499 lines
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499 lines
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<div class="title">uart_protocol/main.cpp</div> </div>
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<p>This example illustrates basic connectivity and interaction with a VectorNav sensor using the low-level UART protocol code.</p>
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<h1><a class="anchor" id="vsCppUartProtocol"></a>
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Visual Studio (Windows)</h1>
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<ol type="1">
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<li>Open the solution file for your specific Visual Studio version located at <code><root>/cpp/examples/uart_protocol/projects/vs20XX/uart_protocol.sln</code>.</li>
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<li>Build the entire solution by going to the menu <code>BUILD -> Build Solution</code>.</li>
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<li>Right-click the project <code>uart_protocol</code> and select <code>Debug -> Start new instance</code> .</li>
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</ol>
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<h1><a class="anchor" id="makeCppUartProtocol"></a>
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Make (Linux/Mac OS X)</h1>
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<ol type="1">
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<li>Open a terminal and change to the directory <code><root>/cpp/examples/uart_protocol</code> .</li>
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<li>To build the example, run the command <code>make</code> .</li>
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<li>Run the example by executing the command <code>./uart_protocol</code> .</li>
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</ol>
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<h1><a class="anchor" id="cpplionCUartProtocol"></a>
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CLion (Windows/Linux/Mac OS X)</h1>
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<ol type="1">
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<li>Open the project file located at <code><root>/cpp/examples/uart_protocol</code> in CLion.</li>
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<li>Make sure the <code>uart_protocol</code> configuration is active. You can set this by clicking the small drop-down list in the upper-right corner and selecting the option <code>uart_protocol</code>.</li>
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<li>Build the solution by going to the menu <code>Run -> Build</code>.</li>
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<li>Run the example by going to the menu <code>Run -> Run 'uart_protocol'</code> .</li>
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</ol>
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<h1><a class="anchor" id="otherCppUartProtocol"></a>
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Other</h1>
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<p>To compile and run for an environment not listed here, you will need to add all of the <code>*.cpp</code> files in the directory <code><root>/cpp/src</code> along with the file located at <code><root>/c/examples/uart_protocol/main.c</code> to your project for compilation. You will also need to add <code><root>/cpp/include</code> to your include directories.</p>
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<div class="fragment"><div class="line"><span class="preprocessor">#include <iostream></span></div>
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<div class="line"><span class="preprocessor">#include <string.h></span></div>
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<div class="line"></div>
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<div class="line"><span class="comment">// Include this header file to get access to VectorNav UART protocol methods.</span></div>
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<div class="line"><span class="preprocessor">#include "vn/packet.h"</span></div>
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<div class="line"><span class="preprocessor">#include "vn/sensors.h"</span></div>
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<div class="line"></div>
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<div class="line"><span class="keyword">using namespace </span>std;</div>
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<div class="line"><span class="keyword">using namespace </span><a class="code" href="namespacevn_1_1math.html">vn::math</a>;</div>
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<div class="line"><span class="keyword">using namespace </span><a class="code" href="namespacevn_1_1protocol_1_1uart.html">vn::protocol::uart</a>;</div>
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<div class="line"></div>
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<div class="line"><span class="comment">// Method declarations for future use.</span></div>
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<div class="line"><span class="keywordtype">void</span> validPacketFoundHandler(<span class="keywordtype">void</span>* userData, <a name="_a0"></a><a class="code" href="structvn_1_1protocol_1_1uart_1_1_packet.html">Packet</a> &packet, <span class="keywordtype">size_t</span> runningIndexOfPacketStart);</div>
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<div class="line"><span class="keywordtype">void</span> UserUart_initialize();</div>
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<div class="line"><span class="keywordtype">void</span> UserUart_mockReceivedData(<span class="keywordtype">char</span>* buffer, <span class="keywordtype">size_t</span> bufferSize);</div>
