CGPSInterface.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2011  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT 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 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT 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 MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */

#ifndef CGPSInterface_H
#define CGPSInterface_H

#include <mrpt/slam/CObservationGPS.h>
#include <mrpt/poses/CPoint3D.h>
#include <mrpt/hwdrivers/CSerialPort.h>
#include <mrpt/utils/CDebugOutputCapable.h>
#include <mrpt/hwdrivers/CGenericSensor.h>

namespace mrpt
{
        namespace slam { class CObservationGPS; }

        namespace hwdrivers
        {
                /** A parser of NMEA commands, for connecting to a GPS by a serial port.
                  * This class also supports more advanced GPS equipped with RTK corrections. See the JAVAD/TopCon extra initialization parameters.
                  *
                  *  \code
                  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
                  * -------------------------------------------------------
                  *   [supplied_section_name]
                  *    COM_port_WIN = COM3
                  *    COM_port_LIN = ttyS0
                  *    baudRate     = 4800   // The baudrate of the communications (typ. 4800 bauds)
                  *    pose_x       = 0      // 3D position of the sensed point relative to the robot (meters)
                  *    pose_y       = 0
                  *    pose_z       = 0
                  *    customInit   =       // See below for possible values
                  *
                  *        // The next parameters are optional and will be used only
                  *    // if customInit=="JAVAD" to enable/configure the usage of RTK corrections:
                  *    //JAVAD_rtk_src_port=/dev/ser/b
                  *    //JAVAD_rtk_src_baud=9600
                  *    //JAVAD_rtk_format=cmr
                  *
                  *  \endcode
                  *
                  * - customInit: Custom commands to send, depending on the sensor. Valid values are:
                  *             - "": Empty string
                  *             - "JAVAD": JAVAD or TopCon devices. Extra initialization commands will be sent.
                  *             - "TopCon": A synonymous with "JAVAD".
                  *
                  *  VERSIONS HISTORY:
                  *             -9/JUN/2006: First version (JLBC)
                  *             -4/JUN/2008: Added virtual methods for device-specific initialization commands.
                  *             -10/JUN/2008: Converted into CGenericSensor class (there are no inhirited classes anymore).
                  * \ingroup mrpt_hwdrivers_grp
                */
                class HWDRIVERS_IMPEXP CGPSInterface : public utils::CDebugOutputCapable, public CGenericSensor
                {
                        DEFINE_GENERIC_SENSOR(CGPSInterface)

                public:
                        /** Constructor
                          * \param BUFFER_LENGTH The size of the communications buffer (default value should be fine always)
                          */
//                      CGPSInterface( int BUFFER_LENGTH = 500 );

                        // MAR'11 -------------------------------------
                        CGPSInterface( int BUFFER_LENGTH = 500, mrpt::hwdrivers::CSerialPort *outPort = NULL, mrpt::synch::CCriticalSection *csOutPort = NULL);
            // --------------------------------------------

                        /** Destructor
                          */
                        virtual ~CGPSInterface();

                        /** This method should be called periodically (at least at 1Hz to capture ALL the real-time data)
                        *  It is thread safe, i.e. you can call this from one thread, then to other methods from other threads.
                        *  This method processes data from the GPS and update the object state accordingly.
                        */
                        void  doProcess();

                        /** Returns true if communications work.
                        */
                        bool  isGPS_connected();

                        /** Returns true if the last message from the GPS indicates that the signal from sats has been acquired.
                        */
                        bool  isGPS_signalAcquired();

                        void  setSerialPortName(const std::string &COM_port);  //!< Set the serial port to use (COM1, ttyUSB0, etc).
                        std::string getSerialPortName() const;  //!< Get the serial port to use (COM1, ttyUSB0, etc).

