public NavInterfaceMBed(LogFile _logFile, SettingsManager Settings)
{
logFile = _logFile; //file where we write the mbed navigation data and status message
//Thread reader/writer lock to prevent clobbering the posvel variable while it is being accessed
posvelLock = new ReaderWriterLockSlim();
comStatusMessageLock = new ReaderWriterLockSlim();
triggerTimeReceievdFromMbed = false; //set to true when we receive a 1PPS status message
//reset to false in the calling program when the status message is processed
//used to store the CRC results fpr the GPS messages received at the PC
GPS_PC_CRC = new GPSMessageCRC_atPC();
trigger = new Trigger();
computeCRC = new NovatelCRC(); //class to compute the Novatel CRC value (see their manual)
comStats = new CommStats(); //accumulated comm stats
commStatusMessage = new CommStatusMessage(); //per sec comm status message
navIFMutex_ = new Mutex(); //not sure we need this
////////////////////////////////////////////////////////////////////////////////////////////
//wait here in a loop unitl we have attached the USB cable to access the mbed device
////////////////////////////////////////////////////////////////////////////////////////////
initializeMbedSerialPort();
if (!serialInit_)
{
logFile.WriteLine("mbed serial port not found");
throw new Exception("no serial port found");
}
/////////////////////////////////////////////////////////////////////////////////////
//At this stage we have found the mbed port and have successfully opened the port
/////////////////////////////////////////////////////////////////////////////////////
logFile.WriteLine("Successfully opened the mbed device");
utm = new UTM2Geodetic();
posvelAt1PPS = new PosVel();
timeFrom1PPS = new Stopwatch();
//set up the communications interface thread
Thread mbedCommunication = new Thread(mbedCommunicationWorker);
mbedCommunication.IsBackground = false;
//start the communication and begin retrieving mbed messages
mbedCommunication.Start();
logFile.WriteLine("Completed starting the mbed communication thread");
if (mbedCommunication.IsAlive)
{
logFile.WriteLine("mbedCommunication thread is operating ");
}
else
{
logFile.WriteLine("mbed communication htread os not operating ");
MessageBox.Show("mbed comminication thread did not start ");
}
}