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<div class="line"><span class="keywordtype">void</span> UserUart_mockReceivedData(<span class="keywordtype">string</span> data);</div>
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<div class="line"><span class="keywordtype">bool</span> UserUart_checkForReceivedData(<span class="keywordtype">char</span>* buffer, <span class="keywordtype">size_t</span> bufferSize, <span class="keywordtype">size_t</span>* numOfBytesReceived);</div>
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<div class="line"><span class="keywordtype">void</span> UserUart_sendData(<span class="keywordtype">char</span> *data, <span class="keywordtype">size_t</span> size);</div>
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<div class="line"></div>
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<div class="line"><span class="keywordtype">bool</span> gIsCheckingForModelNumberResponse = <span class="keyword">false</span>;</div>
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<div class="line"><span class="keywordtype">bool</span> gIsCheckingForAsyncOutputFreqResponse = <span class="keyword">false</span>;</div>
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<div class="line"><span class="keywordtype">bool</span> gIsCheckingForVpeBasicControlResponse = <span class="keyword">false</span>;</div>
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<div class="line"></div>
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<div class="line">uint8_t gEnable, gHeadingMode, gFilteringMode, gTuningMode;</div>
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<div class="line"></div>
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<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> *argv[])</div>
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<div class="line">{</div>
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<div class="line"> <span class="keywordtype">char</span> buffer[256];</div>
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<div class="line"> <span class="keywordtype">size_t</span> numOfBytes;</div>
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<div class="line"> uint8_t mockBinaryAsyncData[] = { 0xFA, 0x01, 0x09, 0x00, 0x70, 0x05, 0x00, 0x03, 0x0A, 0x00, 0x00, 0x00, 0x48, 0x0E, 0x2C, 0x42, 0x08, 0x4C, 0x37, 0xC1, 0x10, 0x38, 0x8B, 0xC2, 0xD4, 0xCB };</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// This example provides an overview of the UART protocol functionality</span></div>
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<div class="line"> <span class="comment">// of the VectorNav C++ Library.</span></div>
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<div class="line"> </div>
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<div class="line"> <span class="comment">// Using the UART Protocol allows communicating with a VectorNav sensor</span></div>
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<div class="line"> <span class="comment">// over a UART interface using both ASCII and binary protocols. Usage of</span></div>
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<div class="line"> <span class="comment">// just the UART Protocol features without the VnSensor object requires you</span></div>
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<div class="line"> <span class="comment">// to do all of the grunt work of initializing and managing the UART port</span></div>
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<div class="line"> <span class="comment">// for your development environment. Once this is setup, you will</span></div>
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<div class="line"> <span class="comment">// initialize the UART protocol and then simply pass arrays of data between</span></div>
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<div class="line"> <span class="comment">// your UART code and the VectorNav C++ Library's protocol code. To keep</span></div>
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<div class="line"> <span class="comment">// this example generic, we will mock the necessary UART initialization and</span></div>
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<div class="line"> <span class="comment">// management functions that would need to be replaced by code specific for</span></div>
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<div class="line"> <span class="comment">// your environment to tie into a real VectorNav sensor. For now we just</span></div>
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<div class="line"> <span class="comment">// use some fake data to illustrate the process.</span></div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// The Protocol structure encapsulates the data used for buffering and</span></div>
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<div class="line"> <span class="comment">// handling incoming data. It is not associated with sending commands to</span></div>
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<div class="line"> <span class="comment">// the sensor. This will be illustrated further in the example.</span></div>
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<div class="line"> <a name="_a1"></a><a class="code" href="classvn_1_1protocol_1_1uart_1_1_packet_finder.html">PacketFinder</a> pf;</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Register our callback method for when the PacketFinder finds an ASCII</span></div>
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<div class="line"> <span class="comment">// asynchronous packet.</span></div>
