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<div class="title">CGPSInterface.h</div> </div>
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<a href="_c_g_p_s_interface_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef CGPSInterface_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CGPSInterface_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_observation_g_p_s_8h.html">mrpt/slam/CObservationGPS.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_point3_d_8h.html">mrpt/poses/CPoint3D.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_serial_port_8h.html">mrpt/hwdrivers/CSerialPort.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_debug_output_capable_8h.html">mrpt/utils/CDebugOutputCapable.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_generic_sensor_8h.html">mrpt/hwdrivers/CGenericSensor.h</a>></span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="keyword">namespace </span>mrpt
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="keyword">namespace </span>slam { <span class="keyword">class </span>CObservationGPS; }
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="keyword">namespace </span>hwdrivers
<a name="l00043"></a>00043 {<span class="comment"></span>
<a name="l00044"></a>00044 <span class="comment"> /** A parser of NMEA commands, for connecting to a GPS by a serial port.</span>
<a name="l00045"></a>00045 <span class="comment"> * This class also supports more advanced GPS equipped with RTK corrections. See the JAVAD/TopCon extra initialization parameters.</span>
<a name="l00046"></a>00046 <span class="comment"> *</span>
<a name="l00047"></a>00047 <span class="comment"> * \code</span>
<a name="l00048"></a>00048 <span class="comment"> * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:</span>
<a name="l00049"></a>00049 <span class="comment"> * -------------------------------------------------------</span>
<a name="l00050"></a>00050 <span class="comment"> * [supplied_section_name]</span>
<a name="l00051"></a>00051 <span class="comment"> * COM_port_WIN = COM3</span>
<a name="l00052"></a>00052 <span class="comment"> * COM_port_LIN = ttyS0</span>
<a name="l00053"></a>00053 <span class="comment"> * baudRate = 4800 // The baudrate of the communications (typ. 4800 bauds)</span>
<a name="l00054"></a>00054 <span class="comment"> * pose_x = 0 // 3D position of the sensed point relative to the robot (meters)</span>
<a name="l00055"></a>00055 <span class="comment"> * pose_y = 0</span>
<a name="l00056"></a>00056 <span class="comment"> * pose_z = 0</span>
<a name="l00057"></a>00057 <span class="comment"> * customInit = // See below for possible values</span>
<a name="l00058"></a>00058 <span class="comment"> *</span>
<a name="l00059"></a>00059 <span class="comment"> * // The next parameters are optional and will be used only</span>
<a name="l00060"></a>00060 <span class="comment"> * // if customInit=="JAVAD" to enable/configure the usage of RTK corrections:</span>
<a name="l00061"></a>00061 <span class="comment"> * //JAVAD_rtk_src_port=/dev/ser/b</span>
<a name="l00062"></a>00062 <span class="comment"> * //JAVAD_rtk_src_baud=9600</span>
<a name="l00063"></a>00063 <span class="comment"> * //JAVAD_rtk_format=cmr</span>
<a name="l00064"></a>00064 <span class="comment"> *</span>
<a name="l00065"></a>00065 <span class="comment"> * \endcode</span>
<a name="l00066"></a>00066 <span class="comment"> *</span>
<a name="l00067"></a>00067 <span class="comment"> * - customInit: Custom commands to send, depending on the sensor. Valid values are:</span>
<a name="l00068"></a>00068 <span class="comment"> * - "": Empty string</span>
<a name="l00069"></a>00069 <span class="comment"> * - "JAVAD": JAVAD or TopCon devices. Extra initialization commands will be sent.</span>
<a name="l00070"></a>00070 <span class="comment"> * - "TopCon": A synonymous with "JAVAD".</span>
<a name="l00071"></a>00071 <span class="comment"> *</span>
<a name="l00072"></a>00072 <span class="comment"> * VERSIONS HISTORY:</span>
<a name="l00073"></a>00073 <span class="comment"> * -9/JUN/2006: First version (JLBC)</span>
<a name="l00074"></a>00074 <span class="comment"> * -4/JUN/2008: Added virtual methods for device-specific initialization commands.</span>
<a name="l00075"></a>00075 <span class="comment"> * -10/JUN/2008: Converted into CGenericSensor class (there are no inhirited classes anymore).</span>
<a name="l00076"></a>00076 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00077"></a>00077 <span class="comment"> */</span>
<a name="l00078"></a>00078 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> CGPSInterface : <span class="keyword">public</span> utils::CDebugOutputCapable, <span class="keyword">public</span> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a3f369b2dbc16368a52f0ddab62ba5702">CGenericSensor</a>
