hydrointerfaces/gps.h

/*
 * Orca-Robotics Project: Components for robotics
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2009 Michael Moser
 *
 * This copy of Orca is licensed to you under the terms described in
 * the LICENSE file included in this distribution.
 *
 */

#ifndef HYDRO_INTERFACES_GPS_H
#define HYDRO_INTERFACES_GPS_H

#include <cstdlib>
#include <string>
#include <memory>
#include <vector>

#include <hydroutil/context.h>


namespace hydrointerfaces
{













class SOEXPORT Gps
{

public:

    class Config
    {
    public:
        Config() {};
        bool isValid() const { return true; };
        std::string toString() const { return std::string(); };
        //bool operator==( const Config & other );
        //bool operator!=( const Config & other );
    };

    enum PositionType {
        GpsPositionTypeNotAvailable,
        GpsPositionTypeAutonomous,
        GpsPositionTypeDifferential,
        NovatelNone,
        NovatelFixedPos,
        NovatelFixedHeigth,
        NovatelFloatConv,
        NovatelWideLane,
        NovatelNarrowLane,
        NovatelDopplerVelocity,
        NovatelSingle,
        NovatelPsrDiff,
        NovatelWAAS,
        NovatelPropagated,
        NovatelOmnistar,
        NovatelL1Float,
        NovatelIonFreeFloat,
        NovatelNarrowFloat,
        NovatelL1Int,
        NovatelWideInt,
        NovatelNarrowInt,
        NovatelRTKDirectINS,
        NovatelINS,
        NovatelINSPSRSP,
        NovatelINSPSRFLOAT,
        NovatelINSRTKFLOAT,
        NovatelINSRTKFIXED,
        NovatelOmnistarHP,
        NovatelUnknown
    };
    
    struct Data
    {
        int timeStampSec;
        int timeStampUsec;
        int utcTimeHrs;
        int utcTimeMin;
        double utcTimeSec;
    
        double latitude;
        double longitude;
        double altitude;
        
        double horizontalPositionError;
        bool isVerticalPositionErrorValid;
        double verticalPositionError;
        
        double heading; 
        double speed;
        double climbRate;
        
        int satellites;
        int observationCountOnL1;
        int observationCountOnL2;
        PositionType positionType;
        double geoidalSeparation;    
    };

    virtual void read( Data &data )=0;

    virtual ~Gps() {};

private:

};

class SOEXPORT GpsFactory {
public:
    virtual ~GpsFactory() {};
    virtual Gps *createDriver( const Gps::Config &config,
                                  const hydroutil::Context &context ) const=0;
};

} // namespace

// Function for dynamically instantiating drivers.
// A driver must have a function like so:
// extern "C" {
//     hydrointerfaces::GpsFactory *GpsFactory();
// }
typedef hydrointerfaces::GpsFactory *GpsDriverFactoryMakerFunc();

#endif