camera/Bicam.h

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#ifndef _BICAM_H_
#define _BICAM_H_

/****************************************************************************/
/* Copyright (c) 2008 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : Bicam.h                                                       */
/* Author   : K Headley                                                     */
/* Project  : Benthic Imaging AUV                                           */
/* Created  : 04/01/2008                                                    */
/****************************************************************************/
/* Modification History:                                                    */
/*  $Id: Bicam.h,v 1.1 2008/07/15 18:39:29 headley Exp $   */
/*  $Name:  $ */
/****************************************************************************/

#include <signal.h>
//#include <sys/msg.h>
//#include <sys/ipc.h>
//#include <sys/fcntl.h>
#include <errno.h>
#include "XPort.h"
#include "NMEA.h"
#include "Utils.h"
#include "qnx_port.h"
#include "BicamConsts.h"
/* 
   Function Declarations
*/


class BicamTrigger{
 private:
 protected:
  XPort *xport;
  unsigned int cameraSelectMask;
  unsigned int cameraOnMask;
  unsigned int cameraOffMask;

 public:
  BicamTrigger();
  BicamTrigger(XPort *pXPort,
               unsigned int selMask, 
               unsigned int camOnMask, 
               unsigned int camOffMask);
  /*
  BicamTrigger(char *host,
               int gpioIPPort, 
               unsigned int dirMask,
               unsigned int dirValues,
               unsigned int levelMask,
               unsigned int levelValues,
               unsigned int selMask, 
               unsigned int camOnMask, 
               unsigned int camOffMask);
  */
  BicamTrigger(unsigned int selMask,
               unsigned int camOnMask, 
               unsigned int camOffMask);

  ~BicamTrigger();
  XPort *connect(char *host,
                 int gpioIPPort, 
                 unsigned int dirMask,
                 unsigned int dirValues,
                 unsigned int levelMask,
                 unsigned int levelValues);
 
  int configure(XPort *pXPort,
                unsigned int selMask, 
                unsigned int camOnMask, 
                unsigned int camOffMask); 
  XPort *getXPort();
  void setXPort(XPort *);
  int triggerCamera();
  unsigned int getCamOnMask();
  unsigned int getCamOffMask();
  unsigned int getCamSelectMask();
  void setCamOnMask(unsigned int mask);
  void setCamOffMask(unsigned int mask);
  void setCamSelectMask(unsigned int mask);

};

class BicamGPS{
 private:
 protected:
  XPort *xport; 
  GPGGA gpgga;
  GPRMC gprmc;
  double latitude;
  double longitude;
  double altitude;
  boolean initialized;
  int initNMEA();
  int degrees(double value);
  double decimalMinutes(double value);
 public:
  BicamGPS();
  BicamGPS(XPort *pXPort);
  BicamGPS(char *host, int serialIPPort);
  ~BicamGPS();
  int configure(XPort *pXPort);
  GPGGA *getGPGGA();
  GPRMC *getGPRMC();
  XPort *getXPort();
  void setXPort(XPort *xp);
  XPort *connect(char *host, int serialIPPort);
  int initialize();
  int writeNMEA();
  int update(time_t timaVal,double lat, double lon, double alt);
  double getLat();
  double getLon();
  double getAlt();
};

/*
  Under Cygwin, message queues require special support using cygserver:
  - run cygserver-config; accept option to install as service (generates /etc/cygserver.conf)
  - set CYGWIN=server (or add server to existing CYGWIN definition)
  - start cygserver as a service
     $ net start cygserver
     OR
     $ cygrunsrv -S cygserver
  - for more info see /usr/share/doc/cygserver.README
  Under QNX, the MQueue server must be run (as root):

     $ MQueue &
*/
/*
class CamIF{
 private:
 protected:
  enum boolean{FALSE=0,TRUE};
  XPort xport;
  GPGGA gpgga;
  GPRMC gprmc;
  int gpsLoop();
  boolean gpsInitialized;  
  int gpsPID;
  key_t mqKey;
  int mqID;
  struct MQ_Msg{
    long mtype;
    char gpggaStr[MAX_NMEA_LEN+1];
    char gprmcStr[MAX_NMEA_LEN+1];
  }mqMsg;
  int checkMessages();
  int processMessage(long int mType);
  int setmsg(long type, const char *gpgga, const char *gprmc );

 public:
  enum MQ_MSG_TYPE {START=100,STOP,UPDATE_GPGGA,UPDATE_GPRMC,UPDATE_ALL};

  CamIF();
  XPort *connectCamera( char *host,
                       int gpioIPPort, 
                       int serialIPPort,
                       unsigned int dirMask,
                       unsigned int levelMask);
  XPort *getXPort();
  GPGGA *getGPGGA();
  GPRMC *getGPRMC();
  int initNMEA();
  int triggerCamera(int latd,  double latm,
                    int lond, double lonm, 
                    double alt, 
                    time_t time);
  //void sig_handler(int sig);
  void run();
  int initGPS();
  int getGPSPID();
  int startmq(int flags);
  int stopmq();
  int sendmsg(long type);
  int sendmsg(long type, const char *gpgga, const char *gprmc);
};
*/
#endif /*_BICAM_H_*/

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