gps.orogen

name 'gps'
version 0.1

using_library 'mb500'
using_library 'libgps'

import_types_from 'base'
import_types_from 'gps_base'
# We get our interface types from the mb500 library even for the gpsd driver
import_types_from 'mb500_types.hh'

task_context 'BaseTask' do
    # The GPS solution as reported by the hardware
    output_port('solution', '/gps_base/Solution')

    # UTM computed position
    output_port('position_samples', '/base/samples/RigidBodyState')

    # computed position in m, in the NWU frame
    output_port('nwu_position_samples', '/base/samples/RigidBodyState')

    # The frame of the GPS sensor
    property('gps_frame', '/std/string', 'gps')

    # The frame of the UTM origin
    property('utm_frame', '/std/string', 'utm')

    # The frame of the NWU origin
    property('nwu_frame', '/std/string', 'gps')

    # UTM zone for conversion of WGS84 to UTM
    property("utm_zone", "int", 32)

    # UTM north for conversion of WGS84 to UTM
    property("utm_north", "bool", true)

    # Origin in NWU coordinates, that is used for position readings.
    property("nwu_origin", "/base/Position")

    # Defines how often the task waits for data before entering IO_TIMEOUT (recoverable) and how often the task tries to read data before entering IO_ERROR
    property("max_error_counter", "int", 10)

    error_states :IO_ERROR
    states :IO_TIMEOUT
    periodic 0.1
end

#task that is using gpsd daemon
task_context 'GPSDTask', subclasses: 'BaseTask' do
    needs_configuration

    # Hostname where the gps daemon is running
    property("hostname", "string","localhost")
        
    # need to be peirodic because there is no FD
    periodic(0.1)
end

#task that is using NMEA
task_context 'MB500Task', subclasses: 'BaseTask' do
    needs_configuration
    fd_driven
    required_activity :fd_driven

    # The device file used to connect to the gps
    property("device", "/std/string")

    # the board port (A, B, C or D) at which we are connected
    property("port",   "/std/string")

    # the port (A, B, C, D or a number) at which the board gets correction data note, number means it is getting the correction data s UDP packets to port X
    property("correction_port",   "/std/string")

    # The update period"
    property("period",   "double")

    # the threshold at which the RTK engine will switch to FIX mode
    property("fix_threshold", "/gps/MB500_AMBIGUITY_THRESHOLD", :MB500_FIX_99_0)

    # Model of the receiver dynamics
    property("dynamics_model", "/gps/MB500_DYNAMICS_MODEL")

    # If set, the module will put the board in USER_DYNAMICS mode with these values
	property("user_dynamics", "/gps_base/UserDynamics")

	# The ntpd shm driver unit to use, -1 for not using one at all. 0 and 1 are reserved for root
    property("ntpd_shm_unit",   "int", -1)

    # the status of the GPS constellation
	output_port('constellation', '/gps_base/ConstellationInfo')

    # output the real time, cpu time and dgps processing latency
	output_port('time', '/gps_base/Time')
end