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#ifndef __CPHIDGETGPS
#define __CPHIDGETGPS
#include "cphidget.h"
/** \defgroup phidgps Phidget GPS
* \ingroup phidgets
* Calls specific to the Phidget GPS. See the product manual for more specific API details, supported functionality, units, etc.
* @{
*/
/**
* GPS Time in UTC.
*/
struct __GPSTime
{
short tm_ms; /**< Milliseconds. */
short tm_sec; /**< Seconds. */
short tm_min; /**< Minutes. */
short tm_hour; /**< Hours. */
} typedef GPSTime;
/**
* GPS Date in UTC.
*/
struct __GPSDate
{
short tm_mday; /**< Day of the month (1-31). */
short tm_mon; /**< Month (1-12). */
short tm_year; /**< Year. */
} typedef GPSDate;
/**
* Satellite info - used in GSV sentence.
*/
struct __GPSSatInfo
{
short ID;
short elevation;
int azimuth;
short SNR;
} typedef GPSSatInfo;
/**
* NMEA GGA Sentence
*/
struct __GPGGA
{
GPSTime time;
double latitude;
double longitude;
short fixQuality;
short numSatellites;
double horizontalDilution;
double altitude;
double heightOfGeoid;
} typedef GPGGA;
/**
* NMEA GSA Sentence
*/
struct __GPGSA
{
char mode;
/* A = auto
* M = forced */
short fixType;
/* 1 = no fix
* 2 = 2D
* 3 = 3D */
short satUsed[12];
/* IDs of used sats in no real order, 0 means nothing */
double posnDilution;
double horizDilution;
double vertDilution;
} typedef GPGSA;
/**
* NMEA GSV Sentence
*/
struct __GPGSV
{
short satsInView;
GPSSatInfo satInfo[12];
} typedef GPGSV;
/**
* NMEA RMC Sentence
*/
struct __GPRMC
{
GPSTime time;
char status;
double latitude;
double longitude;
double speedKnots;
double heading;
GPSDate date;
double magneticVariation;
char mode;
} typedef GPRMC;
/**
* NMEA VTG Sentence
*/
struct __GPVTG
{
double trueHeading;
double magneticHeading;
double speedKnots;
double speed; //km/hour
char mode;
} typedef GPVTG;
/**
* NMEA Data Structure. Contains a set of supported NMEA sentences.
*/
struct __NMEAData
{
GPGGA GGA; /**< GPS Fix and position data. */
GPGSA GSA; /**< GPS DOP and active satellites. */
GPGSV GSV; /**< Detailed satellite information. */
GPRMC RMC; /**< Recommended minimum data. */
GPVTG VTG; /**< Heading and Speed over the Ground. */
} typedef NMEAData;
DPHANDLE(GPS)
CHDRSTANDARD(GPS)
/**
* Gets the current latitude.
* @param phid An attached phidget gps handle.
* @param latitude The latitude.
*/
CHDRGET(GPS,Latitude,double *latitude)
/**
* Gets the current longitude.
* @param phid An attached phidget gps handle.
* @param longitude The longitude.
*/
CHDRGET(GPS,Longitude,double *longitude)
/**
* Gets the current altitude, in meters.
* @param phid An attached phidget gps handle.
* @param altitude The altitude.
*/
CHDRGET(GPS,Altitude,double *altitude)
/**
* Gets the current heading, in degrees.
* @param phid An attached phidget gps handle.
* @param heading The heading.
*/
CHDRGET(GPS,Heading,double *heading)
/**
* Gets the current velocity, in km/h.
* @param phid An attached phidget gps handle.
* @param velocity The velocity.
*/
CHDRGET(GPS,Velocity,double *velocity)
/**
* Gets the current GPS time, in UTC.
* @param phid An attached phidget gps handle.
* @param time The GPS time.
*/
CHDRGET(GPS,Time,GPSTime *time)
/**
* Gets the current GPS date, in UTC
* @param phid An attached phidget gps handle.
* @param date The GPS date.
*/
CHDRGET(GPS,Date,GPSDate *date)
/**
* Gets the position fix status.
* @param phid An attached phidget gps handle.
* @param fixStatus The fix status.
*/
CHDRGET(GPS,PositionFixStatus,int *fixStatus)
/**
* Gets Raw NMEA Data. This function is only available in the C API,
* and cannot be used over the webservice.
* The NMEA data reference points to a structure which is updated
* dynamically as data comes in - if you wish to work with the data
* statically, you must make a local copy. This should be done from within
* a position change event handler to avoid the structure changing as
* you read it.
* @param phid An attached phidget gps handle.
* @param data The NMEA Data.
*/
CHDRGET(GPS,NMEAData,NMEAData *data)
/**
* Sets a position change event handler. This is called when any of latitude, longitude, or altitude change.
* @param phid A phidget gps handle.
* @param fptr Callback function pointer.
* @param userPtr A pointer for use by the user - this value is passed back into the callback function.
*/
CHDREVENT(GPS,PositionChange,double latitude,double longitude,double altitude)
/**
* Sets a position fix status change event handler. This is called when a position fix is aquired or lost.
* @param phid A phidget gps handle.
* @param fptr Callback function pointer.
* @param userPtr A pointer for use by the user - this value is passed back into the callback function.
*/
CHDREVENT(GPS,PositionFixStatusChange,int status)
#ifndef EXTERNALPROTO
struct _CPhidgetGPS {
CPhidget phid;
int (CCONV *fptrPositionChange)(CPhidgetGPSHandle, void *, double latitude, double longitude, double altitude);
void *fptrPositionChangeptr;
int (CCONV *fptrPositionFixStatusChange)(CPhidgetGPSHandle, void *, int status);
void *fptrPositionFixStatusChangeptr;
NMEAData GPSData;
double heading, velocity, altitude, latitude, longitude;
unsigned char fix;
unsigned char haveTime, haveDate;
double lastLongitude, lastLatitude, lastAltitude;
unsigned char lastFix;
unsigned char sckbuf[256];
unsigned char sckbuf_write, sckbuf_read;
} typedef CPhidgetGPSInfo;
#endif
/** @} */
#endif
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