/* Fordham Robotics and Computer Vision Lab. dml 7/11 */ 

#include <string.h>  /* String function definitions */
#include <unistd.h>  /* UNIX standard function definitions */
#include <fcntl.h>   /* File control definitions */
#include <errno.h>   /* Error number definitions */
#include <termios.h> /* POSIX terminal control definitions */
#include <signal.h>

//#define USBSERIAL "/dev/ttyUSB0"

#define SERIAL "/dev/ttyS3"
#define MAXTIMEOUT 5000
#define GPSNUMSIZE 16

class serialGPS {
 public:
  serialGPS(char *devname=SERIAL) {
	fd = open(devname, O_RDWR | O_NOCTTY | O_NDELAY);
	if (fd == -1) {
		perror("serialGPS::open_port: Unable to open port - ");
		return;
	} else {
		fcntl(fd, F_SETFL, 0);
	}
	initport(fd);
	printf("serialGPS::Set port baud=%d\n", getbaud(fd));
	fcntl(fd, F_SETFL, FNDELAY); // don't block serial read
	lastNorth=lastWest=0.0;
        locked=false;
  }

  ~serialGPS() {
    close(fd);
  }

 void readGPS();
 double getNorth() { return lastNorth; }
 double getWest() { return lastWest; }
 bool isLocked() { return locked; }

 private:
 int initport(int fd);
 int writeport(int fd, char *chars);
 int readport(int fd, char *result);
 int getbaud(int fd);


 int fd;
 double lastNorth;
 double lastWest;
 char sResult[254];
 bool locked;

};