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.

#include "Aria.h"
#include "ArGPS.h"
#include "ArGPSConnector.h"
#include "ArTrimbleGPS.h"
#include "ArTCMCompassDirect.h"
#include <iostream>

int main(int argc, char** argv)
{
  Aria::init();
  ArLog::init(ArLog::StdErr, ArLog::Normal);

  ArArgumentParser argParser(&argc, argv);
  argParser.loadDefaultArguments();
  ArSimpleConnector connector(&argParser);
  ArGPSConnector gpsConnector(&argParser);

  if(!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
  {
    Aria::logOptions();
    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;
  }


  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.");
      ArUtil::sleep(1000);
      continue;
    }


    if(r & ArGPS::ReadUpdated)
    {
      if(printTable)
      {
        gps->printData(false);
        printf("\n");
      }
      else
      {
        gps->printData();
        printf("\r");
      }
      fflush(stdout);
      ArUtil::sleep(500);
      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!");
      }
      ArUtil::sleep(1000);
      continue;
    }

  }
  return 0;
}

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