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ArGPSConnector.cpp
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ArGPSConnector.cpp
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/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, 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
Adept MobileRobots for information about a commercial version of ARIA at
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "ArExport.h"
#include "ariaOSDef.h"
#include "ArGPSConnector.h"
#include "ArGPS.h"
#include "ArDeviceConnection.h"
#include "ArSerialConnection.h"
#include "ArTcpConnection.h"
#include "ArRobot.h"
#include "ariaInternal.h"
#include "ArNovatelGPS.h"
#include "ArTrimbleGPS.h"
#include <iostream>
// default values to use if no value is given in robot parameters or command
// line:
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::logOptions),
myBaud(-1),
myPort(NULL),
myTCPHost(NULL),
myTCPPort(8103),
myDeviceType(Invalid)
{
myParseArgsCallback.setName("ArGPSConnector");
myLogArgsCallback.setName("ArGPSConnector");
Aria::addParseArgsCB(&myParseArgsCallback);
Aria::addLogOptionsCB(&myLogArgsCallback);
}
AREXPORT ArGPSConnector::~ArGPSConnector()
{
if(myDeviceCon) delete myDeviceCon;
}
// Called by Aria::parseArgs() to set parameter values from command line
// options, if present
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
myDeviceType = deviceTypeFromString(deviceType);
return true;
}
ArGPSConnector::GPSType ArGPSConnector::deviceTypeFromString(const char *str)
{
if (strcasecmp(str, "novatel") == 0)
{
return Novatel;
}
else if (strcasecmp(str, "trimble") == 0)
{
return Trimble;
}
else if (strcasecmp(str, "standard") == 0)
{
return Standard;
}
else if (strcasecmp(str, "novatelspan") == 0)
{
return NovatelSPAN;
}
else if (strcasecmp(str, "sim") == 0)
{
return Simulator;
}
else
{
ArLog::log(ArLog::Terse, "GPSConnector: Error: unrecognized GPS type.");
return Invalid;
}
}
void ArGPSConnector::logOptions()
{
ArLog::log(ArLog::Terse, "GPS options:");
ArLog::log(ArLog::Terse, "-gpsType <standard|novatel|novatelspan|trimble|sim>\tSelect GPS device type (default: standard)");
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, "-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);
}
// Create an ArGPS object. If some options were obtained from command-line
// parameters by parseArgs(), use those, otherwise get values from robot
// parameters (the .p file) if we have a valid robot with valid parameters.
AREXPORT ArGPS* ArGPSConnector::createGPS(ArRobot *robot)
{
// If we have a robot with parameters (i.e. have connected and read the .p
// file), use those values unless already set by parseArgs() from command-line
if(robot && robot->getRobotParams())
{
if(myPort == NULL) {
myPort = robot->getRobotParams()->getGPSPort();
if(strcmp(myPort, "COM1") == 0)
myPort = ArUtil::COM1;
if(strcmp(myPort, "COM2") == 0)
myPort = ArUtil::COM2;
if(strcmp(myPort, "COM3") == 0)
myPort = ArUtil::COM3;
if(strcmp(myPort, "COM4") == 0)
myPort = ArUtil::COM4;
}
if(myBaud == -1) {
myBaud = robot->getRobotParams()->getGPSBaud();
}
if(myDeviceType == Invalid) {
myDeviceType = deviceTypeFromString(robot->getRobotParams()->getGPSType());
}
}
else
{
if(myPort == NULL) myPort = ARGPS_DEFAULT_SERIAL_PORT;
if(myBaud == -1) myBaud = ARGPS_DEFAULT_SERIAL_BAUD;
if(myDeviceType == Invalid) myDeviceType = Standard;
}
// If simulator, create simulated GPS and return
if(robot && strcmp(robot->getRobotName(), "MobileSim") == 0)
{
ArLog::log(ArLog::Normal, "ArGPSConnector: Using simulated GPS");
myDeviceType = Simulator;
return new ArSimulatedGPS(robot);
}
// Create gps and connect to serial port or tcp port for device data stream:
ArGPS* newGPS = NULL;
switch (myDeviceType)
{
case Novatel:
ArLog::log(ArLog::Normal, "ArGPSConnector: Using Novatel GPS");
newGPS = new ArNovatelGPS;
break;
case Trimble:
ArLog::log(ArLog::Normal, "ArGPSConnector: Using Trimble GPS");
newGPS = new ArTrimbleGPS;
break;
case NovatelSPAN:
ArLog::log(ArLog::Normal, "ArGPSConnector: Using Novatel SPAN GPS");
newGPS = new ArNovatelSPAN;
break;
case Simulator:
ArLog::log(ArLog::Normal, "ArGPSConnector: Using simulated GPS");
newGPS = new ArSimulatedGPS(robot);
break;
default:
ArLog::log(ArLog::Normal, "ArGPSConnector: Using standard NMEA GPS");
newGPS = new ArGPS;
break;
}
if(myDeviceType != Simulator)
{
if (myTCPHost == NULL)
{
// Setup serial connection
ArSerialConnection *serialCon = new ArSerialConnection;
ArLog::log(ArLog::Normal, "ArGPSConnector: Connecting to GPS on port %s at %d baud...", myPort, myBaud);
if (!serialCon->setBaud(myBaud)) { delete serialCon; return NULL; }
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;
}