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gpsgarmin/driver.h
00001 /* 00002 * Orca-Robotics Project: Components for robotics 00003 * http://orca-robotics.sf.net/ 00004 * Copyright (c) 2004-2008 Duncan Mercer, Alex Brooks, Alexei Makarenko, Tobias Kaupp 00005 * 00006 * This distribution is licensed to you under the terms described in 00007 * the LICENSE file included in this distribution. 00008 * 00009 */ 00010 00011 #ifndef HYDRO_GPS_GARMIN_H 00012 #define HYDRO_GPS_GARMIN_H 00013 00014 #include <hydrointerfaces/gps.h> 00015 #include <gbxserialacfr/serial.h> 00016 #include <hydrogpsutil/nmea.h> 00017 #include <memory> 00018 00019 namespace gpsgarmin { 00020 00021 // 00022 // Bogus laser driver, useful for testing the rest of the component. 00023 // 00024 class Driver : public hydrointerfaces::Gps 00025 { 00026 00027 public: 00028 00029 Driver( const Config &cfg, const hydroutil::Context &context ); 00030 virtual ~Driver(); 00031 00032 00033 // Blocks till new data is available 00034 virtual void read( hydrointerfaces::Gps::Data &data ); 00035 00036 private: 00037 00038 void init(); 00039 void addDataToFrame(); 00040 void enableDevice(); 00041 void disableDevice(); 00042 int resetDevice(); 00043 void extractGGAData(); 00044 void extractVTGData(); 00045 void extractRMEData(); 00046 void clearFrame(){haveGGA_ = false; haveVTG_ = false; haveRME_ =false;}; 00047 bool haveCompleteFrame(){return (haveGGA_ & haveVTG_ & haveRME_);}; 00048 00049 void readFrame ( hydrointerfaces::Gps::Data &data); 00050 00051 std::auto_ptr<gbxserialacfr::Serial> serial_; 00052 00053 hydrointerfaces::Gps::Data gpsData_; 00054 hydrogpsutil::NmeaMessage nmeaMessage_; 00055 // IceUtil::Time timeOfRead_; 00056 int timeOfReadSec_; 00057 int timeOfReadUsec_; 00058 00059 //*** NOTE:- if we change the number of messages in the frame need to change 00060 //The N_MSGS_IN_FRAME in the readFrame fn... 00061 bool haveGGA_; 00062 bool haveVTG_; 00063 bool haveRME_; 00064 00065 Gps::Config config_; 00066 hydroutil::Context context_; 00067 }; 00068 00069 // Used for dynamically loading driver 00070 class Factory : public hydrointerfaces::GpsFactory 00071 { 00072 public: 00073 hydrointerfaces::Gps *createDriver( 00074 const hydrointerfaces::Gps::Config &config, 00075 const hydroutil::Context &context ) const 00076 { 00077 return new Driver( config, context ); 00078 } 00079 }; 00080 00081 } // namespace 00082 00083 // Used for dynamically loading driver 00084 extern "C" { 00085 hydrointerfaces::GpsFactory *createDriverFactory(); 00086 } 00087 00088 #endif