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<div class="line"> pf.<a name="a2"></a><a class="code" href="classvn_1_1protocol_1_1uart_1_1_packet_finder.html#a9e776aea3fee7838d59b2681914a2804">registerPossiblePacketFoundHandler</a>(NULL, <a name="a3"></a><a class="code" href="classvn_1_1protocol_1_1uart_1_1_packet_finder.html#ad2ecc4731a2ede8f263c88a03029fe4a">vn::protocol::uart::PacketFinder::ValidPacketFoundHandler</a>(validPacketFoundHandler));</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Initialize the UART port (this is mimicked in this example).</span></div>
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<div class="line"> UserUart_initialize();</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// With our PacketFinder and mock UART initialized, we will fake an</span></div>
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<div class="line"> <span class="comment">// asynchronous message output by a VectorNav sensor and received by our</span></div>
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<div class="line"> <span class="comment">// mock UART port.</span></div>
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<div class="line"> UserUart_mockReceivedData(<span class="stringliteral">"$VNYMR,+100.949,-007.330,+000.715,-00.0049,-00.2449,+00.5397,-01.258,-00.100,-09.701,-00.000018,+00.001122,-00.000551*69\r\n"</span>);</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Normally you will be continually checking for new UART data and then</span></div>
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<div class="line"> <span class="comment">// passing any received data to the PacketFinder to build, parse and</span></div>
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<div class="line"> <span class="comment">// verify data packets. Since this is just for demonstration purposes, we</span></div>
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<div class="line"> <span class="comment">// just poll the mock UART for its current data. In a real world</span></div>
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<div class="line"> <span class="comment">// environment where you are servicing a real UART port, you would have</span></div>
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<div class="line"> <span class="comment">// code similar to the code lines below.</span></div>
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<div class="line"> <span class="comment">//</span></div>
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<div class="line"> <span class="comment">// char buffer[256];</span></div>
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<div class="line"> <span class="comment">// while (1)</span></div>
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<div class="line"> <span class="comment">// {</span></div>
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<div class="line"> <span class="comment">// size_t numOfBytes;</span></div>
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<div class="line"> <span class="comment">// if (UserUart_checkForReceivedData(buffer, sizeof(buffer), &numOfBytes))</span></div>
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<div class="line"> <span class="comment">// VnUartPacketFinder_processReceivedData(buffer, numOfBytes);</span></div>
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<div class="line"> <span class="comment">// }</span></div>
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<div class="line"> UserUart_checkForReceivedData(buffer, <span class="keyword">sizeof</span>(buffer), &numOfBytes);</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Now when we pass the data to the PacketFinder, our function</span></div>
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<div class="line"> <span class="comment">// validPacketFoundHandler will be called since we passed in a complete</span></div>
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<div class="line"> <span class="comment">// and valid data packet. Scroll down to the function validPacketFoundHandler</span></div>
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<div class="line"> <span class="comment">// to see how to process and extract the values from the packet.</span></div>
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<div class="line"> pf.<a name="a4"></a><a class="code" href="classvn_1_1protocol_1_1uart_1_1_packet_finder.html#a433d1dda70ec1fdcfece9d0d80c4994e">processReceivedData</a>(buffer, numOfBytes);</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Processing received asynchronous data from the sensor is fairly straight</span></div>
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<div class="line"> <span class="comment">// forward. However, you may wish to query or configure the sensor and in</span></div>
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<div class="line"> <span class="comment">// theory this is still straight forward if you do not add code to handle</span></div>
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<div class="line"> <span class="comment">// retransmits of commands or communication timeouts. We will show the</span></div>
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<div class="line"> <span class="comment">// basic structure of querying and configuring and leave it to the</span></div>
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<div class="line"> <span class="comment">// developer for adding edge case handling code. The file sensors.cpp may</span></div>
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<div class="line"> <span class="comment">// serve as a reference for adding this extra code.</span></div>
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<div class="line"> </div>
