insgps.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_INSGPS_H
#define HYDRO_INTERFACES_INSGPS_H

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

#include <hydroutil/context.h>


namespace hydrointerfaces
{












class SOEXPORT InsGps
{

public:

    enum Datatype {
        Ins,
        Gps,
        Imu
    };

    enum StatusMessageType {
        NoMsg,
        Initialising,
        Ok,
        Warning,
        Fault
    };

    class GenericData
    {
        public:
            virtual ~GenericData(){};
            virtual Datatype type() const=0;
            StatusMessageType statusMessageType;
            std::string statusMessage;
        private:
    };

    virtual std::auto_ptr<GenericData> read() = 0;

    // datatypes that can be encapsulated in GenericData
    class InsData : public GenericData {
    public:
        Datatype type() const { return Ins; }
        double lat;
        double lon;
        double alt;
        double altAMSL;
        double vENU[3];
        double oRPY[3];
        struct timeval time;
    };


    enum GpsSolutionStatus{
        NoFix,
        BadFix,
        TwoDFix,
        GoodFix
    };
    enum GpsCorrectionMethod{
        NoDiff,
        CodeDiff,
        CarrierDiff
    };
    enum GpsCorrectionSource{
        Local,
        Distant,
        Satellite
    };

    class GpsData : public GenericData {
    public:
        Datatype type() const { return Gps; }
        double lat;
        double sigmaLat;
        double lon;
        double sigmaLon;
        double alt;
        double altAMSL;
        double sigmaAlt;

        double heading;   
        double speed;     
        double climbRate; 
        std::vector<double > latency; 


        int sat;
        int obsL1;
        int obsL2;

        enum GpsSolutionStatus gpsSolutionStatus;

        enum GpsCorrectionMethod gpsCorrectionMethod;

        std::vector<enum GpsCorrectionSource> gpsCorrectionSource;

        std::vector<double> gpsCorrectionAge;

        std::string gpsBaseStationId;

        struct timeval time;
    };

    class ImuData : public GenericData {
    public:
        Datatype type() const { return Imu; }
        double acc[3];
        double turnRate[3];
        bool biasCorrected;
        std::vector<double> tempr;
        struct timeval time;
    };

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

    virtual ~InsGps() {};

private:

};

class SOEXPORT InsGpsFactory {
public:
    virtual ~InsGpsFactory() {};
    virtual InsGps *createDriver( const InsGps::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::InsGpsFactory *InsGpsFactory();
// }
typedef hydrointerfaces::InsGpsFactory *InsGpsDriverFactoryMakerFunc();

#endif