<a name="l00079"></a>00079 {
<a name="l00080"></a>00080 <a class="code" href="_c_generic_sensor_8h.html#ab8b72c811c520eb036fa4080d9cd9d1d" title="This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...">DEFINE_GENERIC_SENSOR</a>(CGPSInterface)
<a name="l00081"></a>00081
<a name="l00082"></a>00082 public:<span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** Constructor</span>
<a name="l00084"></a>00084 <span class="comment"> * \param BUFFER_LENGTH The size of the communications buffer (default value should be fine always)</span>
<a name="l00085"></a>00085 <span class="comment"> */</span>
<a name="l00086"></a>00086 <span class="comment">// CGPSInterface( int BUFFER_LENGTH = 500 );</span>
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <span class="comment">// MAR'11 -------------------------------------</span>
<a name="l00089"></a>00089 CGPSInterface( <span class="keywordtype">int</span> BUFFER_LENGTH = 500, mrpt::hwdrivers::CSerialPort *outPort = NULL, mrpt::synch::CCriticalSection *csOutPort = NULL);
<a name="l00090"></a>00090 <span class="comment">// --------------------------------------------</span>
<a name="l00091"></a>00091 <span class="comment"></span>
<a name="l00092"></a>00092 <span class="comment"> /** Destructor</span>
<a name="l00093"></a>00093 <span class="comment"> */</span>
<a name="l00094"></a>00094 virtual ~CGPSInterface();
<a name="l00095"></a>00095 <span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment"> /** This method should be called periodically (at least at 1Hz to capture ALL the real-time data)</span>
<a name="l00097"></a>00097 <span class="comment"> * It is thread safe, i.e. you can call this from one thread, then to other methods from other threads.</span>
<a name="l00098"></a>00098 <span class="comment"> * This method processes data from the GPS and update the object state accordingly.</span>
<a name="l00099"></a>00099 <span class="comment"> */</span>
<a name="l00100"></a>00100 <span class="keywordtype">void</span> doProcess();
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment"> /** Returns true if communications work.</span>
<a name="l00103"></a>00103 <span class="comment"> */</span>
<a name="l00104"></a>00104 <span class="keywordtype">bool</span> isGPS_connected();
<a name="l00105"></a>00105 <span class="comment"></span>
<a name="l00106"></a>00106 <span class="comment"> /** Returns true if the last message from the GPS indicates that the signal from sats has been acquired.</span>
<a name="l00107"></a>00107 <span class="comment"> */</span>
<a name="l00108"></a>00108 <span class="keywordtype">bool</span> isGPS_signalAcquired();
<a name="l00109"></a>00109
<a name="l00110"></a>00110 <span class="keywordtype">void</span> setSerialPortName(const std::<span class="keywordtype">string</span> &COM_port); <span class="comment">//!< Set the serial port to use (COM1, ttyUSB0, etc).</span>
<a name="l00111"></a>00111 <span class="comment"></span> std::<span class="keywordtype">string</span> getSerialPortName() const; <span class="comment">//!< Get the serial port to use (COM1, ttyUSB0, etc).</span>
<a name="l00112"></a>00112 <span class="comment"></span>
<a name="l00113"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a601d9c96b56a47382fa567a6dd99d0b7">00113</a> inline <span class="keywordtype">void</span> setExternCOM( <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html" title="A communications serial port built as an implementation of a utils::CStream.">CSerialPort</a> *outPort, mrpt::synch::CCriticalSection *csOutPort )
<a name="l00114"></a>00114 { m_out_COM = outPort; m_cs_out_COM = csOutPort; }
<a name="l00115"></a>00115
<a name="l00116"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a0e9daf7cd12efaf6600c938f1561965b">00116</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a0e9daf7cd12efaf6600c938f1561965b">isAIMConfigured</a>() { <span class="keywordflow">return</span> m_AIMConfigured; }
<a name="l00117"></a>00117
<a name="l00118"></a>00118 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00119"></a>00119 <span class="comment"> /** Implements custom messages to be sent to the GPS unit just after connection and before normal use.</span>
<a name="l00120"></a>00120 <span class="comment"> * Returns false or raise an exception if something goes wrong.</span>
<a name="l00121"></a>00121 <span class="comment"> */</span>
<a name="l00122"></a>00122 <span class="keywordtype">bool</span> OnConnectionEstablished();
<a name="l00123"></a>00123
<a name="l00124"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#ac84eb9fb89f2fcdc797ada4336797dd4">00124</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html" title="A communications serial port built as an implementation of a utils::CStream.">CSerialPort</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#ac84eb9fb89f2fcdc797ada4336797dd4">m_COM</a>;