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<div class="line"> <span class="comment">// We will first illustrate querying the sensor's model number. First we</span></div>
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<div class="line"> <span class="comment">// generate a read register command.</span></div>
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<div class="line"> numOfBytes = Packet::genReadModelNumber(ERRORDETECTIONMODE_CHECKSUM, buffer, <span class="keyword">sizeof</span>(buffer));</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Now send the data to the sensor.</span></div>
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<div class="line"> gIsCheckingForModelNumberResponse = <span class="keyword">true</span>;</div>
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<div class="line"> UserUart_sendData(buffer, numOfBytes);</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Mock that the sensor responded to our request.</span></div>
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<div class="line"> UserUart_mockReceivedData(<span class="stringliteral">"$VNRRG,01,VN-200T-CR*31\r\n"</span>);</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Now process the mock data that our fake UART port received and hand it</span></div>
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<div class="line"> <span class="comment">// over to our UART packet finder.</span></div>
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<div class="line"> UserUart_checkForReceivedData(buffer, <span class="keyword">sizeof</span>(buffer), &numOfBytes);</div>
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<div class="line"> pf.<a class="code" href="classvn_1_1protocol_1_1uart_1_1_packet_finder.html#a433d1dda70ec1fdcfece9d0d80c4994e">processReceivedData</a>(buffer, numOfBytes);</div>
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<div class="line"> gIsCheckingForModelNumberResponse = <span class="keyword">false</span>;</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Let's see how to perform a trivial configuration of the sensor. We will</span></div>
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<div class="line"> <span class="comment">// change the asynchronous data output frequency to 2 Hz.</span></div>
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<div class="line"> numOfBytes = Packet::genWriteAsyncDataOutputFrequency(ERRORDETECTIONMODE_CHECKSUM, buffer, <span class="keyword">sizeof</span>(buffer), 2);</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Now send the data to the sensor.</span></div>
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<div class="line"> gIsCheckingForAsyncOutputFreqResponse = <span class="keyword">true</span>;</div>
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<div class="line"> UserUart_sendData(buffer, numOfBytes);</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Mock that the sensor responded to our request.</span></div>
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<div class="line"> UserUart_mockReceivedData(<span class="stringliteral">"$VNWRG,07,2*6F\r\n"</span>);</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Now process the mock data that our fake UART port received and hand it</span></div>
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<div class="line"> <span class="comment">// over to our UART packet finder.</span></div>
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<div class="line"> UserUart_checkForReceivedData(buffer, <span class="keyword">sizeof</span>(buffer), &numOfBytes);</div>
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<div class="line"> pf.<a class="code" href="classvn_1_1protocol_1_1uart_1_1_packet_finder.html#a433d1dda70ec1fdcfece9d0d80c4994e">processReceivedData</a>(buffer, numOfBytes);</div>
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<div class="line"> gIsCheckingForAsyncOutputFreqResponse = <span class="keyword">false</span>;</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Other configuration registers on the VectorNav sensors have multiple</span></div>
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<div class="line"> <span class="comment">// fields that need to be set when we write to them. If we only are</span></div>
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<div class="line"> <span class="comment">// interested in one field, a safe and easy way to perform this is to first</span></div>
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<div class="line"> <span class="comment">// read the current configuration, change the fields we are concerned with,</span></div>
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<div class="line"> <span class="comment">// and then write the settings back to the sensor. We will illustrate this</span></div>
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<div class="line"> <span class="comment">// now by changing the sensors heading mode of the VPE Basic Control</span></div>
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<div class="line"> <span class="comment">// register.</span></div>
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<div class="line"> </div>
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<div class="line"> cout << <span class="stringliteral">"Reading current values of the VPE Basic Control register."</span> << endl;</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// First generate a read register command.</span></div>
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<div class="line"> numOfBytes = Packet::genReadVpeBasicControl(ERRORDETECTIONMODE_CHECKSUM, buffer, <span class="keyword">sizeof</span>(buffer));</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Now send the data to the sensor.</span></div>
