/*
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 ARTRIMBLEGPS_H
#define ARTRIMBLEGPS_H


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

#include <deque>

class ArTrimbleAuxDeviceConnection;

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

  /** Send a TSIP command to the Trimble GPS.
   *  See the TSIP Reference guide for details.
   *  Note, the data must be 66 characters or less.
   */
  AREXPORT bool sendTSIPCommand(char command, const char *data, size_t dataLen);

protected:
  AREXPORT virtual bool initDevice();

};


#endif