAFrame
-{
-public:
-     /*! \brief Simple constructor.
-      *
-      * This constructor can perform a checksum.
-      */
-     NMEAFrame(QString s) { frame = s; if (isChecksumRequired()) validChecksum=isChecksumValid(s); else  validChecksum=true;}
-     NMEAFrame(const NMEAFrame& nf) { frame = nf.frame; validChecksum = nf.validChecksum; } //!< copy constructor.
-     virtual ~NMEAFrame() {} //!< Default constructor.
-
-     /*! \brief Dumps the content of the frame.
-      * 
-      * This is mainly for debugging purpose.
-      * You can override this function to check if your specific NMEA Frame parser is handling data correctly.
-      */
-     virtual void dump() { /*std::cout << frame.ascii()  << std::endl;*/ } //!< Mostly for debugging purpose.
-     
-     bool isChecksumValid() { return validChecksum; }//!< Tells wether the checksum for this frame is valid or not.
-     QString getRawFrame() const { return frame; }//!< Returns the raw NMEA Frame in its unparsed state.
-
-     QString extractType();//!< Returns the type of the NMEA frame. This is usually a 3 letters id.
-
-     /*! \brief Tells wether the checksum is required or not for this frame.
-      *
-      * Most of NMEA Frames require checksum but not all.
-      * You should override this method for frames who doesn't require chechsumming.
-      */
-     virtual bool isChecksumRequired() { return true;}
-
-     /*! \brief computes and compare checksums.
-      * 
-      * A large set of NMEA Frames are embedding checksums.
-      * This a xor on all characters between the leading <tt>$</tt> and the trailing <tt>*</tt> 
-      * which are both excluded.
-      * \param s A whole NMEA Frame
-      * \return <tt>true</tt> if checksum is corresponding to frame.
-      */
-     static bool isChecksumValid(QString s);
-     static NMEATime parseTime(QString s); //!< Fills a NMEATime using its NMEA representation \a s.
-     static NMEAAngle parseLatitude(QString s,QString t) {return parseAngle(s,t,2);} //!< Fills a NMEAAngle using the NMEA representation of latitudes.
-     static NMEAAngle parseLongitude(QString s, QString t) {return parseAngle(s,t,3);} //!< Fills a NMEAAngle using the NMEA representation of longitudes.
-
-protected:
-     virtual void parseFrame() {} //!< Classes inheriting this one can override this function to retrieve specific data.
-
-private:
-     static NMEAAngle parseAngle(QString s, QString t, int nc);
-     QString frame;
-     bool validChecksum;
-}; 
-
-
-/*! \brief This is an advanced NMEAFrame decoder. It is intended to decode GGA Frames.
- * 
- * GGA frames are expressing time, position and fix values.
- * Amongst the values that can be recovered in this frame there are :
- * <ul>
- * <li>UTC Time (getUTCTime()) ;</li>
- * <li>Latitude (getLatitude()) ;</li>
- * <li>Longitude (getLongitude()) ; </li>
- * <li>GPS Quality (getGPSQuality()) ; </li>
- * <li>Number of Satellites in view (getSVNumber()) ; </li>
- * <li>Altitude over the mean see level (getAntennaHeight()) ; </li>
- * <li>Separation over the reference geoid used in WGS84 global localization system; </li>
- * </ul>
- * \author Jean-Yves Didier
- * \date February, the 4th, 2008.
- * \ingroup gps
- */
-class NMEAFrameGGA : public NMEAFrame
-{
-public:
-     NMEAFrameGGA(QString s):NMEAFrame(s) { parseFrame();}
-     NMEAFrameGGA(const NMEAFrame& nf):NMEAFrame(nf) { parseFrame(); }
-     virtual ~NMEAFrameGGA() {}
-     virtual void dump();
-
-     NMEATime getUTCTime() const {return time; }
-     NMEAAngle getLatitude() const {return latitude;}
-     NMEAAngle getLongitude() const {return longitude;}
-     int getGPSQuality() const {return GPSQuality; }
-     int getSVNumber() const {return SVNumber; }
-     float getDOP() const { return DOP; }
-     float getAntennaHeight() const {return antennaHeight; }
-     float getGeoidSeparation() const { return geoidSeparation; }
-
-
-     bool isValid() const { return valid; } //!< This will return <tt>false</tt> if there were troubles in decoding this frame.
-
-protected:
-     virtual void parseFrame();
-     
-private:
-     NMEATime time;
-     NMEAAngle latitude;
-     NMEAAngle longitude;
-     int GPSQuality;
-     int SVNumber;
