Aria
2.7.5.2
|
Factory for creating ArGPS objects based on command-line parameters. More...
#include <ArGPSConnector.h>
Public Types | |
enum | GPSType { Standard, Novatel, Trimble, Invalid, NovatelSPAN } |
Device type identifiers. More... | |
Public Member Functions | |
ArGPSConnector (ArArgumentParser *argParser) | |
ArGPS * | create (ArRobot *robot=NULL) |
ArGPS * | createGPS (ArRobot *robot=NULL) |
GPSType | getGPSType () const |
bool | parseArgs () |
Protected Member Functions | |
GPSType | deviceTypeFromString (const char *str) |
void | logOptions () |
Protected Attributes | |
ArArgumentParser * | myArgParser |
int | myBaud |
ArDeviceConnection * | myDeviceCon |
GPSType | myDeviceType |
ArFunctorC< ArGPSConnector > | myLogArgsCallback |
ArRetFunctorC< bool, ArGPSConnector > | myParseArgsCallback |
const char * | myPort |
const char * | myTCPHost |
int | myTCPPort |
Factory for creating ArGPS objects based on command-line parameters.
Use createGPS() to create a GPS object.
The following command-line arguments are checked:
GPS options: -gpsType <standard|novatel|novatelspan|trimble> Select GPS device type (default: standard) -gpsPort <gpsSerialPort> Use the given serial port (default: /dev/ttyS1) -gpsBaud <gpsSerialBaudRate> Use the given serial Baud rate (default: 9600) -remoteGpsTcpHost <host> Use a TCP connection instead of serial, and connect to remote host <host> -remoteGpsTcpPort <host> Use the given port number for TCP connection, if using TCP. (default 8103)
Device type identifiers.
Enumerator | |
---|---|
Standard |
For a standard NMEA GPS device (no extra initialization or interpretation needed) accessible using ArGPS. |
Novatel |
For a Novatel device accessible using ArNovatelGPS. |
Trimble |
For a Trimble device accessible using ArTrimbleGPS. |
Invalid |
Not set or invalid. |
NovatelSPAN |
Novatel SPAN
|
Create a new GPS object (may be an ArGPS subclass based on device type) and a device connection for that GPS. Use ArGPS::blockingConnect() to open the connection.
robot | If not NULL, obtain default values for GPS type, port and baud from this robot's parameters (given in parameter file), for any of these not set from command-line arguments in parseArgs(). |
Create a new GPS object (may be an ArGPS subclass based on device type) and a device connection for that GPS. Use ArGPS::blockingConnect() to open the connection.
robot | If not NULL, obtain default values for GPS type, port and baud from this robot's parameters (given in parameter file), for any of these not set from command-line arguments in parseArgs(). |
|
protected |
Log argument option information
bool ArGPSConnector::parseArgs | ( | ) |
Gets command line arguments