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<div class="line"> gIsCheckingForVpeBasicControlResponse = <span class="keyword">true</span>;</div>
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<div class="line"> UserUart_sendData(buffer, numOfBytes);</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Mock that the sensor responded to our request.</span></div>
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<div class="line"> UserUart_mockReceivedData(<span class="stringliteral">"$VNRRG,35,1,1,1,1*75\r\n"</span>);</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">// Now process the mock data that our fake UART port received and hand it</span></div>
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<div class="line"> <span class="comment">// over to our UART packet finder.</span></div>
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|
<div class="line"> UserUart_checkForReceivedData(buffer, <span class="keyword">sizeof</span>(buffer), &numOfBytes);</div>
|
|
<div class="line"> pf.<a class="code" href="classvn_1_1protocol_1_1uart_1_1_packet_finder.html#a433d1dda70ec1fdcfece9d0d80c4994e">processReceivedData</a>(buffer, numOfBytes);</div>
|
|
<div class="line"> gIsCheckingForVpeBasicControlResponse = <span class="keyword">false</span>;</div>
|
|
<div class="line"></div>
|
|
<div class="line"> <span class="comment">// The validPacketFoundHandler will have set the current values of the VPE</span></div>
|
|
<div class="line"> <span class="comment">// Basic Control register into our global variables. Let's now change the</span></div>
|
|
<div class="line"> <span class="comment">// heading mode field for this register while keeping the other fields in</span></div>
|
|
<div class="line"> <span class="comment">// their current state.</span></div>
|
|
<div class="line"></div>
|
|
<div class="line"> cout << <span class="stringliteral">"Writing new values to the VPE Basic Control register."</span> << endl;</div>
|
|
<div class="line"></div>
|
|
<div class="line"> <span class="comment">// Generate the write register command.</span></div>
|
|
<div class="line"> numOfBytes = Packet::genWriteVpeBasicControl(</div>
|
|
<div class="line"> ERRORDETECTIONMODE_CHECKSUM,</div>
|
|
<div class="line"> buffer,</div>
|
|
<div class="line"> <span class="keyword">sizeof</span>(buffer),</div>
|
|
<div class="line"> gEnable,</div>
|
|
<div class="line"> 0, <span class="comment">// Could possibly use a value from the enum HeadingMode in sensors.h.</span></div>
|
|
<div class="line"> gFilteringMode,</div>
|
|
<div class="line"> gTuningMode);</div>
|
|
<div class="line"></div>
|
|
<div class="line"> <span class="comment">// Send the data to the sensor.</span></div>
|
|
<div class="line"> gIsCheckingForVpeBasicControlResponse = <span class="keyword">true</span>;</div>
|
|
<div class="line"> UserUart_sendData(buffer, numOfBytes);</div>
|
|
<div class="line"></div>
|
|
<div class="line"> <span class="comment">// Mock that the sensor responded to our request.</span></div>
|
|
<div class="line"> UserUart_mockReceivedData(<span class="stringliteral">"$VNWRG,35,1,0,1,1*71\r\n"</span>);</div>
|
|
<div class="line"></div>
|
|
<div class="line"> <span class="comment">// Process the mock data that our fake UART port received and hand it</span></div>
|
|
<div class="line"> <span class="comment">// over to our UART packet finder.</span></div>
|
|
<div class="line"> UserUart_checkForReceivedData(buffer, <span class="keyword">sizeof</span>(buffer), &numOfBytes);</div>
|
|
<div class="line"> pf.<a class="code" href="classvn_1_1protocol_1_1uart_1_1_packet_finder.html#a433d1dda70ec1fdcfece9d0d80c4994e">processReceivedData</a>(buffer, numOfBytes);</div>
|
|
<div class="line"> gIsCheckingForVpeBasicControlResponse = <span class="keyword">false</span>;</div>
|
|
<div class="line"></div>
|
|
<div class="line"> <span class="comment">// The VectorNav sensor also supports binary asynchronous data output,</span></div>
|
|
<div class="line"> <span class="comment">// which can be configured by the user to support flexible configuration of</span></div>
|
|
<div class="line"> <span class="comment">// data output types. In this example, we will show how to configure the</span></div>
|
|
<div class="line"> <span class="comment">// sensor's binary output configuration register, and then process a packet</span></div>
|
|
<div class="line"> <span class="comment">// received of this binary output data.</span></div>
|
|
<div class="line"></div>
|
|
<div class="line"> <span class="comment">// Generate our command to configure the Binary Output 1 register. Normally</span></div>
|
|
<div class="line"> <span class="comment">// when working with the functions from the file uart.h, the data types as</span></div>
|
|
<div class="line"> <span class="comment">// listed in the user manual are used, without any abstractions getting in</span></div>
|
|
<div class="line"> <span class="comment">// the way. However, here we use some enums defined in sensors.h for</span></div>
|
|
<div class="line"> <span class="comment">// specifying the flags of the register's fields since it is much easier to</span></div>
|
|
<div class="line"> <span class="comment">// understand. Here we configure the sensor to output yaw, pitch, roll and</span></div>
|
|
<div class="line"> <span class="comment">// timestart data at 4 Hz. Note that the sensor's user manual requires</span></div>
|
|
<div class="line"> <span class="comment">// specifying which groups are present; however, this function call will</span></div>
|
|
<div class="line"> <span class="comment">// take care of determining which fields are present.</span></div>
|
|
<div class="line"> numOfBytes = Packet::genWriteBinaryOutput1(</div>
|
|
<div class="line"> ERRORDETECTIONMODE_CHECKSUM,</div>
|
|
