/*

ARIA header files for use with ARNL 1.7.1

Copyright(C) 2004, 2005 ActivMedia Robotics, LLC. 
Copyright(C) 2006, 2007, 2008, 2009 MobileRobots Inc.
All rights reserved.

This copy of Aria was relicensed for use with Arnl and the Arnl
license by MobileRobots Inc.  If you wish to download a seperate
distribution of Aria licensed under the GPL or a commercial license go to
http://www.mobilerobots.com/SOFTWARE/aria.html or contact MobileRobots
Inc, at robots@mobilerobots.com or MobileRobots Inc,
10 Columbia Drive, Amherst, NH 03031; 800-639-9481

MobileRobots Inc hereby grants to other individuals or
organizations permission to use this software with Arnl and in
compliance with the Arnl license.  This software may not be
distributed to others except by MobileRobots Inc.

MobileRobots Inc does not make any representations about the
suitability of this software for any purpose.  It is provided "as is"
without express or implied warranty.

*/

#ifndef ARNOVATELGPS_H
#define ARNOVATELGPS_H


#include "ariaTypedefs.h"
#include "ArFunctor.h"
#include "ariaUtil.h"
#include "ArGPS.h"

/** @brief GPS subclass to support the NovAtel ProPak G2 and other NovAtel
 * "OEM4" devices.
 *  
 *  This subclass overrides connect() to send initialization commands specific
 *  to NovAtel GPS devices.
 *  On connect, it initiazes SBAS (satellite-based augmentation) to
 *  "auto", which uses WAAS, EGNOS, or MSAS if available,
 *  and then requests NMEA messages to be interpreted by ArGPS.
 *
 *  It does not initialize corrections sent by your own DGPS fixed
 *  base station over radio, or the wide-area L-Band services such as OmniStar or 
 *  the Canada-wide DGPS (supported by the NovaTel ProPak LBplus). 
 *  To configure DGPS, you must connect to the GPS with a terminal
 *  program (e.g. "minicom" in Linux), configure the device for
 *  your specific service, region and radio settings, and save 
 *  with the "saveconfig" command. See the GPS setup notes 
 *  at http://robots.mobilerobots.com/tech_notes/GPS_Setup_Notes.txt
 *  and the NovAtel GPS Reference Manual Volume 1, Sections 4.3 and 4.5 for
 *  ("Transmitting and Receiving Corrections" and "Enabling L-Band Positioning")
 *  for more information on doing this.
 *
 */
class ArNovatelGPS : public virtual ArGPS {
protected:
  void handleNovatelGPGGA(ArNMEAParser::Message msg);
  ArFunctor1C<ArNovatelGPS, ArNMEAParser::Message> myNovatelGPGGAHandler;
public:
  AREXPORT ArNovatelGPS();
  AREXPORT virtual ~ArNovatelGPS();
protected:
  AREXPORT virtual bool initDevice();
};

#endif 


