120 lines
4.7 KiB
C++
120 lines
4.7 KiB
C++
/*
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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 ARTCMCOMPASSDIRECT_H
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#define ARTCMCOMPASSDIRECT_H
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#include "ariaTypedefs.h"
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#include "ariaUtil.h"
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#include "ArDeviceConnection.h"
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#include "ArTCM2.h"
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#include "ArNMEAParser.h"
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/** @brief Talk to a compass directly over a computer serial port
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*
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* This class configures and recieves compass heading data from a TCM2 or TCM2.5 compass
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* directly over a computer serial port, rather than via tha robot.
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* This class cannot recieve pitch, roll or temperature data from the compass.
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* On all Pioneer robots, the TCM compass (as originally installed by
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* MobileRobots) is connected to the robot microcontroller, so if you
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* have a Pioneer with this configuration, you should instead use the
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* ArTCMCompassRobot class. Only use this class if you
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* have connected the compass to the computer serial port.
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*
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* You can create an instance of this class directly, or using an
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* ArCompassConnector object and giving the "-compassType serialtcm" program
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* argument.
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*
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* If you create your own ArTCMCompassDirect object, you must call the read()
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* method periodically (ideally at the same rate the compass sends data,
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* approx. 8 hz by default) to read and parse incoming data. You can use an
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* ArRobot callback to do this, for example:
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* @code
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* ArRetFunctor1C<int, ArTCMCompassDirect, unsigned int> compassReadFunc(myCompass, &ArTCMCompassDirect::read, 10);
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* myRobot->addSensorInterpTask("ArTCMCompassDirect read", 200, &compassReadFunc);
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* @endcode
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*
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* If you use ArCompassConnector, however, it will automatically do this.
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*
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*/
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class ArTCMCompassDirect : public virtual ArTCM2
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{
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private:
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ArDeviceConnection *myDeviceConnection;
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bool myCreatedOwnDeviceConnection;
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const char *mySerialPortName;
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ArNMEAParser myNMEAParser;
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bool sendTCMCommand(const char *str, ...);
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ArFunctor1C<ArTCMCompassDirect, ArNMEAParser::Message> myHCHDMHandler;
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void handleHCHDM(ArNMEAParser::Message);
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public:
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AREXPORT ArTCMCompassDirect(ArDeviceConnection *devCon);
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AREXPORT ArTCMCompassDirect(const char *serialPortName = ARTCM2_DEFAULT_SERIAL_PORT);
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AREXPORT ~ArTCMCompassDirect();
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/** Open device connection if not yet open and send commands to configure compass. */
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AREXPORT virtual bool connect();
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AREXPORT virtual bool blockingConnect(unsigned long connectTimeout = 5000);
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/** Send commands to begin calibrating */
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AREXPORT virtual void commandAutoCalibration();
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AREXPORT virtual void commandUserCalibration();
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AREXPORT virtual void commandStopCalibration();
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/** Send commands to start/stop sending data. */
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//@{
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AREXPORT virtual void commandContinuousPackets();
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AREXPORT virtual void commandOnePacket();
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AREXPORT virtual void commandOff();
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//@}
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/** Not implemented yet. @todo */
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AREXPORT virtual void commandSoftReset() { /* TODO */ }
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/** Same as commandContinuousPackets() in this implementation. */
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AREXPORT virtual void commandJustCompass() { commandContinuousPackets(); }
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/** Read all available data, store, and call callbacks if any were added.
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* unsigned int msWait If 0, wait indefinately for new data. Otherwise, wait
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* a maximum of this many milliseconds for data to arrive.
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* @return A value > 0 if messages were recieved from the compass, 0 if no
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* data was recieved, and a value < 0 on error reading from the compass.
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* */
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AREXPORT int read(unsigned int msWait = 1);
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AREXPORT void setDeviceConnection(ArDeviceConnection *devCon) { myDeviceConnection = devCon; }
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AREXPORT ArDeviceConnection *getDeviceConnetion() { return myDeviceConnection; }
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};
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#endif
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