<div class="line"> buffer,</div>
|
|
<div class="line"> <span class="keyword">sizeof</span>(buffer),</div>
|
|
<div class="line"> ASYNCMODE_PORT1,</div>
|
|
<div class="line"> 200,</div>
|
|
<div class="line"> COMMONGROUP_TIMESTARTUP | COMMONGROUP_YAWPITCHROLL, <span class="comment">// Note use of binary OR to configure flags.</span></div>
|
|
<div class="line"> TIMEGROUP_NONE,</div>
|
|
<div class="line"> IMUGROUP_NONE,</div>
|
|
<div class="line"> GPSGROUP_NONE,</div>
|
|
<div class="line"> ATTITUDEGROUP_NONE,</div>
|
|
<div class="line"> INSGROUP_NONE);</div>
|
|
<div class="line"></div>
|
|
<div class="line"> <span class="comment">// Send the data to the sensor.</span></div>
|
|
<div class="line"> UserUart_sendData(buffer, numOfBytes);</div>
|
|
<div class="line"></div>
|
|
<div class="line"> <span class="comment">// Mock that the sensor responded to our request by outputting async binary data.</span></div>
|
|
<div class="line"> UserUart_mockReceivedData(reinterpret_cast<char*>(mockBinaryAsyncData), <span class="keyword">sizeof</span>(mockBinaryAsyncData));</div>
|
|
<div class="line"></div>
|
|
<div class="line"> <span class="comment">// Process the mock data that our fake UART port received and hand it</span></div>
|
|
<div class="line"> <span class="comment">// over to our UART packet finder.</span></div>
|
|
<div class="line"> UserUart_checkForReceivedData(buffer, <span class="keyword">sizeof</span>(buffer), &numOfBytes);</div>
|
|
<div class="line"> pf.<a class="code" href="classvn_1_1protocol_1_1uart_1_1_packet_finder.html#a433d1dda70ec1fdcfece9d0d80c4994e">processReceivedData</a>(buffer, numOfBytes);</div>
|
|
<div class="line"></div>
|
|
<div class="line"> <span class="comment">// Lastly, you may want to include code that checks for error messages</span></div>
|
|
<div class="line"> <span class="comment">// output from the sensor. To demonstrate, we pass a fake error message to</span></div>
|
|
<div class="line"> <span class="comment">// be handled by our code.</span></div>
|
|
<div class="line"> UserUart_mockReceivedData(<span class="stringliteral">"$VNERR,12*72\r\n"</span>);</div>
|
|
<div class="line"> UserUart_checkForReceivedData(buffer, <span class="keyword">sizeof</span>(buffer), &numOfBytes);</div>
|
|
<div class="line"> pf.<a class="code" href="classvn_1_1protocol_1_1uart_1_1_packet_finder.html#a433d1dda70ec1fdcfece9d0d80c4994e">processReceivedData</a>(buffer, numOfBytes);</div>
|
|
<div class="line"></div>
|
|
<div class="line"> <span class="keywordflow">return</span> 0;</div>
|
|
<div class="line">}</div>
|
|
<div class="line"></div>
|
|
<div class="line"><span class="keywordtype">void</span> validPacketFoundHandler(<span class="keywordtype">void</span>* userData, <a class="code" href="structvn_1_1protocol_1_1uart_1_1_packet.html">Packet</a> &packet, <span class="keywordtype">size_t</span> runningIndexOfPacketStart)</div>
|
|
<div class="line">{</div>
|
|
<div class="line"> <span class="comment">// When this function is called, the packet will already have been</span></div>
|
|
<div class="line"> <span class="comment">// validated so no checksum/CRC check is required.</span></div>
|
|
<div class="line"></div>
|
|
<div class="line"> <span class="comment">// First see if this is an ASCII or binary packet.</span></div>
|
|
<div class="line"> <span class="keywordflow">if</span> (packet.<a name="a5"></a><a class="code" href="structvn_1_1protocol_1_1uart_1_1_packet.html#a673e63cf13227931bc6c1309b47bbc7c">type</a>() == Packet::TYPE_ASCII)</div>
|
|
<div class="line"> {</div>
|
|
<div class="line"> <span class="comment">// Now that we know this is an ASCII packet, we can call the various</span></div>
|
|
<div class="line"> <span class="comment">// ASCII functions to further process this packet.</span></div>
|
|
<div class="line"> <span class="keywordflow">if</span> (packet.<a name="a6"></a><a class="code" href="structvn_1_1protocol_1_1uart_1_1_packet.html#a86c26ef2939346c3c1ccdb70176bbe42">isAsciiAsync</a>())</div>
|
|
<div class="line"> {</div>
|
|
<div class="line"> <span class="comment">// We know we have an ASCII asynchronous data packet. Let's see if</span></div>
|
|
<div class="line"> <span class="comment">// this is a message type we are looking for.</span></div>
|
|
<div class="line"> AsciiAsync asyncType = packet.<a name="a7"></a><a class="code" href="structvn_1_1protocol_1_1uart_1_1_packet.html#aac35580a613fcb4677b31bde124787f5">determineAsciiAsyncType</a>();</div>
|
|
<div class="line"></div>
|
|
<div class="line"> <span class="keywordflow">if</span> (asyncType == VNYMR)</div>
|
|
<div class="line"> {</div>
|
|
<div class="line"> <span class="comment">// Parse the VNYMR message.</span></div>
|
|
<div class="line"> <a name="_a8"></a><a class="code" href="structvn_1_1math_1_1vec.html">vec3f</a> ypr, mag, accel, angularRate;</div>
|
|
<div class="line"> packet.<a name="a9"></a><a class="code" href="group__uart_packet_ascii_async_parsers.html#ga3b96b423fc20c6d8175d037b92df0ac3">parseVNYMR</a>(&ypr, &mag, &accel, &angularRate);</div>
|
|
<div class="line"></div>
|
|
<div class="line"> cout << <span class="stringliteral">"[Found VNYMR Packet]"</span> << endl;</div>
|
|
<div class="line"> cout << <span class="stringliteral">" YawPitchRoll: "</span> << ypr << endl;</div>
|
|
<div class="line"> cout << <span class="stringliteral">" Magnetic: "</span> << mag << endl;</div>
|
|
<div class="line"> cout << <span class="stringliteral">" Acceleration: "</span> << accel << endl;</div>
|
|
<div class="line"> cout << <span class="stringliteral">" Angular Rate: "</span> << angularRate << endl;</div>
|
|
<div class="line"> }</div>
|
|
<div class="line"> }</div>
|
|