                        inline void setExternCOM( CSerialPort *outPort, mrpt::synch::CCriticalSection *csOutPort )
                        { m_out_COM = outPort; m_cs_out_COM = csOutPort; }

                        inline bool isAIMConfigured() { return m_AIMConfigured; }

                protected:
                        /** Implements custom messages to be sent to the GPS unit just after connection and before normal use.
                          *  Returns false or raise an exception if something goes wrong.
                          */
                        bool OnConnectionEstablished();

                        CSerialPort             m_COM;

            // MAR'11 -------------------------------------
                        CSerialPort                             *m_out_COM;
            mrpt::synch::CCriticalSection   *m_cs_out_COM;
                        // --------------------------------------------

                        poses::CPoint3D m_sensorPose;

                        std::string             m_customInit;

                        /** 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)
                          *  See hwdrivers::CGPSInterface for the possible parameters
                          */
                        void  loadConfig_sensorSpecific(
                                const mrpt::utils::CConfigFileBase &configSource,
                                const std::string         &iniSection );

                        /** If not empty, will send a cmd "set,/par/pos/pd/port,...". Example value: "/dev/ser/b" */
                        void setJAVAD_rtk_src_port( const std::string &s) { m_JAVAD_rtk_src_port = s; }

                        /** Only used when "m_JAVAD_rtk_src_port" is not empty */
                        void setJAVAD_rtk_src_baud(unsigned int baud) { m_JAVAD_rtk_src_baud = baud; }

                        /** Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc. */
                        void setJAVAD_rtk_format(const std::string &s) {m_JAVAD_rtk_format=s;}

                        /** Set Advanced Input Mode for the primary port.
                This can be used to send RTK corrections to the device using the same port that it's used for the commands.
                The RTK correction stream must be re-packaged into a special frame with prefix ">>" */
            bool setJAVAD_AIM_mode();

                        /** Unset Advanced Input Mode for the primary port and use it only as a command port. */
            bool unsetJAVAD_AIM_mode();

            // MAR'11 -------------------------------------
            inline bool useExternCOM() { return (m_out_COM!=NULL); }
            // --------------------------------------------

                private:
                        std::string     m_COMname;
                        int                             m_COMbauds;
                        bool                    m_GPS_comsWork;
                        bool                    m_GPS_signalAcquired;
                        int                             m_BUFFER_LENGTH;

                        char                    *m_buffer;
                        size_t                  m_bufferLength;
                        size_t                  m_bufferWritePos;

                        std::string             m_JAVAD_rtk_src_port;   //!< If not empty, will send a cmd "set,/par/pos/pd/port,...". Example value: "/dev/ser/b"
                        unsigned int    m_JAVAD_rtk_src_baud;   //!< Only used when "m_JAVAD_rtk_src_port" is not empty
                        std::string             m_JAVAD_rtk_format;     //!< Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc.

                        // MAR'11 -----------------------------------------
                        bool            m_useAIMMode;           //!< Use this mode for receive RTK corrections from a external source through the primary port
            // ------------------------------------------------
                        TTimeStamp      m_last_timestamp;

                        // MAR'11 -----------------------------------------
                        bool            m_AIMConfigured;        //!< Indicates if the AIM has been properly set up.
                        double          m_data_period;          //!< The period in seconds which the data should be provided by the GPS
            // ------------------------------------------------

                        /** Returns true if the COM port is already open, or try to open it in other case.
                          * \return true if everything goes OK, or false if there are problems opening the port.
                          */
                        bool  tryToOpenTheCOM();

                        /** Process data in "m_buffer" to extract GPS messages, and remove them from the buffer.
                          */
                        void  processBuffer();

                        /** Process a complete string from the GPS:
                          */
                        void  processGPSstring( const std::string &s);

                        /** Tokenize a string "str" into commas separated tokens
                          */
                        void  getNextToken(
                                const std::string       &str,
                                std::string                     &token,
                                unsigned int            &parserPos);

                        /* A private copy of the last received gps datum:
                         */
                        mrpt::slam::CObservationGPS                 m_latestGPS_data;
                        mrpt::slam::CObservationGPS::TUTCTime   m_last_UTC_time;

                        void JAVAD_sendMessage(const char*str, bool waitForAnswer = true); //!< Private auxiliary method. Raises exception on error.

                }; // end class

        } // end namespace
} // end namespace

#endif