kvh_geo_fog_3d_driver.hpp

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 *  Copyright (c) 2019, The MITRE Corporation.
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 * Licensed under the Apache License, Version 2.0 (the "License");
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#pragma once

// STD
#include <vector>
#include <set>
#include <map>
#include <memory>
#include <functional>
#include <iostream>

// GEO-FOG SDK
#include "rs232.h"
#include "an_packet_protocol.h"
#include "spatial_packets.h"

// Kvh Driver Components
#include "kvh_geo_fog_3d_packet_storage.hpp"
#include "kvh_geo_fog_3d_global_vars.hpp"
#include "kvh_geo_fog_3d_device_configuration.hpp"

namespace kvh
{
  struct KvhInitOptions
  {
    bool gnssEnabled{true};
    int baudRate{115200};
    std::string port{"/tty/USB0"};
    bool debugOn{false};
    uint8_t filterVehicleType{vehicle_type_car};
    bool atmosphericAltitudeEnabled{true};
    bool velocityHeadingEnabled{true};
    bool reversingDetectionEnabled{true};
    bool motionAnalysisEnabled{true};
    double odomPulseToMeters{0.000583};
    double trackWidth{1.63576};
    double odometerVelocityCovariance{0.00001};
    bool encoderOnLeft{true};
  };

  class Driver
  {
  private:
    bool connected_;                  
    std::string port_;                
    const uint32_t PACKET_PERIOD{50}; 
    an_decoder_t anDecoder_;                  
    bool debug_{false};                       
    std::vector<packet_id_e> packetRequests_; 
    KvhInitOptions defaultOptions_;  
    KvhPacketStorage packetStorage_; 
    KvhDeviceConfig deviceConfig_;   

    // Private functions, see implementation for detailed comments
    int DecodePacket(an_packet_t *);
    int DecodeUtmFix(utm_fix *, an_packet_t *); // Special decode since their utm api is incorrect
    int SendPacket(an_packet_t *);

  public:
    explicit Driver(bool _debug = false);
    ~Driver();

    int Init(const std::string &_port, KvhPacketRequest &_packetsRequested);

    int Init(const std::string &_port, KvhPacketRequest &_packetsRequested, KvhInitOptions _initOptions);

    int Once();

    bool PacketIsUpdated(packet_id_e);

    int SetPacketUpdated(packet_id_e, bool);

    int AddPacket(packet_id_e);

    template <class T>
    int GetPacket(packet_id_e _packetId, T &_packet)
    {
      return packetStorage_.GetPacket(_packetId, _packet);
    }

    int RequestPacket(packet_id_e);

    int Cleanup();

  }; //end: class Driver

} // namespace kvh