<div class="line"> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (packet.<a name="a10"></a><a class="code" href="structvn_1_1protocol_1_1uart_1_1_packet.html#a7d5948d6bec2ce409f533e1e89bd46d4">isResponse</a>())</div>
|
|
<div class="line"> {</div>
|
|
<div class="line"> <span class="keywordflow">if</span> (gIsCheckingForModelNumberResponse)</div>
|
|
<div class="line"> {</div>
|
|
<div class="line"> <span class="keywordtype">char</span> modelNumber[100];</div>
|
|
<div class="line"></div>
|
|
<div class="line"> packet.<a name="a11"></a><a class="code" href="group__uart_ascii_response_parsers.html#ga8b6517ab04af71c8b71ac2133219f35b">parseModelNumber</a>(modelNumber);</div>
|
|
<div class="line"></div>
|
|
<div class="line"> cout << <span class="stringliteral">"Model Number: "</span> << modelNumber << endl;</div>
|
|
<div class="line"> }</div>
|
|
<div class="line"> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (gIsCheckingForAsyncOutputFreqResponse)</div>
|
|
<div class="line"> {</div>
|
|
<div class="line"> uint32_t asyncOutputFreq;</div>
|
|
<div class="line"></div>
|
|
<div class="line"> packet.<a name="a12"></a><a class="code" href="group__uart_ascii_response_parsers.html#gabf6b21b86d05b6b6c59f3a1fd7b245a7">parseAsyncDataOutputFrequency</a>(&asyncOutputFreq);</div>
|
|
<div class="line"></div>
|
|
<div class="line"> cout << <span class="stringliteral">"Asynchronous Output Frequency: "</span> << asyncOutputFreq << <span class="stringliteral">" Hz"</span> << endl;</div>
|
|
<div class="line"> }</div>
|
|
<div class="line"> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (gIsCheckingForVpeBasicControlResponse)</div>
|
|
<div class="line"> {</div>
|
|
<div class="line"> packet.<a name="a13"></a><a class="code" href="group__uart_ascii_response_parsers.html#gaac03e6d64655a22820c05bded7f66deb">parseVpeBasicControl</a>(&gEnable, &gHeadingMode, &gFilteringMode, &gTuningMode);</div>
|
|
<div class="line"></div>
|
|
<div class="line"> cout << <span class="stringliteral">"[VPE Basic Control]"</span> << endl;</div>
|
|
<div class="line"> cout << <span class="stringliteral">" Enable: "</span> << (gEnable ? <span class="stringliteral">"true"</span> : <span class="stringliteral">"false"</span>) << endl;</div>
|
|
<div class="line"> cout << <span class="stringliteral">" Heading Mode: "</span> << <span class="keyword">static_cast<</span>vn::protocol::uart::HeadingMode<span class="keyword">></span>(gHeadingMode) << endl;</div>
|
|
<div class="line"> cout << <span class="stringliteral">" Filtering Mode: "</span> << <span class="keyword">static_cast<</span>vn::protocol::uart::FilterMode<span class="keyword">></span>(gFilteringMode) << endl;</div>
|
|
<div class="line"> cout << <span class="stringliteral">" Tuning Mode: "</span> << <span class="keyword">static_cast<</span>vn::protocol::uart::FilterMode<span class="keyword">></span>(gTuningMode) << endl;</div>
|
|
<div class="line"> }</div>
|
|
<div class="line"> }</div>
|
|
<div class="line"> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (packet.<a name="a14"></a><a class="code" href="structvn_1_1protocol_1_1uart_1_1_packet.html#a526fbedc50f063405118cc5890fbcb0b">isError</a>())</div>
|
|
<div class="line"> {</div>
|
|
<div class="line"> cout << <span class="stringliteral">"Sensor Error: "</span> << packet.<a name="a15"></a><a class="code" href="structvn_1_1protocol_1_1uart_1_1_packet.html#a018e534f5007b9313264ee7f270ce177">parseError</a>() << endl;</div>
|
|
<div class="line"> }</div>
|
|
<div class="line"> }</div>
|
|
<div class="line"> <span class="keywordflow">else</span> <span class="keywordflow">if</span> (packet.<a class="code" href="structvn_1_1protocol_1_1uart_1_1_packet.html#a673e63cf13227931bc6c1309b47bbc7c">type</a>() == Packet::TYPE_BINARY)</div>
|
|
<div class="line"> {</div>
|
|
<div class="line"> uint64_t timeStartup;</div>
|
|
<div class="line"> <a class="code" href="structvn_1_1math_1_1vec.html">vec3f</a> ypr;</div>
|
|
<div class="line"></div>
|
|
<div class="line"> <span class="comment">// See if this is a binary packet type we are expecting.</span></div>
|
|
<div class="line"> <span class="keywordflow">if</span> (!packet.<a name="a16"></a><a class="code" href="structvn_1_1protocol_1_1uart_1_1_packet.html#afa1df5ba1214f4359a3b3b0d02446f0a">isCompatible</a>(</div>
|
|
<div class="line"> COMMONGROUP_TIMESTARTUP | COMMONGROUP_YAWPITCHROLL,</div>
|
|
<div class="line"> TIMEGROUP_NONE,</div>
|
|
<div class="line"> IMUGROUP_NONE,</div>
|
|
<div class="line"> GPSGROUP_NONE,</div>
|
|
<div class="line"> ATTITUDEGROUP_NONE,</div>
|
|
<div class="line"> INSGROUP_NONE))</div>
|
|
<div class="line"> {</div>
|
|
<div class="line"> <span class="comment">// Not the type of binary packet we are expecting.</span></div>
|
|
<div class="line"> <span class="keywordflow">return</span>;</div>
|
|
<div class="line"> }</div>
|
|
<div class="line"></div>
|
|
<div class="line"> <span class="comment">// Ok, we have our expected binary output packet. Since there are many</span></div>
|
|
<div class="line"> <span class="comment">// ways to configure the binary data output, the burden is on the user</span></div>
|
|
<div class="line"> <span class="comment">// to correctly parse the binary packet. However, we can make use of</span></div>
|
|
<div class="line"> <span class="comment">// the parsing convenience methods provided by the VnUartPacket structure.</span></div>
|
|
<div class="line"> <span class="comment">// When using these convenience methods, you have to extract them in</span></div>
|
|
<div class="line"> <span class="comment">// the order they are organized in the binary packet per the User Manual.</span></div>
|
|
<div class="line"> timeStartup = packet.<a name="a17"></a><a class="code" href="group__uart_packet_binary_extractors.html#ga4792b2e7cd05e47792c8eda1402f521a">extractUint64</a>();</div>
|
|