<a name="l00125"></a>00125
<a name="l00126"></a>00126 <span class="comment">// MAR'11 -------------------------------------</span>
<a name="l00127"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#ac0e472ef71062eb74ef626e0dab90810">00127</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html" title="A communications serial port built as an implementation of a utils::CStream.">CSerialPort</a> *<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#ac0e472ef71062eb74ef626e0dab90810">m_out_COM</a>;
<a name="l00128"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#aa3da637bd6aa519f6f42c3638de2a671">00128</a> mrpt<a class="code" href="classmrpt_1_1synch_1_1_c_critical_section.html" title="This class provides simple critical sections functionality.">::synch::CCriticalSection</a> *<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#aa3da637bd6aa519f6f42c3638de2a671">m_cs_out_COM</a>;
<a name="l00129"></a>00129 <span class="comment">// --------------------------------------------</span>
<a name="l00130"></a>00130
<a name="l00131"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a2b22c06d26d76a25b748da85aa86eb09">00131</a> poses<a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point.">::CPoint3D</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a2b22c06d26d76a25b748da85aa86eb09">m_sensorPose</a>;
<a name="l00132"></a>00132
<a name="l00133"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#aec1708aee4f9d018a8a466eace1af792">00133</a> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#aec1708aee4f9d018a8a466eace1af792">m_customInit</a>;
<a name="l00134"></a>00134 <span class="comment"></span>
<a name="l00135"></a>00135 <span class="comment"> /** Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes)</span>
<a name="l00136"></a>00136 <span class="comment"> * See hwdrivers::CGPSInterface for the possible parameters</span>
<a name="l00137"></a>00137 <span class="comment"> */</span>
<a name="l00138"></a>00138 <span class="keywordtype">void</span> loadConfig_sensorSpecific(
<a name="l00139"></a>00139 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">mrpt::utils::CConfigFileBase</a> &configSource,
<a name="l00140"></a>00140 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &iniSection );
<a name="l00141"></a>00141 <span class="comment"></span>
<a name="l00142"></a>00142 <span class="comment"> /** If not empty, will send a cmd "set,/par/pos/pd/port,...". Example value: "/dev/ser/b" */</span>
<a name="l00143"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a5b43db8944fd510f7b3f22bf47605353">00143</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a5b43db8944fd510f7b3f22bf47605353" title="If not empty, will send a cmd "set,/par/pos/pd/port,...".">setJAVAD_rtk_src_port</a>( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &s) { m_JAVAD_rtk_src_port = s; }
<a name="l00144"></a>00144 <span class="comment"></span>
<a name="l00145"></a>00145 <span class="comment"> /** Only used when "m_JAVAD_rtk_src_port" is not empty */</span>
<a name="l00146"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a87938f2a18dc260f59e1950f0988656d">00146</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a87938f2a18dc260f59e1950f0988656d" title="Only used when "m_JAVAD_rtk_src_port" is not empty.">setJAVAD_rtk_src_baud</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> baud) { m_JAVAD_rtk_src_baud = baud; }
<a name="l00147"></a>00147 <span class="comment"></span>
<a name="l00148"></a>00148 <span class="comment"> /** Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc. */</span>
<a name="l00149"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#aeda2cca3385d793e39ca5d4ce04cc437">00149</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#aeda2cca3385d793e39ca5d4ce04cc437" title="Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc.">setJAVAD_rtk_format</a>(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &s) {m_JAVAD_rtk_format=s;}
<a name="l00150"></a>00150 <span class="comment"></span>
<a name="l00151"></a>00151 <span class="comment"> /** Set Advanced Input Mode for the primary port.</span>
<a name="l00152"></a>00152 <span class="comment"> This can be used to send RTK corrections to the device using the same port that it's used for the commands.</span>
<a name="l00153"></a>00153 <span class="comment"> The RTK correction stream must be re-packaged into a special frame with prefix ">>" */</span>
<a name="l00154"></a>00154 <span class="keywordtype">bool</span> setJAVAD_AIM_mode();
<a name="l00155"></a>00155 <span class="comment"></span>
