Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 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_INTERFACES_GPS_H
00012 #define HYDRO_INTERFACES_GPS_H
00013 
00014 #include <cstdlib>
00015 #include <string>
00016 #include <memory>
00017 #include <vector>
00018 
00019 #include <hydroutil/context.h>
00020 
00021 
00022 namespace hydrointerfaces
00023 {
00024 
00043 
00044 
00045 
00046 
00047 
00048 
00049 
00050 
00051 
00052 
00053 
00054 
00055 class SOEXPORT Gps
00056 {
00057 
00058 public:
00059 
00061     class Config
00062     {
00063     public:
00064         Config() {};
00065         bool isValid() const { return true; };
00066         std::string toString() const { return std::string(); };
00067         //bool operator==( const Config & other );
00068         //bool operator!=( const Config & other );
00069     };
00070 
00076     enum PositionType {
00078         GpsPositionTypeNotAvailable,
00081         GpsPositionTypeAutonomous,
00083         GpsPositionTypeDifferential,
00084         NovatelNone,
00085         NovatelFixedPos,
00086         NovatelFixedHeigth,
00087         NovatelFloatConv,
00088         NovatelWideLane,
00089         NovatelNarrowLane,
00090         NovatelDopplerVelocity,
00091         NovatelSingle,
00092         NovatelPsrDiff,
00093         NovatelWAAS,
00094         NovatelPropagated,
00095         NovatelOmnistar,
00096         NovatelL1Float,
00097         NovatelIonFreeFloat,
00098         NovatelNarrowFloat,
00099         NovatelL1Int,
00100         NovatelWideInt,
00101         NovatelNarrowInt,
00102         NovatelRTKDirectINS,
00103         NovatelINS,
00104         NovatelINSPSRSP,
00105         NovatelINSPSRFLOAT,
00106         NovatelINSRTKFLOAT,
00107         NovatelINSRTKFIXED,
00108         NovatelOmnistarHP,
00109         NovatelUnknown
00110     };
00111     
00113     struct Data
00114     {
00117         int timeStampSec;
00120         int timeStampUsec;
00123         int utcTimeHrs;
00126         int utcTimeMin;
00129         double utcTimeSec;
00130     
00132         double latitude;
00134         double longitude;
00136         double altitude;
00137         
00139         double horizontalPositionError;
00141         double verticalPositionError;
00142         
00144         double heading; 
00146         double speed;
00148         double climbRate;
00149         
00151         int satellites;
00152         int observationCountOnL1;
00153         int observationCountOnL2;
00155         PositionType positionType;
00157         double geoidalSeparation;    
00158     };
00159 
00162     virtual void read( Data &data )=0;
00163 
00164     virtual ~Gps() {};
00165 
00166 private:
00167 
00168 };
00169 
00171 class SOEXPORT GpsFactory {
00172 public:
00173     virtual ~GpsFactory() {};
00175     virtual Gps *createDriver( const Gps::Config &config,
00176                                   const hydroutil::Context &context ) const=0;
00177 };
00178 
00180 } // namespace
00181 
00182 // Function for dynamically instantiating drivers.
00183 // A driver must have a function like so:
00184 // extern "C" {
00185 //     hydrointerfaces::GpsFactory *GpsFactory();
00186 // }
00187 typedef hydrointerfaces::GpsFactory *DriverFactoryMakerFunc();
00188 
00189 #endif
gps.h
