ArGPSConnector Class Reference

#include <ArGPSConnector.h>

List of all members.

---

Detailed Description

Factory for creating ArGPS objects based on command-line parameters.

Use createGPS() to create a GPS object.

Note:

The device connection object created by ArGPSConnector is destroyed when ArGPSConnector is destroyed. Therefore, you must not destroy an ArGPSConnector while its associated ArGPS is in use.

The following command-line arguments are checked:

GPS options:
-gpsType <standard|novatel|novatelspan|trimble>	Select GPS device type (default: standard)
-gpsPort <gpsSerialPort>	Use the given serial port (default: /dev/ttyS1)
-gpsBaud <gpsSerialBaudRate>	Use the given serial Baud rate (default: 9600)
-remoteGpsTcpHost <host>	Use a TCP connection instead of serial, and connect to remote host <host>
-remoteGpsTcpPort <host>	Use the given port number for TCP connection, if using TCP. (default 8103)

Examples:

gpsExample.cpp, and gpsRobotTaskExample.cpp.

Public Types
enum	GPSType {   Standard, Novatel, Trimble, Invalid,   NovatelSPAN }
	Device type identifiers. More...
Public Member Functions
	ArGPSConnector (ArArgumentParser *argParser)
ArGPS *	create (ArRobot *robot=NULL)
ArGPS *	createGPS (ArRobot *robot=NULL)
GPSType	getGPSType () const
bool	parseArgs ()
Protected Member Functions
GPSType	deviceTypeFromString (const char *str)
void	logOptions ()
Protected Attributes
ArArgumentParser *	myArgParser
int	myBaud
ArDeviceConnection *	myDeviceCon
GPSType	myDeviceType
ArFunctorC< ArGPSConnector >	myLogArgsCallback
ArRetFunctorC< bool, ArGPSConnector >	myParseArgsCallback
const char *	myPort
const char *	myTCPHost
int	myTCPPort

---

Member Enumeration Documentation

enum ArGPSConnector::GPSType

Device type identifiers. Enumeration values: Standard  For a standard NMEA GPS device (no extra initialization or interpretation needed) accessible using ArGPS. Novatel  For a Novatel device accessible using ArNovatelGPS. Trimble  For a Trimble device accessible using ArTrimbleGPS. Invalid  Not set or invalid. NovatelSPAN  Novatel SPAN Since: Aria 2.7.2

---

Member Function Documentation

ArGPS* ArGPSConnector::create (  ArRobot *  robot = NULL  )  [inline]

Create a new GPS object (may be an ArGPS subclass based on device type) and a device connection for that GPS. Use ArGPS::blockingConnect() to open the connection. Parameters: robot  If not NULL, obtain default values for GPS type, port and baud from this robot's parameters (given in parameter file), for any of these not set from command-line arguments in parseArgs(). Returns: NULL if there was an error creating a GPS object or an error creating and opening its device connection. Otherwise, return the new GPS object.

ArGPS * ArGPSConnector::createGPS (  ArRobot *  robot = NULL  )

Create a new GPS object (may be an ArGPS subclass based on device type) and a device connection for that GPS. Use ArGPS::blockingConnect() to open the connection. Parameters: robot  If not NULL, obtain default values for GPS type, port and baud from this robot's parameters (given in parameter file), for any of these not set from command-line arguments in parseArgs(). Returns: NULL if there was an error creating a GPS object or an error creating and opening its device connection. Otherwise, return the new GPS object.

void ArGPSConnector::logOptions (   )  [protected]

Log argument option information

bool ArGPSConnector::parseArgs (   )

Gets command line arguments

---

The documentation for this class was generated from the following files:

• ArGPSConnector.h
• ArGPSConnector.cpp

---