<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
<title>GearBox Project</title>
<link rel="icon" href="gbx_icon_cardbox_sky.png" type="image/png">
<link rel="shortcut icon" href="gbx_icon_cardbox_sky.png" type="image/png">
<link href="doxygen.css" rel="stylesheet" type="text/css">
<link href="tabs.css" rel="stylesheet" type="text/css">
<!-- Google Analytics -->
<script type="text/javascript">
var gaJsHost = (("https:" == document.location.protocol) ? "https://ssl." : "http://www.");
document.write(unescape("%3Cscript src='" + gaJsHost + "google-analytics.com/ga.js' type='text/javascript'%3E%3C/script%3E"));
</script>
<script type="text/javascript">
var pageTracker = _gat._getTracker("UA-3583782-1");
pageTracker._initData();
pageTracker._trackPageview();
</script>
<!-- Returning you to your regular programming -->
</head><body>
<!-- Header -->
<table border="0" cellspacing="0" cellpadding="0">
<tr><!-- create row -->
<!-- spacer cell -->
<!-- #CC CC CC -->
<td rowspan="1" colspan="1" bgcolor="#EEEEEE"> </td>
<!-- menu cell -->
<td width="170" rowspan="1" colspan="1" align="left" valign="top" bgcolor="#EEEEEE">
<p> </p>
<p align="center"><a href="index.html"><img src="gbx_logo_cardbox_sky_150x150.png"></a></p><br>
<strong>INTRODUCTION</strong><br>
<strong><a href="gbx_doc_overview.html" style="text-decoration:none">Overview</a></strong><br>
<strong><a href="gbx_doc_getting.html" style="text-decoration:none">Download and Install</a></strong><br>
<!-- <strong><a href="gbx_doc_quickstart.html" style="text-decoration:none">Quick Start</a></strong><br> -->
<strong><a href="gbx_doc_documentation.html" style="text-decoration:none">Documentation</a></strong><br>
<strong><a href="gbx_doc_publications.html" style="text-decoration:none">Publications</a></strong><br>
<br>
<strong>REPOSITORY</strong><br>
<strong><a href="group__gbx__libs.html" style="text-decoration:none">Libraries</a></strong><br>
<!-- <strong><a href="group__gbx__utils.html" style="text-decoration:none">Utilities</a></strong><br> -->
<br>
<strong>DEVELOPER</strong><br>
<!--<strong><a href="gbx_doc_tutorials.html" style="text-decoration:none">Tutorials</a></strong><br>
<strong><a href="group__gbx__examples.html" style="text-decoration:none">Examples</a></strong><br>-->
<strong><a href="gbx_doc_devguide.html" style="text-decoration:none">Dev Guide</a></strong><br>
<!--
<strong><a href="gbx_doc_faq.html" style="text-decoration:none">FAQ</a></strong><br>
-->
<strong><a href="http://cdash.acfr.usyd.edu.au/index.php?project=Gearbox" style="text-decoration:none">Dashboard</a></strong><br>
<!--<strong><a href="http://wiki2.cas.edu.au/orca">Wiki</a></strong><br>
login/pass: orca/orca<br>-->
<br>
<strong>PEOPLE</strong><br>
<strong><a href="gbx_doc_contributors.html" style="text-decoration:none">Contributors</a></strong><br>
<strong><a href="gbx_doc_users.html" style="text-decoration:none">Users</a></strong><br>
<br>
<a href="http://sourceforge.net"><img src="http://sourceforge.net/sflogo.php?group_id=216468&type=2" width="125" height="37" border="0" alt="SourceForge.net Logo" /></a><br>
<strong><a href="http://sourceforge.net/projects/gearbox">Project</a></strong><br>
<strong><a href="http://sourceforge.net/project/showfiles.php?group_id=216468">Download</a></strong><br>
<!--<strong><a href="http://sourceforge.net/tracker/?group_id=216468">Bugs/Feedback</a></strong><br>-->
<strong><a href="http://sourceforge.net/mail/?group_id=216468">Mailing lists</a></strong></p>
<p> </p>
</td><!-- /menu cell -->
<!-- one grey spacer cells -->
<td rowspan="1" colspan="1" bgcolor="#EEEEEE"> </td>
<!-- one white spacer cells -->
<td rowspan="1" colspan="1"> </td>
<!-- main content cell -->
<td rowspan="1" colspan="1" align="left" valign="top">
<!-- Generated by Doxygen 1.6.2-20100208 -->
