ArNovatelGPS.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 "ArNovatelGPS.h"
#include "ArDeviceConnection.h"


AREXPORT bool ArNovatelGPS::connect()
{
  if (!ArGPS::connect()) return false;
  char cmd[32];
  memset(cmd, 0, 32);

  myDevice->write("\r\n", 2); // prod the connection and end any previous commands it was waiting for, errors OK 

  // Enable WAAS/EGNOS/MSAS/etc satellite-based correction:
  const char* const sbasCmd = "sbascontrol enable auto 0 zerototwo\r\n";
  if (myDevice->write(sbasCmd, strlen(sbasCmd)) < strlen(sbasCmd))
    return false;

  // Send a command to start sending data for each message type in the ArGPS
  // handlers map:
  for(HandlerMap::iterator i = myHandlers.begin(); i != myHandlers.end(); i++)
  {
    float interval = 1;
    if( (*i).first == "GPRMC") interval = 0.25;  //special case, make this come faster
    snprintf(cmd, 32, "log thisport %s ontime %g\r\n", (*i).first.c_str(), interval);
    //ArLog::log(ArLog::Verbose, "ArNovatelGPS: sending command: %s", cmd);
    if (myDevice->write(cmd, strlen(cmd)) != strlen(cmd)) return false;
  }

  return true;
}


AREXPORT ArNovatelGPS::~ArNovatelGPS() {
  if(!myDevice) return;
  myDevice->write("unlogall\r\n", strlen("unlogall\r\n")); // don't worry about errors
}

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