rosaria/Legacy/Aria/include/ArGPSConnector.h

/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/

#ifndef ARGPSCONNECTOR_H
#define ARGPSCONNECTOR_H

#include <string>
#include <vector>

#include "ariaTypedefs.h"
#include "ariaUtil.h"
#include "ArFunctor.h"
#include "ArGPS.h"

class ArDeviceConnection;
class ArRobot;

/** 
 *  @brief Factory for creating GPS interface object (for any kind of GPS supported by ARIA) based on robot parameter file and command-line arguments.
 *
 *  First, create an ArGPSConnector object before 
 *  calling Aria::parseArgs().  After connecting to the robot, call
 *  Aria::parseArgs().  Then, call createGPS() to create the GPS object.
 *  
 *  ArGPSConnector can connect to a Novatel GPS ("novatel" type), Trimble AgGPS
 *  ("trimble" type), or any GPS
 *  supporting the NMEA standard protocol ("standard" type), if that GPS does not need any special
 *  commands to initialize.
 *
 *  @note The device connection object created by 
 *  ArGPSConnector is destroyed  when ArGPSConnector is 
 *  destroyed. Therefore, you must not destroy an ArGPSConnector
 *  while its associated ArGPS is in use.
 *
 * The following command-line arguments are checked:
 * @verbinclude ArGPSConnector_options
 *
 * Only one GPS device may be configured and connected to by this object.
 *
  @ingroup OptionalClasses
   @ingroup DeviceClasses
*/

class ArGPSConnector {
public:
  AREXPORT ArGPSConnector(ArArgumentParser* argParser);
  AREXPORT ~ArGPSConnector();

  /** Gets command line arguments */
  AREXPORT bool parseArgs();


  /** Create a new GPS object (may be an ArGPS subclass based on device type)
   * and a device connection for that GPS. Use ArGPS::blockingConnect() to open the connection.
   *
   * @param robot If not NULL, obtain default values for GPS type, port and baud
   * from this robot's parameters (given in parameter file), for any of these
   * not set from command-line arguments in parseArgs().
   *
   * @return NULL if there was an error creating a GPS object or an error
   * creating and opening its device connection. Otherwise, return the new GPS
   * object.  
   */
  AREXPORT ArGPS* createGPS(ArRobot *robot = NULL);
  /** @copydoc createGPS() */
  AREXPORT ArGPS* create(ArRobot *robot = NULL) { return createGPS(robot); }

#if 0  

//doesn't really do anything :
  /** Try to establish a device connection between @a gps (created by calling
   * createGPS() and the GPS receiver.
   */
  AREXPORT bool connectGPS(ArGPS *gps);
  /** @copydoc connectGPS() */
  AREXPORT bool connect(ArGPS *gps) { return connectGPS(gps) ; }
#endif

  /** @brief Device type identifiers */
  typedef enum {
      /// For a standard NMEA GPS device (no extra initialization or interpretation needed) accessible using ArGPS 
      Standard, 
      /// For a Novatel device accessible using ArNovatelGPS 
      Novatel,
      /// For a Trimble device accessible using ArTrimbleGPS
      Trimble,
      /// Not set or invalid
      Invalid,
      /// Novatel SPAN
      /// @since Aria 2.7.2
      NovatelSPAN,
      /// Simulated (program must set dummy positions)
      /// @since Aria 2.7.6
      Simulator
  } GPSType;

  AREXPORT GPSType getGPSType() const { return myDeviceType; }

protected:
  ArDeviceConnection *myDeviceCon;
  ArArgumentParser *myArgParser;
  ArRetFunctorC<bool, ArGPSConnector> myParseArgsCallback;
  ArFunctorC<ArGPSConnector> myLogArgsCallback;
  int myBaud;
  const char *myPort;
  const char *myTCPHost;
  int myTCPPort;
  GPSType myDeviceType;


  /** Log argument option information */
  AREXPORT void logOptions();
  AREXPORT GPSType deviceTypeFromString(const char *str);
};


#endif  // ifdef ARGPSCONNECTOR_H