/build/rock-master-18.09-drivers-mb500-0.20170523/mb500.hh

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#ifndef MAGELLAN_MB500_H
#define MAGELLAN_MB500_H

#include <map>
#include <string>
#include <iosfwd>
#include <sys/types.h>
#include <iodrivers_base/Driver.hpp>
#include <vector>

#include "gps_types.hh"
#include "mb500_types.hh"

namespace gps {
    class MB500 : public iodrivers_base::Driver {
    public:
        MB500();
        ~MB500();

        bool openSerial(std::string const& device_name);
        bool open(const std::string& device_name);
        bool openBase(const std::string& device_name);
        bool openRover(const std::string& device_name);

        void close();

        bool setRTKBase(std::string port_name);
        void stopRTKBase();
        bool setFastRTK(bool enable);
        bool setRTKReset(); 
        bool setRTKInputPort(std::string const& port);

        enum CORRELATOR_MODE {
            EDGE_CORRELATOR,
            STROBE_CORRELATOR
        };
        bool setCodeCorrelatorMode(CORRELATOR_MODE mode);

        void reset(bool cold_start);

        void dumpAlmanac();

        void dumpStatus();

        void dumpSatellites();

        bool setReceiverDynamics(MB500_DYNAMICS_MODEL mode);

        bool setUserDynamics(int h_vel, int h_acc, int v_vec, int v_acc);

        bool setKnownPointInit(double, std::string, double, std::string, double, double, double, double, std::string);

        bool setProcessingRate(int rate);

        bool resetStoredPosition();
        bool setPosition(double latitude, double longitude, double height);
        bool setPositionFromCurrent();

        bool setFixThreshold(MB500_AMBIGUITY_THRESHOLD threshold);

        void disableAllOutputs();

        bool setGLONASSTracking(bool);
        bool setSBASTracking(bool);
        bool setGNSSMode(MB500_GNSS_MODE mode);

        enum Special {
            NONE = -1
        };
        bool setCodeMeasurementSmoothing(int, int, int);
        bool setNMEA(std::string, std::string, bool, double = 1);
        bool setNMEALL(std::string, bool);
        bool verifyAcknowledge(std::string const& cmd = "");

        std::string getBoardID();

        gps::Errors getGST(std::string msg);
        gps::Position getGGA(std::string msg);
        gps::SatelliteInfo getGSV(std::string msg);

        bool setPeriodicData(std::string const& port, double rate);
        void collectPeriodicData();
        bool stopPeriodicData();

        gps::Position position;
        gps::Errors   errors;
        gps::SatelliteInfo satellites;
        gps::SolutionQuality solutionQuality;

        base::Time cpu_time;
        base::Time real_time;
        double processing_latency;

        void writeCorrectionData(char const* data, size_t size, int timeout);

        bool enableNtpdShm(int unit);

    protected:
        float m_period;
        int   m_acq_timeout;

        int ntp_shmid;
        void *ntp_shm;

        // GSV and GSA information are multi-message, so we accumulate
        // information in these temp attributes, and copy them to the
        // real ones whenever the message cycle is finished. 
        gps::SatelliteInfo tempSatellites;
        gps::SolutionQuality tempSolutionQuality;

        bool waitForBoardReset();
        bool interpretQuality(std::string const& message);
        static std::pair<base::Time, base::Time> interpretDateTime(std::string const& msg);
        static gps::Errors interpretErrors(std::string const& msg);
        static gps::Position interpretInfo(std::string const& msg);
        static double interpretLatency(std::string const& message);
        static bool interpretSatelliteInfo(gps::SatelliteInfo& data, std::string const& msg);
        static double interpretAngle(std::string const& value, bool positive);
        static base::Time  interpretTime(std::string const& time);

        void updateNtpdShm();

        std::string read(int timeout);
        void write(const std::string&, int timeout);
        int extractPacket(uint8_t const* buffer, size_t buffer_size) const;

    public:
        static std::ostream& displayHeader(std::ostream& io);
        static std::ostream& display(std::ostream& io, gps::Position const& pos, gps::Errors const& errors, gps::SatelliteInfo const& info, gps::SolutionQuality const& quality);
        static std::ostream& display(std::ostream& io, MB500 const& driver);
    };
}


#endif