GearBox Project

00001 /*
00002  * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics
00003  *               http://gearbox.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 GBXGARMINACFR_DRIVER_H
00012 #define GBXGARMINACFR_DRIVER_H
00013 
00014 #include <gbxserialacfr/serial.h>
00015 #include <gbxutilacfr/tracer.h>
00016 #include <gbxutilacfr/status.h>
00017 #include <memory>
00018 
00019 namespace gbxgarminacfr {
00020 
00022 class Config
00023 {   
00024 public:
00025     Config() :
00026         readGga(true),
00027         readVtg(true),
00028         readRme(true),
00029         ignoreUnknown(false) {};
00030 
00034     bool isValid() const;
00035 
00037     std::string toString() const;
00038 
00040     std::string device;
00041 
00043     bool readGga;
00045     bool readVtg;
00047     bool readRme;
00048 
00052     bool ignoreUnknown;
00053 };
00054 
00056 enum DataType 
00057 {
00059     GpGga,
00061     GpVtg,
00063     PgRme
00064 };
00065 
00067 class GenericData
00068 {
00069 public:
00070     virtual ~GenericData() {};
00072     virtual DataType type() const=0;
00073 
00074 private:
00075 };
00076 
00078 enum FixType 
00079 {
00081     Invalid,
00084     Autonomous,
00086     Differential
00087 };
00088 
00091 struct GgaData : public GenericData
00092 {
00093 public:
00094     DataType type() const { return GpGga; }
00095 
00098     int timeStampSec;
00101     int timeStampUsec;
00102 
00105     int utcTimeHrs;
00108     int utcTimeMin;
00111     double utcTimeSec;
00112 
00114     double latitude;
00116     double longitude;
00118     double altitude;
00119     
00122     FixType fixType;
00123 
00125     int satellites;
00126 
00128     double horizontalDilutionOfPosition;
00129     
00131     double geoidalSeparation;    
00132 };
00133 
00135 class VtgData : public GenericData
00136 {
00137 public:
00138     DataType type() const { return GpVtg; }
00139 
00142     int timeStampSec;
00145     int timeStampUsec;
00146     
00148     double headingTrue; 
00150     double headingMagnetic; 
00152     double speed;
00153 };
00154 
00156 class RmeData : public GenericData
00157 {
00158 public:
00159     DataType type() const { return PgRme; }
00160 
00163     int timeStampSec;
00166     int timeStampUsec;
00167     
00169     double horizontalPositionError;
00171     double verticalPositionError;
00172 
00174     double estimatedPositionError;
00175 };
00176 
00198 class Driver
00199 {
00200 
00201 public:
00202 
00208     Driver( const Config& config, 
00209             gbxutilacfr::Tracer& tracer,
00210             gbxutilacfr::Status& status );
00211 
00212     ~Driver();
00213 
00230     std::auto_ptr<GenericData> read();
00231 
00232 private:
00233 
00234     void init();
00235     void enableDevice();
00236     void disableDevice();
00237     
00238     std::auto_ptr<gbxserialacfr::Serial> serial_;
00239 
00240     Config config_;
00241     gbxutilacfr::Tracer& tracer_;
00242     gbxutilacfr::Status& status_;
00243 };
00244 
00245 } // namespace
00246 
00247 #endif
gbxgarminacfr/driver.h