<div class="navigation" id="top">
<div class="tabs">
<ul>
<li><a href="index.html"><span>Main Page</span></a></li>
<li><a href="pages.html"><span>Related Pages</span></a></li>
<li><a href="modules.html"><span>Modules</span></a></li>
<li><a href="namespaces.html"><span>Namespaces</span></a></li>
<li><a href="annotated.html"><span>Classes</span></a></li>
<li class="current"><a href="files.html"><span>Files</span></a></li>
<li><a href="dirs.html"><span>Directories</span></a></li>
</ul>
</div>
<div class="tabs">
<ul>
<li><a href="files.html"><span>File List</span></a></li>
</ul>
</div>
<div class="navpath"><a class="el" href="dir_b8ba9ebcb71a95a44c4fd60b7d348fe1.html">src</a> » <a class="el" href="dir_e3f15aa23b050338afa5a01a94d6f1bf.html">gbxgarminacfr</a>
</div>
</div>
<div class="contents">
<h1>nmea.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics</span>
<a name="l00003"></a>00003 <span class="comment"> * http://gearbox.sf.net/</span>
<a name="l00004"></a>00004 <span class="comment"> * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp, Duncan Mercer</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * This distribution is licensed to you under the terms described in</span>
<a name="l00007"></a>00007 <span class="comment"> * the LICENSE file included in this distribution.</span>
<a name="l00008"></a>00008 <span class="comment"> *</span>
<a name="l00009"></a>00009 <span class="comment"> */</span>
<a name="l00010"></a>00010
<a name="l00011"></a>00011 <span class="preprocessor">#ifndef GBXGPSUTILACFR_NMEA_H</span>
<a name="l00012"></a>00012 <span class="preprocessor"></span><span class="preprocessor">#define GBXGPSUTILACFR_NMEA_H</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span>
<a name="l00014"></a>00014 <span class="preprocessor">#include <vector></span>
<a name="l00015"></a>00015 <span class="preprocessor">#include <string></span>
<a name="l00016"></a>00016
<a name="l00017"></a>00017 <span class="comment">/*</span>
<a name="l00018"></a>00018 <span class="comment"></span>
<a name="l00019"></a>00019 <span class="comment">for further info:</span>
<a name="l00020"></a>00020 <span class="comment"></span>
<a name="l00021"></a>00021 <span class="comment">http://www.kh-gps.de/nmea-faq.htm</span>
<a name="l00022"></a>00022 <span class="comment">http://vancouver-webpages.com/peter/nmeafaq.txt</span>
<a name="l00023"></a>00023 <span class="comment"></span>
<a name="l00024"></a>00024 <span class="comment">NMEA-0183 sentence</span>
<a name="l00025"></a>00025 <span class="comment"></span>
<a name="l00026"></a>00026 <span class="comment">$aaccc,c--c*hh<CR><LF></span>
<a name="l00027"></a>00027 <span class="comment">|| || || |</span>
<a name="l00028"></a>00028 <span class="comment">|| || || \________ <CR><LF> - End of sentence (0xOD 0xOA)</span>
<a name="l00029"></a>00029 <span class="comment">|| || |\__________ hh - Checksum field hexadecimal [optional]</span>
<a name="l00030"></a>00030 <span class="comment">|| || \___________ * - Checksum delimiter (0x2A) [optional]</span>
<a name="l00031"></a>00031 <span class="comment">|| |\_______________ c--c - Data sentence block</span>
<a name="l00032"></a>00032 <span class="comment">|| \________________ , - Field delimiter (0x2c)</span>
<a name="l00033"></a>00033 <span class="comment">|\_____________________ aaccc - Address field/Command</span>
<a name="l00034"></a>00034 <span class="comment">\______________________ $ - Start of sentence</span>
<a name="l00035"></a>00035 <span class="comment"></span>
<a name="l00036"></a>00036 <span class="comment"> The optional checksum field consists of a "*" and two hex digits</span>
<a name="l00037"></a>00037 <span class="comment"> representing the exclusive OR of all characters between, but not</span>
