ez_async_data/main.c

This example illustrates using the high-level VnEzAsyncData structure to access and easily connect to a VectorNav sensor on a system with an operating system and display current data from the VectorNav sensor.

Visual Studio (Windows)

1. Open the solution file for your specific Visual Studio version located at <root>/c/examples/ez_async_data/projects/vs20XX/ez_async_data.sln.
2. Open the project file main.c and edit the SENSOR_PORT and SENSOR_BAUDRATE constants at the top of the main() function to the settings used by your attached VectorNav sensor.
3. Build the entire solution by going to the menu BUILD -> Build Solution.
4. Right-click the project ez_async_data and select Debug -> Start new instance.

Make (Linux/Mac OS X)

1. Open a terminal and change to the directory <root>/c/examples/ez_async_data .
2. Open the file main.c and edit the SENSOR_PORT and SENSOR_BAUDRATE constants at the top of the main() function to the settings used by your attached VectorNav sensor.
3. To build the example, run the command make .
4. Run the example by executing the command sudo ./ez_async_data .

CLion (Windows/Linux/Mac OS X)

1. Open the project file located at <root>/c/examples/ez_async_data in CLion.
2. Open the project file main.c and edit the SENSOR_PORT and SENSOR_BAUDRATE constants at the top of the main() function to the settings used by your attached VectorNav sensor.
3. Make sure the ez_async_data configuration is active. You can set this by clicking the small drop-down list in the upper-right corner and selecting the option ez_async_data.
4. Build the solution by going to the menu Run -> Build.
5. Run the example by going to the menu Run -> Run 'ez_async_data'.

Other

To compile and run for an environment not listed here, you will need to add all of the *.c files in the directory <root>/c/src along with the file located at <root>/c/examples/ez_async_data/main.c to your project for compilation. You will also need to add <root>/c/include to your include directories. Finally, before compiling, open the file main.c and edit the SENSOR_PORT and SENSOR_BAUDRATE constants at the top of the main() function to the settings used by your attached VectorNav sensor.

#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;
}