89 lines
3.2 KiB
C
89 lines
3.2 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 ARTRIMBLEGPS_H
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#define ARTRIMBLEGPS_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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#include "ArDeviceConnection.h"
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#include "ArMutex.h"
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#include <deque>
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class ArTrimbleAuxDeviceConnection;
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/** @brief GPS subclass to support the Trimble AgGPS and other Trimble GPS devices.
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*
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* This subclass extends ArGPS to send initialization commands specific
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* to Trimble GPS devices, and to handle the PTNLAG001 message which
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* is specific to the Trimble GPS (this message contains data received
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* from an auxilliary device connected to the GPS; ArTrimbleGPS
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* simply parses its contents as a new NMEA message; i.e. data received
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* by the Trimble is assumed to be NMEA messages that it forwards
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* via the PTNLAG001 message.)
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*
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* @note You must also configure the ports using
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* the Trimble AgRemote program
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* (http://www.trimble.com/support_trl.asp?pt=AgRemote&Nav=Collection-1545).
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* Enable the following messages on whichever
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* GPS port the computer is connected to: GPRMC, GPGGA, GPGSA, GPGSV, GPGST,
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* GPMSS, and set input (I) protocol to TSIP 38k baud, and output
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* protocol (O) to NMEA 38k baud.
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* This configuration is done by MobileRobots when shipping a Trimble AgGPS
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* but you may need to do this if the GPS loses its configuration or after
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* changing any other settings (Note that AgRemote resets the port settings each time
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* it connects, so you must reset them each time before exiting AgRemote!)
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*
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* @since 2.6.0
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*/
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class ArTrimbleGPS : public virtual ArGPS {
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private:
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ArFunctor1C<ArTrimbleGPS, ArNMEAParser::Message> myAuxDataHandler;
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void handlePTNLAG001(ArNMEAParser::Message message);
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public:
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AREXPORT ArTrimbleGPS();
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AREXPORT virtual ~ArTrimbleGPS();
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/** Send a TSIP command to the Trimble GPS.
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* See the TSIP Reference guide for details.
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* Note, the data must be 66 characters or less.
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*/
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AREXPORT bool sendTSIPCommand(char command, const char *data, size_t dataLen);
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protected:
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AREXPORT virtual bool initDevice();
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};
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#endif
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