Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Matthew Ridley, Ben Upcroft, Michael Moser
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef HYDRO_INSGPS_NOVATELSPAN_H
00012 #define HYDRO_INSGPS_NOVATELSPAN_H
00013 
00014 #include <memory>
00015 
00016 #include <hydroutil/context.h>
00017 #include <hydrointerfaces/insgps.h>
00018 
00019 // forward declarations
00020 //
00021 // avoid exposing the novatel gear to the world
00022 namespace hydronovatelutil{
00023     struct BESTGPSPOS_LOG ;
00024     struct BESTGPSVEL_LOG ;
00025     struct INSPVASB_LOG ;
00026     struct RAWIMUSB_LOG ;
00027 }
00028 // users don't need to know about serial devices
00029 namespace gbxserialacfr{
00030     class Serial;
00031 }
00032 
00033 namespace insgpsnovatelspan{
00034 
00035 /*
00036 @brief class which handles interactions with the
00037        Novatel Span InsGps navigation sensors
00038 
00039 @author Matthew Ridley, Ben Upcroft, Michael Moser
00040  */
00041 union novatel_message;
00042 class Driver : public hydrointerfaces::InsGps
00043 {
00044 public:
00045 
00046     Driver( const Config &cfg, const hydroutil::Context &context );
00047     virtual ~Driver();
00048 
00049     // from InsGps
00050     virtual std::auto_ptr<hydrointerfaces::InsGps::GenericData> read();
00051 
00052 private:
00053 
00055     int connectToHardware();
00057     void configureImu();
00059     void configureGps();
00061     void requestData();
00065     int readNovatelMessage( union novatel_message &msg );
00068     std::auto_ptr<hydrointerfaces::InsGps::GenericData> novatel2Hydro(hydronovatelutil::INSPVASB_LOG &insPva);
00069     std::auto_ptr<hydrointerfaces::InsGps::GenericData> novatel2Hydro(hydronovatelutil::BESTGPSPOS_LOG &bestGpsPos, hydronovatelutil::BESTGPSVEL_LOG &bestGpsVel);
00070     std::auto_ptr<hydrointerfaces::InsGps::GenericData> novatel2Hydro(hydronovatelutil::RAWIMUSB_LOG &rawImu);
00072 
00073     bool swappedRollPitch_;
00074     double undulation_; //aka goidal separation
00075     bool haveUndulation_;
00076     struct timeval timeOfRead_;
00077 
00078     std::auto_ptr<gbxserialacfr::Serial> serial_;
00079     int baud_;
00080 
00081     hydroutil::Context context_;
00082 };
00083 
00084 
00085 // Used for dynamically loading driver
00086 class Factory : public hydrointerfaces::InsGpsFactory
00087 {
00088 public:
00089     hydrointerfaces::InsGps *createDriver( 
00090                 const hydrointerfaces::InsGps::Config &config,
00091                 const hydroutil::Context &context ) const
00092     {
00093         return new Driver( config, context );
00094     }
00095 };
00096 
00097 } // namespace
00098 
00099 // Used for dynamically loading driver
00100 extern "C" {
00101     hydrointerfaces::InsGpsFactory *createDriverFactory();
00102 }
00103 #endif
insgpsnovatelspan/driver.h