<a name="l00038"></a>00038 <span class="comment"> including, the "$" and "*". A checksum is required on some</span>
<a name="l00039"></a>00039 <span class="comment"> sentences.</span>
<a name="l00040"></a>00040 <span class="comment"></span>
<a name="l00041"></a>00041 <span class="comment">*/</span>
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="keyword">namespace </span>gbxgpsutilacfr {
<a name="l00044"></a>00044
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="comment">// class SOEXPORT NmeaException : public std::exception</span>
<a name="l00047"></a>00047 <span class="keyword">class </span>NmeaException : <span class="keyword">public</span> std::exception
<a name="l00048"></a>00048 {
<a name="l00049"></a>00049 <span class="keyword">public</span>:
<a name="l00050"></a>00050 NmeaException(<span class="keyword">const</span> <span class="keywordtype">char</span> *message)
<a name="l00051"></a>00051 : message_(message) {}
<a name="l00052"></a>00052
<a name="l00053"></a>00053 NmeaException(<span class="keyword">const</span> std::string &message)
<a name="l00054"></a>00054 : message_(message) {}
<a name="l00055"></a>00055
<a name="l00056"></a>00056 <span class="keyword">virtual</span> ~NmeaException() throw() {}
<a name="l00057"></a>00057
<a name="l00058"></a>00058 <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* what() <span class="keyword">const</span> throw() { <span class="keywordflow">return</span> message_.c_str(); }
<a name="l00059"></a>00059
<a name="l00060"></a>00060 <span class="keyword">protected</span>:
<a name="l00061"></a>00061 std::string message_;
<a name="l00062"></a>00062 };
<a name="l00063"></a>00063
<a name="l00064"></a>00064
<a name="l00065"></a>00065 <span class="preprocessor">#define MAX_SENTENCE_LEN 256</span>
<a name="l00066"></a>00066 <span class="preprocessor"></span>
<a name="l00067"></a>00067 <span class="comment">// When using class to send data, need to add checksum, when reciving data need to test checksum</span>
<a name="l00068"></a>00068 <span class="comment">// Checksums are usually optional </span>
<a name="l00069"></a>00069 <span class="keyword">enum</span> NmeaMessageOptions
<a name="l00070"></a>00070 {
<a name="l00071"></a>00071 TestChecksum,
<a name="l00072"></a>00072 AddChecksum,
<a name="l00073"></a>00073 DontTestOrAddChecksum
<a name="l00074"></a>00074 };
<a name="l00075"></a>00075
<a name="l00076"></a>00076 <span class="comment">// class SOEXPORT NmeaMessage{</span>
<a name="l00077"></a>00077 <span class="keyword">class </span>NmeaMessage
<a name="l00078"></a>00078 {
<a name="l00079"></a>00079 <span class="keyword">public</span>:
<a name="l00080"></a>00080 NmeaMessage();
<a name="l00081"></a>00081 NmeaMessage(<span class="keyword">const</span> std::string &sentence, NmeaMessageOptions addOrTestCheckSum=DontTestOrAddChecksum );
<a name="l00082"></a>00082
<a name="l00083"></a>00083 <span class="comment">// Set up the internal data for a sentence.</span>
<a name="l00084"></a>00084 <span class="comment">// May throw NmeaException if TestChecksum is specified.</span>
<a name="l00085"></a>00085 <span class="keywordtype">void</span> setSentence(<span class="keyword">const</span> std::string &data, NmeaMessageOptions addOrTestCheckSum=DontTestOrAddChecksum );
<a name="l00086"></a>00086
<a name="l00087"></a>00087 <span class="comment">// Do we have the raw string?</span>
<a name="l00088"></a>00088 <span class="keywordtype">bool</span> haveSentence()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> !sentence_.empty(); };
<a name="l00089"></a>00089
<a name="l00090"></a>00090 <span class="comment">// Do we have parsed fields?</span>
<a name="l00091"></a>00091 <span class="keywordtype">bool</span> haveTokens()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> haveTokens_; };
