Aria  2.8.0
gpsExample.cpp

Example program to connect to a GPS and read and display data on the terminal. Also tries to connect to a TCM compass through the computer serial port, and use that to set the ArGPS compass data.

/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
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
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"
#include "ArGPS.h"
#include "ArGPSConnector.h"
#include "ArTrimbleGPS.h"
#include "ArTCMCompassDirect.h"
#include <iostream>
int main(int argc, char** argv)
{
ArArgumentParser argParser(&argc, argv);
argParser.loadDefaultArguments();
ArSimpleConnector connector(&argParser);
ArGPSConnector gpsConnector(&argParser);
{
ArLog::log(ArLog::Terse, "gpsExample options:\n -printTable Print data to standard output in regular columns rather than a refreshing terminal display, and print more digits of precision");
return 1;
}
// Try connecting to robot
ArRobot robot;
if(!connector.connectRobot(&robot))
{
ArLog::log(ArLog::Terse, "gpsExample: Warning: Could not connect to robot. Will not be able to switch GPS power on, or load GPS options from this robot's parameter file.");
}
else
{
ArLog::log(ArLog::Normal, "gpsExample: Connected to robot.");
robot.runAsync(true);
}
// check command line arguments for -printTable
bool printTable = argParser.checkArgument("printTable");
// On the Seekur, power to the GPS receiver is switched on by this command.
// (A third argument of 0 would turn it off). On other robots this command is
// ignored.
robot.com2Bytes(116, 6, 1);
// Try connecting to a GPS. We pass the robot pointetr to the connector so it
// can check the robot parameters for this robot type for default values for
// GPS device connection information (receiver type, serial port, etc.)
ArLog::log(ArLog::Normal, "gpsExample: Connecting to GPS, it may take a few seconds...");
ArGPS *gps = gpsConnector.createGPS(&robot);
if(!gps || !gps->connect())
{
ArLog::log(ArLog::Terse, "gpsExample: Error connecting to GPS device. Try -gpsType, -gpsPort, and/or -gpsBaud command-line arguments. Use -help for help.");
return -1;
}
if(gpsConnector.getGPSType() == ArGPSConnector::Simulator)
{
ArLog::log(ArLog::Normal, "gpsExample: GPS is a simulator. Setting dummy position.");
(dynamic_cast<ArSimulatedGPS*>(gps))->setDummyPosition(42.80709, -71.579047, 100);
}
ArLog::log(ArLog::Normal, "gpsExample: Reading data...");
ArTime lastReadTime;
if(printTable)
gps->printDataLabelsHeader();
while(true)
{
int r = gps->read();
if(r & ArGPS::ReadError)
{
ArLog::log(ArLog::Terse, "gpsExample: Warning: error reading GPS data.");
continue;
}
if(r & ArGPS::ReadUpdated)
{
if(printTable)
{
gps->printData(false);
printf("\n");
}
else
{
gps->printData();
printf("\r");
}
fflush(stdout);
lastReadTime.setToNow();
continue;
} else {
if(lastReadTime.secSince() >= 5) {
ArLog::log(ArLog::Terse, "gpsExample: Warning: haven't recieved any data from GPS for more than 5 seconds!");
}
continue;
}
}
return 0;
}
ArGPSConnector::Simulator
@ Simulator
Simulated (program must set dummy positions)
Definition: ArGPSConnector.h:117
ArGPSConnector::createGPS
ArGPS * createGPS(ArRobot *robot=NULL)
Create a new GPS object (may be an ArGPS subclass based on device type) and a device connection for t...
Definition: ArGPSConnector.cpp:131
ArGPS::connect
virtual bool connect(unsigned long connectTimeout=20000)
Check that the device connection (e.g.
Definition: ArGPS.cpp:181
ArArgumentParser::loadDefaultArguments
void loadDefaultArguments(int positon=1)
Adds args from default files and environmental variables.
Definition: ArArgumentParser.cpp:736
ArGPSConnector
Factory for creating GPS interface object (for any kind of GPS supported by ARIA) based on robot para...
Definition: ArGPSConnector.h:67
ArRobot::com2Bytes
bool com2Bytes(unsigned char command, char high, char low)
Sends a command to the robot with two bytes for argument.
Definition: ArRobot.cpp:5648
ArLog::Terse
@ Terse
Use terse logging.
Definition: ArLog.h:61
ArSimpleConnector
Legacy connector for robot and laser.
Definition: ArSimpleConnector.h:51
ArSimpleConnector::connectRobot
bool connectRobot(ArRobot *robot)
Sets up the robot then connects it.
Definition: ArSimpleConnector.cpp:209
ArArgumentParser::checkArgument
bool checkArgument(const char *argument)
Returns true if the argument was found.
Definition: ArArgumentParser.cpp:95
ArLog::log
static void log(LogLevel level, const char *str,...)
Log a message, with formatting and variable number of arguments.
Definition: ArLog.cpp:93
ArTime::setToNow
void setToNow(void)
Resets the time.
Definition: ariaUtil.cpp:1086
Aria::init
static void init(SigHandleMethod method=SIGHANDLE_THREAD, bool initSockets=true, bool sigHandleExitNotShutdown=true)
Initialize Aria global data struture and perform OS-specific initialization, including adding OS sign...
Definition: Aria.cpp:128
ArArgumentParser::checkHelpAndWarnUnparsed
bool checkHelpAndWarnUnparsed(unsigned int numArgsOkay=0)
Checks for the help strings and warns about unparsed arguments.
Definition: ArArgumentParser.cpp:843
ArRobot
Central class for communicating with and operating the robot.
Definition: ArRobot.h:82
ArArgumentParser
Parse and store program command-line arguments for use by other ARIA classes.
Definition: ArArgumentParser.h:64
Aria::logOptions
static void logOptions(void)
Logs all the options for the program (Calls all the callbacks added with addLogOptionsCB())
Definition: Aria.cpp:794
ArLog::init
static bool init(LogType type, LogLevel level, const char *fileName="", bool logTime=false, bool alsoPrint=false, bool printThisCall=true)
Initialize the logging utility with options.
Definition: ArLog.cpp:437
ArLog::StdErr
@ StdErr
Use stderr for logging.
Definition: ArLog.h:55
ArRobot::runAsync
void runAsync(bool stopRunIfNotConnected, bool runNonThreadedPacketReader=false)
Starts the instance to do processing in its own new thread.
Definition: ArRobot.cpp:301
ArTime::secSince
long secSince(ArTime since) const
Gets the number of seconds since the given timestamp to this one.
Definition: ariaUtil.h:1055
Aria::parseArgs
static bool parseArgs(void)
Parses the arguments for the program (calls all the callbacks added with addParseArgsCB())
Definition: Aria.cpp:759
ArUtil::sleep
static void sleep(unsigned int ms)
Sleep for the given number of milliseconds.
Definition: ariaUtil.cpp:151
ArLog::Normal
@ Normal
Use normal logging.
Definition: ArLog.h:62
ArTime
A class for time readings and measuring durations.
Definition: ariaUtil.h:1001
ArSimulatedGPS
Definition: ArGPS.h:567
ArGPS::printData
void printData(bool labels=true) const
Print basic navigation data on one line to standard output, with no newline at end.
Definition: ArGPS.cpp:477
ArGPS::read
virtual int read(unsigned long maxTime=0)
Read some data from the device connection, and update stored data as complete messages are received.
Definition: ArGPS.cpp:221
ArGPS
GPS Device Interface.
Definition: ArGPS.h:104