rosaria/Legacy/Aria/include/ArTCMCompassDirect.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 ARTCMCOMPASSDIRECT_H
#define ARTCMCOMPASSDIRECT_H


#include "ariaTypedefs.h"
#include "ariaUtil.h"
#include "ArDeviceConnection.h"
#include "ArTCM2.h"
#include "ArNMEAParser.h"


/** @brief Talk to a compass directly over a computer serial port
 *  
 *  This class configures and recieves compass heading data from a TCM2 or TCM2.5 compass
 *  directly over a computer serial port, rather than via tha robot.
 *  This class cannot recieve pitch, roll or temperature data from the compass.
 *  On all Pioneer robots, the TCM compass (as originally installed by
 *  MobileRobots) is connected to the robot microcontroller, so if you 
 *  have a Pioneer with this configuration, you  should instead use the 
 *  ArTCMCompassRobot class. Only use this class if you
 *  have connected the compass to the computer serial port.
 *
 *  You can create an instance of this class directly, or using an
 *  ArCompassConnector object and giving the "-compassType serialtcm" program
 *  argument. 
 *
 *  If you create your own ArTCMCompassDirect object, you must call the read()
 *  method periodically (ideally at the same rate the compass sends data,
 *  approx. 8 hz by default) to read and parse incoming data. You can use an
 *  ArRobot callback to do this, for example:
 *  @code
 *    ArRetFunctor1C<int, ArTCMCompassDirect, unsigned int> compassReadFunc(myCompass, &ArTCMCompassDirect::read, 10);
 *    myRobot->addSensorInterpTask("ArTCMCompassDirect read", 200, &compassReadFunc);
 *  @endcode
 *
 *  If you use ArCompassConnector, however, it will automatically do this.
 *
 */
class ArTCMCompassDirect : public virtual ArTCM2  
{
private:
  ArDeviceConnection *myDeviceConnection;
  bool myCreatedOwnDeviceConnection;
  const char *mySerialPortName;
  ArNMEAParser myNMEAParser;
  bool sendTCMCommand(const char *str, ...);
  ArFunctor1C<ArTCMCompassDirect, ArNMEAParser::Message>  myHCHDMHandler;
  void handleHCHDM(ArNMEAParser::Message);
public:
  AREXPORT ArTCMCompassDirect(ArDeviceConnection *devCon);
  AREXPORT ArTCMCompassDirect(const char *serialPortName = ARTCM2_DEFAULT_SERIAL_PORT);
  AREXPORT ~ArTCMCompassDirect();

  /** Open device connection if not yet open  and send commands to configure compass. */
  AREXPORT virtual bool connect();
  AREXPORT virtual bool blockingConnect(unsigned long connectTimeout = 5000);


  /** Send commands to begin calibrating */
  AREXPORT virtual void commandAutoCalibration();
  AREXPORT virtual void commandUserCalibration();
  AREXPORT virtual void commandStopCalibration();

  /** Send commands to start/stop sending data.  */
  //@{
  AREXPORT virtual void commandContinuousPackets();
  AREXPORT virtual void commandOnePacket();
  AREXPORT virtual void commandOff();
  //@}

  /** Not implemented yet. @todo */
  AREXPORT virtual void commandSoftReset() { /* TODO */ }

  /** Same as commandContinuousPackets() in this implementation. */
  AREXPORT virtual void commandJustCompass() { commandContinuousPackets(); }

  /** Read all available data, store, and call callbacks if any were added. 
   *  unsigned int msWait If 0, wait indefinately for new data. Otherwise, wait
   *  a maximum of this many milliseconds for data to arrive.
   *  @return A value > 0 if messages were recieved from the compass, 0 if no
   *  data was recieved, and a value < 0 on error reading from the compass.
   * */
  AREXPORT int read(unsigned int msWait = 1);
 
  AREXPORT void setDeviceConnection(ArDeviceConnection *devCon) { myDeviceConnection = devCon; }
  AREXPORT ArDeviceConnection *getDeviceConnetion() { return myDeviceConnection; }


};

#endif