<div class="line"> ypr = packet.<a name="a18"></a><a class="code" href="group__uart_packet_binary_extractors.html#ga9d966dba94a885948aa1c734a76f12f6">extractVec3f</a>();</div>
|
|
<div class="line"> cout << <span class="stringliteral">"[Binary Packet Received]"</span> << endl;</div>
|
|
<div class="line"> cout << <span class="stringliteral">" TimeStartup: "</span> << timeStartup << endl;</div>
|
|
<div class="line"> cout << <span class="stringliteral">" Yaw Pitch Roll: "</span> << ypr << endl;</div>
|
|
<div class="line"> }</div>
|
|
<div class="line">}</div>
|
|
<div class="line"></div>
|
|
<div class="line"><span class="comment">// Some variables to enable our mock UART port.</span></div>
|
|
<div class="line"><span class="keywordtype">char</span>* mockUartReceivedDataBuffer[256];</div>
|
|
<div class="line"><span class="keywordtype">size_t</span> mockUartReceivedDataSize;</div>
|
|
<div class="line"></div>
|
|
<div class="line"><span class="comment">// This is a mock function which in a real development environment would</span></div>
|
|
<div class="line"><span class="comment">// contain code to initialize the device's UART port. However, to keep this</span></div>
|
|
<div class="line"><span class="comment">// example generic, we simply initialize our program to mimic a UART port</span></div>
|
|
<div class="line"><span class="comment">// provided by the user. </span></div>
|
|
<div class="line"><span class="keywordtype">void</span> UserUart_initialize()</div>
|
|
<div class="line">{</div>
|
|
<div class="line"> mockUartReceivedDataSize = 0;</div>
|
|
<div class="line">}</div>
|
|
<div class="line"></div>
|
|
<div class="line"><span class="comment">// This is a helper method for our mocked UART port that will mimic data that</span></div>
|
|
<div class="line"><span class="comment">// has been received on a UART port. This function would not be implemented in</span></div>
|
|
<div class="line"><span class="comment">// an environment that is using an actual UART port.</span></div>
|
|
<div class="line"><span class="keywordtype">void</span> UserUart_mockReceivedData(<span class="keywordtype">char</span>* buffer, <span class="keywordtype">size_t</span> bufferSize)</div>
|
|
<div class="line">{</div>
|
|
<div class="line"> memcpy(mockUartReceivedDataBuffer, buffer, bufferSize);</div>
|
|
<div class="line"> mockUartReceivedDataSize = bufferSize;</div>
|
|
<div class="line">}</div>
|
|
<div class="line"></div>
|
|
<div class="line"><span class="comment">// Convenient override of above method.</span></div>
|
|
<div class="line"><span class="keywordtype">void</span> UserUart_mockReceivedData(<span class="keywordtype">string</span> data)</div>
|
|
<div class="line">{</div>
|
|
<div class="line"> memcpy(mockUartReceivedDataBuffer, data.c_str(), data.length());</div>
|
|
<div class="line"> mockUartReceivedDataSize = data.length();</div>
|
|
<div class="line">}</div>
|
|
<div class="line"></div>
|
|
<div class="line"><span class="comment">// This is another mock function which would be replaced in a real program to</span></div>
|
|
<div class="line"><span class="comment">// actually query the environment's UART for any data received. We just mock</span></div>
|
|
<div class="line"><span class="comment">// the data in this example.</span></div>
|
|
<div class="line"><span class="keywordtype">bool</span> UserUart_checkForReceivedData(<span class="keywordtype">char</span>* buffer, <span class="keywordtype">size_t</span> bufferSize, <span class="keywordtype">size_t</span>* numOfBytesReceived)</div>
|
|
<div class="line">{</div>
|
|
<div class="line"> <span class="keywordflow">if</span> (mockUartReceivedDataSize == 0)</div>
|
|
<div class="line"> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
|
|
<div class="line"></div>
|
|
<div class="line"> memcpy(buffer, mockUartReceivedDataBuffer, mockUartReceivedDataSize);</div>
|
|
<div class="line"> *numOfBytesReceived = mockUartReceivedDataSize;</div>
|
|
<div class="line"></div>
|
|
<div class="line"> mockUartReceivedDataSize = 0;</div>
|
|
<div class="line"></div>
|
|
<div class="line"> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
|
|
<div class="line">}</div>
|
|
<div class="line"></div>
|
|
<div class="line"><span class="comment">// This is a method for simulating sending data to a VectorNav sensor. This</span></div>
|
|
<div class="line"><span class="comment">// will need to be implemented by the developer to actually send the data over</span></div>
|
|
<div class="line"><span class="comment">// the system's UART.</span></div>
|
|
<div class="line"><span class="keywordtype">void</span> UserUart_sendData(<span class="keywordtype">char</span> *data, <span class="keywordtype">size_t</span> size)</div>
|
|
<div class="line">{</div>
|
|
<div class="line"> <span class="comment">// Do nothing since we are mocking a UART port.</span></div>
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<div class="line">}</div>
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</div><!-- fragment --> </div><!-- contents -->
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<!-- start footer part -->
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<hr class="footer"/><address class="footer"><small>
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Generated on Tue Jan 3 2017 18:27:03 for VectorNav C++ Library by  <a href="http://www.doxygen.org/index.html">
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<img class="footer" src="doxygen.png" alt="doxygen"/>
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</a> 1.8.10
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</small></address>
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</body>
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</html>
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