00001 /*!@file Devices/GPS_USGlobalSat_EM_408.H class 00002 for interfacing with the USGlobalSat EM-408 GPS */ 00003 00004 // //////////////////////////////////////////////////////////////////// // 00005 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2003 // 00006 // by the University of Southern California (USC) and the iLab at USC. // 00007 // See http://iLab.usc.edu for information about this project. // 00008 // //////////////////////////////////////////////////////////////////// // 00009 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00010 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00011 // in Visual Environments, and Applications'' by Christof Koch and // 00012 // Laurent Itti, California Institute of Technology, 2001 (patent // 00013 // pending; application number 09/912,225 filed July 23, 2001; see // 00014 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00015 // //////////////////////////////////////////////////////////////////// // 00016 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00017 // // 00018 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00019 // redistribute it and/or modify it under the terms of the GNU General // 00020 // Public License as published by the Free Software Foundation; either // 00021 // version 2 of the License, or (at your option) any later version. // 00022 // // 00023 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00024 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00025 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00026 // PURPOSE. See the GNU General Public License for more details. // 00027 // // 00028 // You should have received a copy of the GNU General Public License // 00029 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00030 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00031 // Boston, MA 02111-1307 USA. // 00032 // //////////////////////////////////////////////////////////////////// // 00033 // 00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Devices/GPS_USGlobalSat_EM_408.H $ 00035 // $Id: GPS_USGlobalSat_EM_408.H 12962 2010-03-06 02:13:53Z irock $ 00036 // 00037 00038 #ifndef GPS_USGLOBALSAT_EM_408_H_DEFINED 00039 #define GPS_USGLOBALSAT_EM_408_H_DEFINED 00040 00041 #include "Component/OptionManager.H" 00042 #include "Devices/Serial.H" 00043 #include "Util/Angle.H" 00044 00045 typedef struct { 00046 double lat,lon; 00047 int precision; 00048 int satNum; 00049 } GpsData; 00050 00051 //! Class for interfacing with the IMU 00052 //! It sends X,Y,Z acceleration and X,Y,Z angular velocity 00053 class GPS_USGlobalSat_EM_408: public ModelComponent 00054 { 00055 public: 00056 //! Initialize 00057 GPS_USGlobalSat_EM_408 00058 (OptionManager& mgr, 00059 const std::string& descrName = "GPS_USGlobalSat_EM_408", 00060 const std::string& tagName = "GPS_USGlobalSat_EM_408", 00061 const std::string& dev = "/dev/ttyUSB0"); 00062 00063 //! Destructor 00064 ~GPS_USGlobalSat_EM_408(); 00065 00066 //! to select which serial port to use 00067 void configureSerial(std::string dev); 00068 00069 //! 00070 void run(); 00071 00072 //! is there a new data since it is last accessed 00073 bool newData(); 00074 00075 protected: 00076 void start1(); //!< get started 00077 void stop1(); //!< get stopped 00078 00079 private: 00080 00081 nub::soft_ref<Serial> itsSerial; 00082 00083 }; 00084 00085 #endif 00086 00087 // ###################################################################### 00088 /* So things look consistent in everyone's emacs... */ 00089 /* Local Variables: */ 00090 /* indent-tabs-mode: nil */ 00091 /* End: */
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