ArGPSConnector Class Reference

Factory for creating GPS interface object (for any kind of GPS supported by ARIA) based on robot parameter file and command-line arguments. More...

#include <ArGPSConnector.h>

Public Types
enum	GPSType {   Standard, Novatel, Trimble, Invalid,   NovatelSPAN, Simulator }
	Device type identifiers. More...

Public Member Functions
	ArGPSConnector (ArArgumentParser *argParser)
ArGPS *	create (ArRobot *robot=NULL)
	Create a new GPS object (may be an ArGPS subclass based on device type) and a device connection for that GPS. More...
ArGPS *	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. More...
GPSType	getGPSType () const
bool	parseArgs ()
	Gets command line arguments.

Protected Member Functions
GPSType	deviceTypeFromString (const char *str)
void	logOptions ()
	Log argument option information.

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

Detailed Description

Factory for creating GPS interface object (for any kind of GPS supported by ARIA) based on robot parameter file and command-line arguments.

First, create an ArGPSConnector object before calling Aria::parseArgs(). After connecting to the robot, call Aria::parseArgs(). Then, call createGPS() to create the GPS object.

ArGPSConnector can connect to a Novatel GPS ("novatel" type), Trimble AgGPS ("trimble" type), or any GPS supporting the NMEA standard protocol ("standard" type), if that GPS does not need any special commands to initialize.

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|sim>	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)

Only one GPS device may be configured and connected to by this object.

Examples:

gpsExample.cpp, and gpsRobotTaskExample.cpp.

Member Enumeration Documentation

GPSType

enum ArGPSConnector::GPSType

Device type identifiers.

Enumerator
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
Simulator	Simulated (program must set dummy positions) Since Aria 2.7.6

Member Function Documentation

create()

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.

createGPS()

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.

Examples:

gpsExample.cpp, and gpsRobotTaskExample.cpp.

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

• ArGPSConnector.h
• ArGPSConnector.cpp