PositionDetector.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP 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.
//
// MIP 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 MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------






#ifndef __POSITION_DETECTOR_H_
#define __POSITION_DETECTOR_H_

#ifdef MIP_HOST_APPLE
#include <applePatch.h>
#endif

#include <stdlib.h>
#include <string>
#include <sstream>
#include <vector>
#include <assert.h>
#include <pthread.h>

#include <baselib.h>
#include <Resource.h>

namespace MipResources{


/* @{ */


class PositionDetectorPar
{
 private:
  string  _name;  

  Pose   _pose; 

  Decimal  _rate;  

  Decimal  _latitude; 
  
  Decimal  _longitude; 

  Decimal  _altitude; 

  Decimal  _hdop;  

  Decimal  _vdop;  

  Decimal  _herr;  
 
  Decimal  _verr;  

  Decimal  _uest;  
 
  Decimal  _unorth; 

  Decimal  _time;  

  uint  _numsat; 

  uint  _quality; 
 

 protected:
  void setGPSName(string value)
  {
   _name = value;
   return;
  }

  void setGPSPose(Pose value)
  {
   _pose = value;
   return;
  }

  void setGPSRate(Decimal value)
  {
   assert(value>0);
   _rate = value;
   return;
  }

 public:

   ~PositionDetectorPar(){};

  PositionDetectorPar ()
  {
   _rate  = 1.0;
   _pose  = Pose();
   _name  = string();
   _latitude = 0.0; 
   _longitude = 0.0;
   _altitude = 0.0; 
   _hdop  = 0.0;
   _vdop  = 0.0;
   _herr  = 0.0;
   _verr  = 0.0;
   _uest  = 0.0;
   _unorth  = 0.0; 
   _time  = 0.0;
   _numsat  = 0;
   _quality = 0;
  }
  
  PositionDetectorPar(const PositionDetectorPar &s)
  {
   _rate  = s._rate;
   _pose  = s._pose;
   _name  = s._name;
   _latitude = s._latitude; 
   _longitude = s._longitude;
   _altitude = s._altitude; 
   _hdop  = s._hdop;
   _vdop  = s._vdop;
   _herr  = s._herr;
   _verr  = s._verr;
   _uest  = s._uest;
   _unorth  = s._unorth; 
   _time  = s._time;
   _numsat  = s._numsat; 
   _quality = s._quality;
  }


  PositionDetectorPar& operator=(const PositionDetectorPar& s)
  {
   if (this != &s)
   {
    _rate  = s._rate;
    _pose  = s._pose;
    _name  = s._name;
    _latitude = s._latitude; 
    _longitude = s._longitude;
    _altitude = s._altitude; 
    _hdop  = s._hdop;
    _vdop  = s._vdop;
    _herr  = s._herr;
    _verr  = s._verr;
    _uest  = s._uest;
    _unorth  = s._unorth; 
    _time  = s._time;
    _numsat  = s._numsat; 
    _quality = s._quality;
   }
   return *this;
  }

  
};

class PositionDetectorVar {};

class PositionDetector : public Resource
{
 private:
  bool _GPSavail; 
 
 protected:
  PositionDetectorPar *_par; 
 public:
  
  virtual ResourcePlate getPlate() const =0;

  PositionDetector()
  {
   _GPSavail = false;
  };

   ~PositionDetector(){};

  virtual Position getMeasure()=0; 
};


 /* @} */
 
};// end namespace MipResources{

#endif