-     float DOP;
-     float antennaHeight;
-     float geoidSeparation ;
-
-     bool valid;
-};
-
-/*! \brief This is an advanced NMEAFrame decoder. It is intended to decode GLL Frames.
- * 
- * GLL frames are expressing time and position values.
- * Amongst the values that can be recovered in this frame there are :
- * <ul>
- * <li>UTC Time (getUTCTime()) ;</li>
- * <li>Latitude (getLatitude()) ;</li>
- * <li>Longitude (getLongitude()) ; </li>
- * </ul>
- * \author Jean-Yves Didier
- * \date February, the 4th, 2008.
- * \ingroup gps
- */
-class NMEAFrameGLL : public NMEAFrame
-{
-public:
-     NMEAFrameGLL(QString s):NMEAFrame(s) { parseFrame();}
-     NMEAFrameGLL(const NMEAFrame& nf):NMEAFrame(nf) { parseFrame(); }
-     virtual ~NMEAFrameGLL() {}
-     virtual void dump();
-
-     NMEATime getUTCTime() const {return time; }
-     NMEAAngle getLatitude() const {return latitude;}
-     NMEAAngle getLongitude() const {return longitude;}
-
-     bool isValid() const { return valid; } //!< This will return <tt>false</tt> if there were troubles in decoding this frame.
-
-protected:
-     virtual void parseFrame();
-     
-private:
-     NMEATime time;
-     NMEAAngle latitude;
-     NMEAAngle longitude;
-     bool valid;
-};
-
-
-/*! \brief This is an advanced NMEAFrame decoder. It is intended to decode RMC Frames.
- * 
- * RMC frames are expressing the recommended minimum specific GPS/TRANSIT data.
- * Amongst the values that can be recovered in this frame there are :
- * <ul>
- * <li>UTC Time (getUTCTime()) ;</li>
- * <li>Latitude (getLatitude()) ;</li>
- * <li>Longitude (getLongitude()) ; </li>
- * <li>Speed over ground in knots (getSpeed()) ; </li>
- * <li>Track angle in degrees (getTrackAngle()); </li>
- * <li>UT Date: ddmmyy (getUTDate()); </li>
- * <li>Magnetic variation in degrees (getMAGVariation()); </li>
- * <li>Magnetic variation direction (E or W - getMAGDir()). </li>
- * </ul>
- * \author Jean-Yves Didier
- * \date February, the 4th, 2008.
- * \ingroup gps
- */
-
-class NMEAFrameRMC : public NMEAFrame
-{
-public:
-     NMEAFrameRMC(QString s):NMEAFrame(s) { parseFrame();}
-     NMEAFrameRMC(const NMEAFrame& nf):NMEAFrame(nf) { parseFrame(); }
-     virtual ~NMEAFrameRMC() {}
-     virtual void dump();
-
-     NMEATime getUTCTime() const {return time; }
-     NMEAAngle getLatitude() const {return latitude;}
-     NMEAAngle getLongitude() const {return longitude;}
-     float getSpeed() const { return speed; }
-     float getTrackAngle() const { return trackAngle; }
-     int getUTDate() const { return UTDate; }
-     float getMAGVariation() const { return MAGVariation; }
-     char getMAGDir() const { return MAGDir; }
-
-     bool isValid() const { return valid; } //!< This will return <tt>false</tt> if there were troubles in decoding this frame.
-protected:
-     virtual void parseFrame();
-     
-private:
-     NMEATime time;
-     NMEAAngle latitude;
-     NMEAAngle longitude;
-     bool valid;
-     float speed;
-     float trackAngle;
-     int UTDate;
-     float MAGVariation;
-     char MAGDir;
-};
-
-
-/*! \brief This is an advanced NMEAFrame decoder. It is intended to decode VTG Frames.
- * 
- * VTG frames are expressing the track angle as well as speed over ground.
- * Amongst the values that can be recovered in this frame there are :
- * <ul>
- * <li>Speed over ground in knots (getKnotSpeed()) ; </li>
- * <li>Speed over ground in kilometers per hour (getKMSpeed()) ; </li>
- * <li>Track angle in degrees (getTrackAngle()); </li>
- * </ul>
- * \author Jean-Yves Didier
- * \date February, the 4th, 2008.
- * \ingroup gps
- */
-class NMEAFrameVTG : public NMEAFrame
-{
-public:
-     NMEAFrameVTG(QString s):NMEAFrame(s) { parseFrame();}
-     NMEAFrameVTG(const NMEAFrame& nf):NMEAFrame(nf) { parseFrame(); }
-     virtual ~NMEAFrameVTG() {}
-     virtual void dump();
-
-     float getKnotSpeed() const { return knotSpeed; }
-     float getTrackAngle() const { return trackAngle; }
-     float getKMSpeed() const { return kmSpeed; }
-
-
-protected:
-     virtual void parseFrame();
-     
-private:
-     float knotSpeed;
-     float kmSpeed;
-     float trackAngle;
-};
-
-
-/**! \todo Coming soon ! GSA Frame 
- */
-
-#endif //__NMEA_H__

