/*

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 ARTRIMBLEGPS_H
#define ARTRIMBLEGPS_H


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

#include <deque>

class ArTrimbleAuxDeviceConnection;

/** @brief GPS subclass to support the Trimble AgGPS and other Trimble GPS devices.
 *  
 *  This subclass extends ArGPS to send initialization commands specific
 *  to Trimble GPS devices, and to handle the PTNLAG001 message which
 *  is specific to the Trimble GPS (this message contains data received 
 *  from an auxilliary device connected to the GPS; ArTrimbleGPS
 *  simply parses its contents as a new NMEA message; i.e. data received
 *  by the Trimble is assumed to be NMEA messages that it forwards
 *  via the PTNLAG001 message.)
 *
 *  @note You must also configure the ports using
 *  the Trimble AgRemote program
 *  (http://www.trimble.com/support_trl.asp?pt=AgRemote&Nav=Collection-1545).  
 *  Enable the following messages on whichever
 *  GPS port the computer is connected to: GPRMC, GPGGA, GPGSA, GPGSV, GPGST,
 *  GPMSS, and set input (I) protocol to TSIP 38k baud, and output
 *  protocol (O) to NMEA 38k baud. 
 *  This configuration is done by MobileRobots when shipping a Trimble AgGPS
 *  but you may need to do this if the GPS loses its configuration or after
 *  changing any other settings (Note that AgRemote resets the port settings each time
 *  it connects, so you must reset them each time before exiting AgRemote!)
 */
class ArTrimbleGPS : public virtual ArGPS {
private:
  ArFunctor1C<ArTrimbleGPS, ArNMEAParser::Message> myAuxDataHandler;
  void handlePTNLAG001(ArNMEAParser::Message message);
public:
  AREXPORT ArTrimbleGPS();
  AREXPORT virtual ~ArTrimbleGPS();

  /** Send a TSIP command to the Trimble GPS.
   *  See the TSIP Reference guide for details.
   *  Note, the data must be 66 characters or less.
   */
  AREXPORT bool sendTSIPCommand(char command, const char *data, size_t dataLen);

protected:
  AREXPORT virtual bool initDevice();

};


#endif