143 lines
4.7 KiB
C++
143 lines
4.7 KiB
C++
/*
|
|
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 ARGPSCONNECTOR_H
|
|
#define ARGPSCONNECTOR_H
|
|
|
|
#include <string>
|
|
#include <vector>
|
|
|
|
#include "ariaTypedefs.h"
|
|
#include "ariaUtil.h"
|
|
#include "ArFunctor.h"
|
|
#include "ArGPS.h"
|
|
|
|
class ArDeviceConnection;
|
|
class ArRobot;
|
|
|
|
/**
|
|
* @brief Factory for creating GPS interface object (for any kind of GPS supported by ARIA) based on robot parameter file and command-line arguments.
|
|
*
|
|
* First, create an ArGPSConnector object before
|
|
* calling Aria::parseArgs(). After connecting to the robot, call
|
|
* Aria::parseArgs(). Then, call createGPS() to create the GPS object.
|
|
*
|
|
* ArGPSConnector can connect to a Novatel GPS ("novatel" type), Trimble AgGPS
|
|
* ("trimble" type), or any GPS
|
|
* supporting the NMEA standard protocol ("standard" type), if that GPS does not need any special
|
|
* commands to initialize.
|
|
*
|
|
* @note The device connection object created by
|
|
* ArGPSConnector is destroyed when ArGPSConnector is
|
|
* destroyed. Therefore, you must not destroy an ArGPSConnector
|
|
* while its associated ArGPS is in use.
|
|
*
|
|
* The following command-line arguments are checked:
|
|
* @verbinclude ArGPSConnector_options
|
|
*
|
|
* Only one GPS device may be configured and connected to by this object.
|
|
*
|
|
@ingroup OptionalClasses
|
|
@ingroup DeviceClasses
|
|
*/
|
|
|
|
class ArGPSConnector {
|
|
public:
|
|
AREXPORT ArGPSConnector(ArArgumentParser* argParser);
|
|
AREXPORT ~ArGPSConnector();
|
|
|
|
/** Gets command line arguments */
|
|
AREXPORT bool parseArgs();
|
|
|
|
|
|
/** Create a new GPS object (may be an ArGPS subclass based on device type)
|
|
* and a device connection for that GPS. Use ArGPS::blockingConnect() to open the connection.
|
|
*
|
|
* @param robot If not NULL, obtain default values for GPS type, port and baud
|
|
* from this robot's parameters (given in parameter file), for any of these
|
|
* not set from command-line arguments in parseArgs().
|
|
*
|
|
* @return NULL if there was an error creating a GPS object or an error
|
|
* creating and opening its device connection. Otherwise, return the new GPS
|
|
* object.
|
|
*/
|
|
AREXPORT ArGPS* createGPS(ArRobot *robot = NULL);
|
|
/** @copydoc createGPS() */
|
|
AREXPORT ArGPS* create(ArRobot *robot = NULL) { return createGPS(robot); }
|
|
|
|
#if 0
|
|
|
|
//doesn't really do anything :
|
|
/** Try to establish a device connection between @a gps (created by calling
|
|
* createGPS() and the GPS receiver.
|
|
*/
|
|
AREXPORT bool connectGPS(ArGPS *gps);
|
|
/** @copydoc connectGPS() */
|
|
AREXPORT bool connect(ArGPS *gps) { return connectGPS(gps) ; }
|
|
#endif
|
|
|
|
/** @brief Device type identifiers */
|
|
typedef enum {
|
|
/// For a standard NMEA GPS device (no extra initialization or interpretation needed) accessible using ArGPS
|
|
Standard,
|
|
/// For a Novatel device accessible using ArNovatelGPS
|
|
Novatel,
|
|
/// For a Trimble device accessible using ArTrimbleGPS
|
|
Trimble,
|
|
/// Not set or invalid
|
|
Invalid,
|
|
/// Novatel SPAN
|
|
/// @since Aria 2.7.2
|
|
NovatelSPAN,
|
|
/// Simulated (program must set dummy positions)
|
|
/// @since Aria 2.7.6
|
|
Simulator
|
|
} GPSType;
|
|
|
|
AREXPORT GPSType getGPSType() const { return myDeviceType; }
|
|
|
|
protected:
|
|
ArDeviceConnection *myDeviceCon;
|
|
ArArgumentParser *myArgParser;
|
|
ArRetFunctorC<bool, ArGPSConnector> myParseArgsCallback;
|
|
ArFunctorC<ArGPSConnector> myLogArgsCallback;
|
|
int myBaud;
|
|
const char *myPort;
|
|
const char *myTCPHost;
|
|
int myTCPPort;
|
|
GPSType myDeviceType;
|
|
|
|
|
|
/** Log argument option information */
|
|
AREXPORT void logOptions();
|
|
AREXPORT GPSType deviceTypeFromString(const char *str);
|
|
};
|
|
|
|
|
|
#endif // ifdef ARGPSCONNECTOR_H
|
|
|
|
|