<a name="l00092"></a>00092
<a name="l00093"></a>00093 <span class="comment">// Do we have a valid checksum?</span>
<a name="l00094"></a>00094 <span class="keywordtype">bool</span> haveValidChecksum()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> checkSumOK_; };
<a name="l00095"></a>00095
<a name="l00096"></a>00096 <span class="comment">// Have we checked the checksum?</span>
<a name="l00097"></a>00097 <span class="keywordtype">bool</span> haveTestedChecksum()<span class="keyword">const </span>{ <span class="keywordflow">return</span> haveCheckSum_; };
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="comment">// calculate the checksum from sentence</span>
<a name="l00100"></a>00100 <span class="comment">// May throw NmeaException.</span>
<a name="l00101"></a>00101 <span class="keywordtype">bool</span> testChecksumOk();
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="comment">// Return the raw sentence string</span>
<a name="l00104"></a>00104 <span class="keyword">const</span> std::string &sentence()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> sentence_; };
<a name="l00105"></a>00105
<a name="l00106"></a>00106 <span class="comment">// Return a single data token as a string.</span>
<a name="l00107"></a>00107 <span class="comment">// Throws an exception if that token is empty (see 'isDataTokenEmpty()')</span>
<a name="l00108"></a>00108 <span class="keyword">const</span> std::string &getDataToken(<span class="keywordtype">int</span> i) <span class="keyword">const</span>;
<a name="l00109"></a>00109
<a name="l00110"></a>00110 <span class="keywordtype">bool</span> isDataTokenEmpty(<span class="keywordtype">int</span> i) <span class="keyword">const</span>;
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="comment">// Return the number of fields</span>
<a name="l00113"></a>00113 <span class="keywordtype">int</span> numDataTokens()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> dataTokens_.size(); };
<a name="l00114"></a>00114
<a name="l00115"></a>00115 <span class="comment">//Tokenise the string that we received</span>
<a name="l00116"></a>00116 <span class="keywordtype">void</span> parseTokens();
<a name="l00117"></a>00117
<a name="l00118"></a>00118 <span class="keyword">private</span>:
<a name="l00119"></a>00119 <span class="keywordtype">void</span> init();
<a name="l00120"></a>00120 <span class="comment">// May throw NmeaException.</span>
<a name="l00121"></a>00121 <span class="keywordtype">void</span> addCheckSum();
<a name="l00122"></a>00122 <span class="comment">// Have we parsed data into tokens ?</span>
<a name="l00123"></a>00123 <span class="keywordtype">bool</span> haveTokens_;
<a name="l00124"></a>00124 <span class="comment">// Have we a checksum and is it valid?</span>
<a name="l00125"></a>00125 <span class="keywordtype">bool</span> haveCheckSum_;
<a name="l00126"></a>00126 <span class="keywordtype">bool</span> checkSumOK_;
<a name="l00127"></a>00127 <span class="comment">// The raw sentence, allow for terminator</span>
<a name="l00128"></a>00128 <span class="comment">// char sentence_[MAX_SENTENCE_LEN+1];</span>
<a name="l00129"></a>00129 std::string sentence_;
<a name="l00130"></a>00130 <span class="comment">// The tokenised data</span>
<a name="l00131"></a>00131 std::vector<std::string> dataTokens_;
<a name="l00132"></a>00132 };
<a name="l00133"></a>00133
<a name="l00134"></a>00134 }
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <span class="preprocessor">#endif</span>
</pre></div></div>
</td>
<td colspan="1"> </td>
</tr>
</table>
<!-- end of table -->
<hr size="1"><address style="align: right;"><small>Generated for GearBox by
<a href="http://www.doxygen.org/index.html">
<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.4.5 </small></address>
</body>
</html>
