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GPSDriver.h

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00001 /* ========================================================================
00002  * Copyright (c) 2006,
00003  * Institute for Computer Graphics and Vision
00004  * Graz University of Technology
00005  * All rights reserved.
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are
00009  * met:
00010  *
00011  * Redistributions of source code must retain the above copyright notice,
00012  * this list of conditions and the following disclaimer.
00013  *
00014  * Redistributions in binary form must reproduce the above copyright
00015  * notice, this list of conditions and the following disclaimer in the
00016  * documentation and/or other materials provided with the distribution.
00017  *
00018  * Neither the name of the Graz University of Technology nor the names of
00019  * its contributors may be used to endorse or promote products derived from
00020  * this software without specific prior written permission.
00021  *
00022  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
00023  * IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
00024  * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
00025  * PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
00026  * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
00027  * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
00028  * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
00029  * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
00030  * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
00031  * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00032  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00033  * ========================================================================
00034  * PROJECT: OpenTracker
00035  * ======================================================================== */
00043 /* ======================================================================= */
00044 
00045 #ifndef _GPSDRIVER_H
00046 #define _GPSDRIVER_H
00047 
00048 #include <map>
00049 #include <string>
00050 #include <vector>
00051 
00052 #include "GPSParser.h"
00053 
00054 class ACE_Reactor;
00055 class ACE_TTY_IO;
00056 
00057 
00058 #ifndef OT_NO_GPS_SUPPORT
00059 
00060 
00061 namespace ot {
00062 
00063     class GPS_Handler;
00064     class DGPSIP_Handler;
00065     class DGPSMirror_Handler;
00066     class DGPSMirror_Acceptor;
00067 
00075     class GPSListener {
00076     public:
00084     virtual void newData( const GPResult * point, const char * line, void * userData ) = 0;
00085     virtual ~GPSListener() {};
00086     };
00087 
00101     class GPSDriver  
00102     {
00103     public:
00104     GPSDriver( ACE_Reactor * reactor_ = NULL );
00105     virtual ~GPSDriver();
00106 
00107     int open( const std::string & device, int baud, const std::string & serveraddr = "", int serverport = 2101, int dgpsmirror = -1, const std::string & rtcmdevice = "" );
00108     void close();
00109 
00110     void setDebug( bool debug );
00111     bool getDebug()
00112     {
00113             return debugOn;
00114     };
00115 
00116     ACE_Reactor * getReactor()
00117     {
00118             return reactor;
00119     };
00120 
00121     void addListener( GPSListener * listener, void * userData = NULL );
00122     void removeListener( GPSListener * listener, void * userData = NULL );
00123 
00124         void addClient( DGPSMirror_Handler * client );
00125         void removeClient( DGPSMirror_Handler * client );
00126 
00127         bool hasFix( void )
00128         {
00129             return fix;
00130         }
00131 
00132         double getHdop( void )
00133         {
00134             return hdop;
00135         }
00136 
00137         double getNumSat( void )
00138         {
00139             return numsat;
00140         }
00141 
00142     protected:
00143 
00144     void send_rtcm( const char * buffer, const int len );
00145         void new_line( const char * line );
00146 
00147     ACE_Reactor * reactor;
00148     GPS_Handler * receiver;
00149     DGPSIP_Handler * server;
00150         DGPSMirror_Acceptor * acceptor;
00151         ACE_TTY_IO * rtcmdev;
00152 
00153     bool debugOn;
00154         bool fix;
00155         double hdop;
00156         int numsat;
00157 
00158     std::map<GPSListener *, void *> listeners;
00159 
00160         std::vector<DGPSMirror_Handler *> clients;
00161 
00162     friend class GPS_Handler;
00163     friend class DGPSIP_Handler;
00164     };
00165 
00166 } // namespace ot
00167 
00168 
00169 #endif // OT_NO_GPS_SUPPORT
00170 
00171 
00172 #endif // !defined(_GPSDRIVER_H)
00173 
00174 /* 
00175  * ------------------------------------------------------------
00176  *   End of GPSDriver.h
00177  * ------------------------------------------------------------
00178  *   Automatic Emacs configuration follows.
00179  *   Local Variables:
00180  *   mode:c++
00181  *   c-basic-offset: 4
00182  *   eval: (c-set-offset 'substatement-open 0)
00183  *   eval: (c-set-offset 'case-label '+)
00184  *   eval: (c-set-offset 'statement 'c-lineup-runin-statements)
00185  *   eval: (setq indent-tabs-mode nil)
00186  *   End:
00187  * ------------------------------------------------------------ 
00188  */

copyright (c) 2006 Graz University of Technology