<a name="l00156"></a>00156 <span class="comment"> /** Unset Advanced Input Mode for the primary port and use it only as a command port. */</span>
<a name="l00157"></a>00157 <span class="keywordtype">bool</span> unsetJAVAD_AIM_mode();
<a name="l00158"></a>00158
<a name="l00159"></a>00159 <span class="comment">// MAR'11 -------------------------------------</span>
<a name="l00160"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a07a11bec0da2b9f48b5d3808746ca4d5">00160</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a07a11bec0da2b9f48b5d3808746ca4d5">useExternCOM</a>() { <span class="keywordflow">return</span> (m_out_COM!=NULL); }
<a name="l00161"></a>00161 <span class="comment">// --------------------------------------------</span>
<a name="l00162"></a>00162
<a name="l00163"></a>00163 <span class="keyword">private</span>:
<a name="l00164"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#ab2d47e28c94e236546ee8e6ea65b1425">00164</a> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#ab2d47e28c94e236546ee8e6ea65b1425">m_COMname</a>;
<a name="l00165"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#ad5c2665662f4b5ce20b19a3004cca1c6">00165</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#ad5c2665662f4b5ce20b19a3004cca1c6">m_COMbauds</a>;
<a name="l00166"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a9ec45fee0313bc2275a0b895d63958ed">00166</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a9ec45fee0313bc2275a0b895d63958ed">m_GPS_comsWork</a>;
<a name="l00167"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a9341f42d1b45733bd0b702b2c9eee1c7">00167</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a9341f42d1b45733bd0b702b2c9eee1c7">m_GPS_signalAcquired</a>;
<a name="l00168"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a0e5bd00e243b6fd688f1a1d22405c518">00168</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a0e5bd00e243b6fd688f1a1d22405c518">m_BUFFER_LENGTH</a>;
<a name="l00169"></a>00169
<a name="l00170"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a5e9dbecb9f4e7b755e0b337a106af134">00170</a> <span class="keywordtype">char</span> *<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a5e9dbecb9f4e7b755e0b337a106af134">m_buffer</a>;
<a name="l00171"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#ab8913ed824166bc3342e6cd384f7f682">00171</a> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#ab8913ed824166bc3342e6cd384f7f682">m_bufferLength</a>;
<a name="l00172"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a7a792c510be101c054ea39fdbec595c6">00172</a> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a7a792c510be101c054ea39fdbec595c6">m_bufferWritePos</a>;
<a name="l00173"></a>00173
<a name="l00174"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a980fcdfaa54f477ce1e7bf8c2dc31155">00174</a> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a980fcdfaa54f477ce1e7bf8c2dc31155" title="If not empty, will send a cmd "set,/par/pos/pd/port,...". Example value: "/dev/ser/b".">m_JAVAD_rtk_src_port</a>; <span class="comment">//!< If not empty, will send a cmd "set,/par/pos/pd/port,...". Example value: "/dev/ser/b"</span>
<a name="l00175"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a0b6f9f849294dd8195b61f7a246efea4">00175</a> <span class="comment"></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a0b6f9f849294dd8195b61f7a246efea4" title="Only used when "m_JAVAD_rtk_src_port" is not empty.">m_JAVAD_rtk_src_baud</a>; <span class="comment">//!< Only used when "m_JAVAD_rtk_src_port" is not empty</span>
<a name="l00176"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a07c4648bbb6caebea8f2286abec4731d">00176</a> <span class="comment"></span> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a07c4648bbb6caebea8f2286abec4731d" title="Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc.">m_JAVAD_rtk_format</a>; <span class="comment">//!< Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc.</span>
<a name="l00177"></a>00177 <span class="comment"></span>
<a name="l00178"></a>00178 <span class="comment">// MAR'11 -----------------------------------------</span>
<a name="l00179"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a2b4c1d2484961c4fb2ad2b8a17e191e1">00179</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a2b4c1d2484961c4fb2ad2b8a17e191e1" title="Use this mode for receive RTK corrections from a external source through the primary port...">m_useAIMMode</a>; <span class="comment">//!< Use this mode for receive RTK corrections from a external source through the primary port</span>
<a name="l00180"></a>00180 <span class="comment"></span> <span class="comment">// ------------------------------------------------</span>