@@ -49,6 +49,7 @@ SOURCES+= movereader.cpp
 MOC_DIR = ./moc
 MOC_DIR = ./moc
 OBJECTS_DIR = ./obj
 OBJECTS_DIR = ./obj
 
 
+QT += opengl
 CONFIG += qt thread release opengl
 CONFIG += qt thread release opengl
 
 
 unix {
 unix {
@@ -116,5 +117,5 @@ arcslibrary.commands = arcslibmaker ${QMAKE_FILE_NAME}
 arcslibrary.variable_out = SOURCES
 arcslibrary.variable_out = SOURCES
 QMAKE_EXTRA_COMPILERS += arcslibrary
 QMAKE_EXTRA_COMPILERS += arcslibrary
 INCLUDEPATH += $$(ARCSDIR)/include
 INCLUDEPATH += $$(ARCSDIR)/include
-LIBS += -L$$(ARCSDIR)/lib -larcs
+LIBS += -L$$(ARCSDIR)/lib -larcs -lGLU
  CONFIG += dll
  CONFIG += dll

@@ -216,40 +216,6 @@ LIBS+= $$system(pkg-config --libs opencv)
 INCLUDEPATH+= $$system(pkg-config --cflags-only-I opencv)
 INCLUDEPATH+= $$system(pkg-config --cflags-only-I opencv)
 
 
 LIBS+= -L/usr/local/lib -L../libs/ -lgps 
 LIBS+= -L/usr/local/lib -L../libs/ -lgps 
-
-
-HAS_OPENCV = $$system(/sbin/ldconfig -p | grep -F libopencv-)
-HAS_CV     = $$system(/sbin/ldconfig -p | grep -F libcv.)
-HAS_CXCORE = $$system(/sbin/ldconfig -p | grep -F libcxcore.)
-HAS_HIGHGUI= $$system(/sbin/ldconfig -p | grep -F libhighgui.)
-HAS_CVAUX  = &&system(/sbin/ldconfig -p | grep -F libcvaux-)
-
-!isEmpty(HAS_OPENCV) {
-	message("libopencv found")
-	LIBS += -lopencv
-}
-
-!isEmpty(HAS_CV) {
-	message("libcv found")
-	LIBS += -lcv
-}
-
-!isEmpty(HAS_CXCORE) {
-	message("libcxcore found")
-	LIBS += -lcxcore
-}
-
-!isEmpty(HAS_HIGHGUI) {
-	message("libhighgui found")
-	LIBS += -lhighgui
-}
-
-!isEmpty(HAS_CVAUX) {
-	message("libcvaux found")
-	LIBS += -lcvaux
-}
-
-
 }
 }
 
 
 win32 {
 win32 {