/home/toby/moos-ivp/MOOS-2375-Oct0611/Core/MOOSLIB/MOOSInstrument.h

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//
//   MOOS - Mission Oriented Operating Suite 
//  
//   A suit of Applications and Libraries for Mobile Robotics Research 
//   Copyright (C) 2001-2005 Massachusetts Institute of Technology and 
//   Oxford University. 
//    
//   This software was written by Paul Newman at MIT 2001-2002 and Oxford 
//   University 2003-2005. email: pnewman@robots.ox.ac.uk. 
//      
//   This file is part of a  MOOS Core Component. 
//        
//   This program is free software; you can redistribute it and/or 
//   modify it under the terms of the GNU General Public License as 
//   published by the Free Software Foundation; either version 2 of the 
//   License, or (at your option) any later version. 
//          
//   This program is distributed in the hope that it will be useful, 
//   but WITHOUT ANY WARRANTY; without even the implied warranty of 
//   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 
//   General Public License for more details. 
//            
//   You should have received a copy of the GNU General Public License 
//   along with this program; if not, write to the Free Software 
//   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 
//   02111-1307, USA. 
//
// MOOSInstrument.h: interface for the CMOOSInstrument class.
//

#if !defined(AFX_MOOSINSTRUMENT_H__D81A485B_B5F7_49C9_8A24_F9B5B94447C6__INCLUDED_)
#define AFX_MOOSINSTRUMENT_H__D81A485B_B5F7_49C9_8A24_F9B5B94447C6__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "MOOSApp.h"
class CMOOSInstrument : public CMOOSApp  
{
public:
    
    CMOOSInstrument();
    virtual ~CMOOSInstrument();

    #ifdef _WIN32
        CMOOSNTSerialPort m_Port;
    #else
        CMOOSLinuxSerialPort m_Port;
    #endif


    static std::string Message2NMEA(std::string sMsg);
    static bool DoNMEACheckSum(std::string sNMEA);
    
protected:
    virtual bool OnStartUp();

    virtual bool InitialiseSensor();

    bool InitialiseSensorN(int nAttempts, std::string sSensorName);

    virtual bool SetupPort();
    
    bool    m_bPublishRaw;

    bool    PublishRaw(){return m_bPublishRaw;};

    std::string m_sResourceName;

    double  m_dfMagneticOffset;
    double GetMagneticOffset();

    void SetInstrumentErrorMessage(std::string sError);
    void SetPrompt(std::string sPrompt);

    std::string m_sPrompt;
    std::string m_sInstrumentErrorMessage;

};

#endif // !defined(AFX_MOOSINSTRUMENT_H__D81A485B_B5F7_49C9_8A24_F9B5B94447C6__INCLUDED_)