<a name="l00181"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a796d034ec097472929d7b093ca60014e">00181</a> <a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">TTimeStamp</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a796d034ec097472929d7b093ca60014e">m_last_timestamp</a>;
<a name="l00182"></a>00182
<a name="l00183"></a>00183 <span class="comment">// MAR'11 -----------------------------------------</span>
<a name="l00184"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a2d9b1a6e7c3dd7f10a8c73ddbfeb3a9e">00184</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a2d9b1a6e7c3dd7f10a8c73ddbfeb3a9e" title="Indicates if the AIM has been properly set up.">m_AIMConfigured</a>; <span class="comment">//!< Indicates if the AIM has been properly set up.</span>
<a name="l00185"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a0b555875bed9e3d3b80cd8c181ce01e9">00185</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a0b555875bed9e3d3b80cd8c181ce01e9" title="The period in seconds which the data should be provided by the GPS.">m_data_period</a>; <span class="comment">//!< The period in seconds which the data should be provided by the GPS</span>
<a name="l00186"></a>00186 <span class="comment"></span> <span class="comment">// ------------------------------------------------</span>
<a name="l00187"></a>00187 <span class="comment"></span>
<a name="l00188"></a>00188 <span class="comment"> /** Returns true if the COM port is already open, or try to open it in other case.</span>
<a name="l00189"></a>00189 <span class="comment"> * \return true if everything goes OK, or false if there are problems opening the port.</span>
<a name="l00190"></a>00190 <span class="comment"> */</span>
<a name="l00191"></a>00191 <span class="keywordtype">bool</span> tryToOpenTheCOM();
<a name="l00192"></a>00192 <span class="comment"></span>
<a name="l00193"></a>00193 <span class="comment"> /** Process data in "m_buffer" to extract GPS messages, and remove them from the buffer.</span>
<a name="l00194"></a>00194 <span class="comment"> */</span>
<a name="l00195"></a>00195 <span class="keywordtype">void</span> processBuffer();
<a name="l00196"></a>00196 <span class="comment"></span>
<a name="l00197"></a>00197 <span class="comment"> /** Process a complete string from the GPS:</span>
<a name="l00198"></a>00198 <span class="comment"> */</span>
<a name="l00199"></a>00199 <span class="keywordtype">void</span> processGPSstring( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &s);
<a name="l00200"></a>00200 <span class="comment"></span>
<a name="l00201"></a>00201 <span class="comment"> /** Tokenize a string "str" into commas separated tokens</span>
<a name="l00202"></a>00202 <span class="comment"> */</span>
<a name="l00203"></a>00203 <span class="keywordtype">void</span> getNextToken(
<a name="l00204"></a>00204 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &str,
<a name="l00205"></a>00205 <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &token,
<a name="l00206"></a>00206 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> &parserPos);
<a name="l00207"></a>00207
<a name="l00208"></a>00208 <span class="comment">/* A private copy of the last received gps datum:</span>
<a name="l00209"></a>00209 <span class="comment"> */</span>
<a name="l00210"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a5a32e41bdc19e1255a9852afcb0e713f">00210</a> mrpt<a class="code" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html" title="Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) readin...">::slam::CObservationGPS</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a5a32e41bdc19e1255a9852afcb0e713f">m_latestGPS_data</a>;
<a name="l00211"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a3e438e9d0ddae4a41977f2d3680e5c41">00211</a> mrpt<a class="code" href="structmrpt_1_1slam_1_1_c_observation_g_p_s_1_1_t_u_t_c_time.html" title="A UTC time-stamp structure for GPS messages.">::slam::CObservationGPS::TUTCTime</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_g_p_s_interface.html#a3e438e9d0ddae4a41977f2d3680e5c41">m_last_UTC_time</a>;
<a name="l00212"></a>00212
<a name="l00213"></a>00213 <span class="keywordtype">void</span> JAVAD_sendMessage(<span class="keyword">const</span> <span class="keywordtype">char</span>*str, <span class="keywordtype">bool</span> waitForAnswer = <span class="keyword">true</span>); <span class="comment">//!< Private auxiliary method. Raises exception on error.</span>
<a name="l00214"></a>00214 <span class="comment"></span>
<a name="l00215"></a>00215 }; <span class="comment">// end class</span>
<a name="l00216"></a>00216
<a name="l00217"></a>00217 } <span class="comment">// end namespace</span>
<a name="l00218"></a>00218 } <span class="comment">// end namespace</span>
<a name="l00219"></a>00219
<a name="l00220"></a>00220 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
