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vnproglib/c/examples/ez_async_data/main.c

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+#include <stdio.h>
+
+/* Include files needed to use VnEzAsyncData. */
+#include "vn/sensors/ezasyncdata.h"
+
+int processErrorReceived(char* errorMessage, VnError errorCode);
+
+int main(void)
+{
+	VnEzAsyncData ez;
+	VnError error = E_NONE;
+	size_t i = 0;
+	char strConversions[50];
+
+	/* This example walks through using the VnEzAsyncData structure to easily access
+	 * asynchronous data from a VectorNav sensor at a slight performance hit which is
+	 * acceptable for many applications, especially simple data logging. */
+
+	/* First determine which COM port your sensor is attached to and update the
+	 * constant below. Also, if you have changed your sensor from the factory
+	 * default baudrate of 115200, you will need to update the baudrate
+	 * constant below as well. */
+	const char SENSOR_PORT[] = "COM1"; 	/* Windows format for physical and virtual (USB) serial port. */
+	/*const char SENSOR_PORT[] = "/dev/ttyS1"; */ /* Linux format for physical serial port. */
+	/*const char SENSOR_PORT[] = "/dev/ttyUSB0"; */ /* Linux format for virtual (USB) serial port. */
+	/*const char SENSOR_PORT[] = "/dev/tty.usbserial-FTXXXXXX"; */ /* Mac OS X format for virtual (USB) serial port. */
+	/*const char SENSOR_PORT[] = "/dev/ttyS0"; */ /* CYGWIN format. Usually the Windows COM port number minus 1. This would connect to COM1. */
+	const uint32_t SENSOR_BAUDRATE = 115200;
+
+	/* We call the initialize and connect method to connect with our VectorNav sensor. */
+	if ((error = VnEzAsyncData_initializeAndConnect(&ez, SENSOR_PORT, SENSOR_BAUDRATE)) != E_NONE)
+		return processErrorReceived("Error connecting to sensor.", error);
+
+	/* Now let's display the latest yaw, pitch, roll data at 5 Hz for 5 seconds. */
+	printf("Displaying yaw, pitch, roll at 5 Hz for 5 seconds.\n");
+	for (i = 0; i < 25; i++)
+	{
+		VnCompositeData cd;
+
+		VnThread_sleepMs(200);
+
+		cd = VnEzAsyncData_currentData(&ez);
+
+		str_vec3f(strConversions, cd.yawPitchRoll);
+		printf("Current YPR: %s\n", strConversions);
+	}
+
+	/* Most of the asynchronous data handling is done by VnEzAsyncData but there are times
+	 * when we wish to configure the sensor directly while still having VnEzAsyncData do
+	 * most of the grunt work. This is easily accomplished and we show changing the ASCII
+	 * asynchronous data output type here. */
+	if ((error = VnSensor_writeAsyncDataOutputType(VnEzAsyncData_sensor(&ez), VNYPR, true)) != E_NONE)
+		return processErrorReceived("Error setting async data output type.", error);
+
+	/* We can now display yaw, pitch, roll data from the new ASCII asynchronous data type. */
+	printf("Displaying yaw, pitch, roll from new ASCII async type.\n");
+	for (i = 0; i < 25; i++)
+	{
+		VnCompositeData cd;
+
+		VnThread_sleepMs(200);
+
+		cd = VnEzAsyncData_currentData(&ez);
+
+		str_vec3f(strConversions, cd.yawPitchRoll);
+		printf("Current YPR: %s\n", strConversions);
+	}
+
+	/* Now disconnect from the sensor since we are finished. */
+	if ((error = VnEzAsyncData_disconnectAndUninitialize(&ez)) != E_NONE)
+		return processErrorReceived("Error disconnecting from sensor.", error);
+
+	return 0;
+}
+
+int processErrorReceived(char* errorMessage, VnError errorCode)
+{
+	char errorCodeStr[100];
+	strFromVnError(errorCodeStr, errorCode);
+	printf("%s\nERROR: %s\n", errorMessage, errorCodeStr);
+	return -1;
+}