99 lines
3.8 KiB
C
99 lines
3.8 KiB
C
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARNOVATELGPS_H
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#define ARNOVATELGPS_H
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#include "ariaTypedefs.h"
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#include "ArFunctor.h"
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#include "ariaUtil.h"
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#include "ArGPS.h"
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/** @brief GPS subclass to support the NovAtel ProPak G2 and other NovAtel
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* "OEM4" devices.
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*
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* This subclass overrides initDevice() to send initialization commands specific
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* to NovAtel GPS devices.
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* On connect, it initiazes SBAS (satellite-based augmentation) to
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* "auto", which uses WAAS, EGNOS, or MSAS if available,
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* and then requests NMEA messages to be interpreted by ArGPS.
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*
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* It does not initialize corrections sent by your own DGPS fixed
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* base station over radio, or the wide-area L-Band services such as OmniStar or
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* the Canada-wide DGPS (supported by the NovaTel ProPak LBplus).
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* To configure DGPS, you must connect to the GPS with a terminal
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* program (e.g. "minicom" in Linux), configure the device for
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* your specific service, region and radio settings, and save
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* with the "saveconfig" command. See the GPS setup notes
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* at http://robots.mobilerobots.com/tech_notes/GPS_Setup_Notes.txt
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* and the NovAtel GPS Reference Manual Volume 1, Sections 4.3 and 4.5 for
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* ("Transmitting and Receiving Corrections" and "Enabling L-Band Positioning")
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* for more information on doing this.
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*
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*/
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class ArNovatelGPS : public virtual ArGPS {
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protected:
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void handleNovatelGPGGA(ArNMEAParser::Message msg);
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ArFunctor1C<ArNovatelGPS, ArNMEAParser::Message> myNovatelGPGGAHandler;
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public:
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AREXPORT ArNovatelGPS();
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AREXPORT virtual ~ArNovatelGPS();
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protected:
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AREXPORT virtual bool initDevice();
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};
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/** @brief GPS subclass to support the NovAtel SPAN GPS with integrated IMU.
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This subclass requests the INGLL NMEA message for combined IMU and GPS
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position, and updates the GPS position in ArGPS using this data.
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It replaces the normal GPRMC handler from ArGPS, and instead saves the uncorrected
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GPS data separately. (use dynamic_cast to cast an ArGPS object to an
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ArNovatelSPAN object to access this data).
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@since ARIA 2.7.2
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*/
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class ArNovatelSPAN : public virtual ArNovatelGPS {
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protected:
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/** overrides ArNovatelGPS::handleGPRMC(), and keeps results of parsing the
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* message in this class rather than ArGPS. */
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void handleGPRMC(ArNMEAParser::Message msg);
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void handleINGLL(ArNMEAParser::Message msg);
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AREXPORT virtual bool initDevice();
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ArFunctor1C<ArNovatelSPAN, ArNMEAParser::Message> myGPRMCHandler;
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ArFunctor1C<ArNovatelSPAN, ArNMEAParser::Message> myINGLLHandler;
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public:
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double GPSLatitude, GPSLongitude;
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bool haveGPSPosition, GPSValidFlag;
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ArTime timeGotGPSPosition, GPSTimestamp;
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AREXPORT ArNovatelSPAN();
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AREXPORT virtual ~ArNovatelSPAN();
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};
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#endif
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