rosaria/Legacy/Aria/include/ArNMEAParser.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 ARNMEAPARSER_H
#define ARNMEAPARSER_H

#include "ariaTypedefs.h"
#include "ArFunctor.h"
#include "ariaUtil.h"
#include "ArDeviceConnection.h"
#include <string>
#include <vector>


/** @brief NMEA Parser
 *
 *  Parses NMEA input data and calls callbacks for certain messages with message
 *  parts.   NMEA is a standard output data protocol used by GPS devices and
 *  others (e.g. compass, altimiter, etc.)   This class is used internally by ArNMEAParser and
 *  subclasses, and by ArTCMCompassDirect.
 */
class ArNMEAParser {

public:
    /** @param name Used in log messages */
    AREXPORT ArNMEAParser(const char *name = "NMEA Parser");

    /** @brief Flags to indicates what the parse() method did. 
     *  i.e. If nothing was done, then the
     *  result will be 0. To check a parse() return result @a result to see if data was updated, use
     *  (result & ParseUpdated). To check if there was an error, use (result &
     *  ParseError). 
     */
    enum {
      ParseFinished = 1,  ///< There was no data to parse
      ParseError = 2,     ///< There was an error
      ParseData = 4,      ///< Input was recieved and stored, but no complete messages were parsed
      ParseUpdated = 8    ///< At least one complete message was parsed
    } ParseFlags;

    /** @brief Set whether checksum is ignored (default behavior is not to ignore it, and
     * skip messages with incorrect checksums, and log a warning mesage) */
    AREXPORT void setIgnoreChecksum(bool ignore) { ignoreChecksum = ignore; }

    /** NMEA message, divided into parts.  */
    typedef std::vector<std::string> MessageVector;

    /** Message data passed to handlers */
    typedef struct {
      /** The parts of the message, including initial message ID (but excluding
       * checksum) */
      ArNMEAParser::MessageVector* message;
      /** Timestamp when the beginning of this message was recieved and parsing
       * began. */
      ArTime timeParseStarted;
    } Message;
      

    /** NMEA message handler type.  */
    typedef ArFunctor1<ArNMEAParser::Message> Handler;


    /** Set a handler for an NMEA message. Mostly for internal use or to be used
     * by related classes, but you could use for ususual or custom messages
     * emitted by a device that you wish to be handled outside of the ArNMEAParser
     * class. 
     */
    AREXPORT void addHandler(const char *message, ArNMEAParser::Handler *handler);
    AREXPORT void removeHandler(const char *message);

    /* Read a chunk of input text from the given device connection and 
     * parse with parse(char*, int).  The maximum amount of text read from the device
     * connection is determined by the internal buffer size in this class
     * (probably a few hundred bytes limit).
     * @return a result code from ParseFlags
     * @note You should only use one stream of data with ArNMEAParser, and in a
     * continuous fashion, since it will store partially recieved messages for
     * the next call to one of the parse() methods.
     */
    AREXPORT int parse(ArDeviceConnection *dev);

    /* Parse a chunk of input text. Call message handlers as complete NMEA
     * messages are parsed.  Parsing state is stored in this ArNMEAParser object.
     * @return a result code from ParseFlags
     */
    AREXPORT int parse(const char *buf, int n);

    

     
    
public:
    /* Map of message identifiers to handler functors */
    typedef std::map<std::string, ArNMEAParser::Handler*> HandlerMap;

private:
    /* NMEA message handlers used by ArNMEAParser */
    HandlerMap myHandlers;

public:
    const ArNMEAParser::HandlerMap& getHandlersRef() const { return myHandlers; }

private:

    const char *myName;

    /*  NMEA scanner state.
     *  There are possabilities for opmitization here, such 
     *  as just storing the read data in a buffer and handling
     *  each field as it is found in the buffer, or building
     *  a list of char* for each field pointing into the buffer
     *  instead of copying each field into a std::string in the
     *  currentMessage vector, etc. etc.
     */
    const unsigned short MaxNumFields;
    const unsigned short MaxFieldSize; // bytes
    bool ignoreChecksum;

    MessageVector currentMessage;
    ArTime currentMessageStarted;
    std::string currentField;
    char checksumBuf[3];
    short checksumBufOffset;
    bool inChecksum;
    bool inMessage;
    char currentChecksum;
    bool gotCR;

    // Tools to update state
    void beginMessage();
    void endMessage();
    void nextField();
    void beginChecksum();

    /* Data buffer used by handleInput(ArDeviceConnection*).
     * This should be enough to hold several NMEA messages. 
     * Most NMEA messages should be less than 50 bytes or so; 
     * 256 then allows a minumum of 5 messages parsed per 
     * call to parse(arDeviceConnection*).)
     */
    char myReadBuffer[256]; //[512];

};

#endif // ifdef ARNMEAPARSER_H