ArGPSConnector.cpp

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/


#include "ArExport.h"
#include "ariaOSDef.h"
#include "ArGPSConnector.h"
#include "ArGPS.h"
#include "ArNovatelGPS.h"
#include "ArDeviceConnection.h"
#include "ArSerialConnection.h"
#include "ArTcpConnection.h"

#include "Aria.h"
#include <iostream>


const int ARGPS_DEFAULT_SERIAL_BAUD = 9600;
const char* const ARGPS_DEFAULT_SERIAL_PORT = ArUtil::COM2;
const int ARGPS_DEFAULT_REMOTE_TCP_PORT = 8103;

AREXPORT ArGPSConnector::ArGPSConnector(ArArgumentParser *argParser) :
  myDeviceCon(NULL),
  myArgParser(argParser),
  myParseArgsCallback(this, &ArGPSConnector::parseArgs),
  myLogArgsCallback(this, &ArGPSConnector::logArgs),
  myBaud(ARGPS_DEFAULT_SERIAL_BAUD), 
  myPort(ARGPS_DEFAULT_SERIAL_PORT),
  myTCPHost(NULL),
  myTCPPort(8103),
  myDeviceType(Standard)
{
  myParseArgsCallback.setName("ArGPSConnector");
  myLogArgsCallback.setName("ArGPSConnector");
  Aria::addParseArgsCB(&myParseArgsCallback);
  Aria::addLogOptionsCB(&myLogArgsCallback);
}


AREXPORT ArGPSConnector::~ArGPSConnector()
{
  if(myDeviceCon) delete myDeviceCon;
}


AREXPORT bool ArGPSConnector::parseArgs() 
{
  if (!myArgParser) return false;
  if (!myArgParser->checkParameterArgumentString("-gpsPort", &myPort)) return false;
  if (!myArgParser->checkParameterArgumentInteger("-gpsBaud", &myBaud)) return false;
  if (!myArgParser->checkParameterArgumentString("-remoteGpsTcpHost", &myTCPHost)) return false;
  if (!myArgParser->checkParameterArgumentInteger("-remoteGpsTcpPort", &myTCPPort)) return false;
  char *deviceType = myArgParser->checkParameterArgument("-gpsType");
  if (deviceType) // if -gpsType was given
  {
    if (strcasecmp(deviceType, "novatel") == 0)
    {
      myDeviceType = Novatel;
    }
    else if (strcasecmp(deviceType, "standard") == 0)
    {
      myDeviceType = Standard;
    }
    else
    {
      ArLog::log(ArLog::Terse, "GPSConnector: Error: unrecognized GPS type.");
      return false;
    }
  }
  return true;
}

AREXPORT void ArGPSConnector::logArgs()
{
  ArLog::log(ArLog::Terse, "GPS options:"); 
  ArLog::log(ArLog::Terse, "-gpsPort <gpsSerialPort>\tUse the given serial port (default \"%s\")", ARGPS_DEFAULT_SERIAL_PORT);
  ArLog::log(ArLog::Terse, "-gpsBaud <gpsSerialBaudRate>\tUse the given serial Baud rate (default %d)", ARGPS_DEFAULT_SERIAL_BAUD);
  ArLog::log(ArLog::Terse, "-gpsType <standard|novatel>\tSelect GPS device type (default \"standard\")");
  ArLog::log(ArLog::Terse, "-remoteGpsTcpHost <host>\tUse a TCP connection instead of serial, and connect to remote host <host>");
  ArLog::log(ArLog::Terse, "-remoteGpsTcpPort <host>\tUse the given port number for TCP connection, if using TCP. (default %d)", ARGPS_DEFAULT_REMOTE_TCP_PORT);
}



AREXPORT ArGPS* ArGPSConnector::createGPS()
{
  // Create gps:
  ArGPS* newGPS = NULL;
  switch (myDeviceType)
  {
    case Novatel:
      newGPS = new ArNovatelGPS;
      break;
    default:
      newGPS = new ArGPS;
      break;
  }

  if (myTCPHost == NULL)
  {
    // Setup serial connection
    ArSerialConnection *serialCon = new ArSerialConnection;
    if (!serialCon->setBaud(myBaud)) { delete serialCon; return false; }
    if (serialCon->open(myPort) != 0) {
      ArLog::log(ArLog::Terse, "ArGPSConnector: Error: could not open GPS serial port %s.", myPort);
      delete serialCon;
      return NULL;
    }
    newGPS->setDeviceConnection(serialCon);
    myDeviceCon = serialCon;
  }
  else
  {
    // Setup TCP connection
    ArTcpConnection *tcpCon = new ArTcpConnection;
    ArLog::log(ArLog::Normal, "ArGPSConnector: Opening TCP connection to %s:%d...", myTCPHost, myTCPPort);
    int openState = tcpCon->open(myTCPHost, myTCPPort);
    if (openState != 0) {
      ArLog::log(ArLog::Terse, "ArGPSConnector: Error: could not open TCP connection to %s port %d: %s", tcpCon->getOpenMessage(openState));
      delete tcpCon;
      return NULL;
    }
    newGPS->setDeviceConnection(tcpCon);
    myDeviceCon = tcpCon;
  }

  return newGPS;
}

AREXPORT bool ArGPSConnector::connectGPS(ArGPS *gps)
{
  // TODO try different BAUD rates if using a serial connection.
  return gps->blockingConnect();
}

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