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<div id="projectname">VectorNav C Library
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<div class="title">ez_async_data/main.c</div> </div>
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<p>This example illustrates using the high-level <a class="el" href="struct_vn_ez_async_data.html" title="Structure supporting easy and reliable access to asynchronous data from a VectorNav sensor at the cos...">VnEzAsyncData</a> 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.</p>
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<h1><a class="anchor" id="vsCEzAsyncData"></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>/c/examples/ez_async_data/projects/vs20XX/ez_async_data.sln</code>.</li>
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<li>Open the project file <code>main.c</code> and edit the <code>SENSOR_PORT</code> and <code>SENSOR_BAUDRATE</code> constants at the top of the <code>main()</code> function to the settings used by your attached VectorNav sensor.</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>ez_async_data</code> and select <code>Debug -> Start new instance</code>.</li>
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</ol>
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<h1><a class="anchor" id="makeCEzAsyncData"></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>/c/examples/ez_async_data</code> .</li>
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<li>Open the file <code>main.c</code> and edit the <code>SENSOR_PORT</code> and <code>SENSOR_BAUDRATE</code> constants at the top of the <code>main()</code> function to the settings used by your attached VectorNav sensor.</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>sudo ./ez_async_data</code> .</li>
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</ol>
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<h1><a class="anchor" id="clionCEzAsyncData"></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>/c/examples/ez_async_data</code> in CLion.</li>
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<li>Open the project file <code>main.c</code> and edit the <code>SENSOR_PORT</code> and <code>SENSOR_BAUDRATE</code> constants at the top of the <code>main()</code> function to the settings used by your attached VectorNav sensor.</li>
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<li>Make sure the <code>ez_async_data</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>ez_async_data</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 'ez_async_data'</code>.</li>
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</ol>
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<h1><a class="anchor" id="otherCEzAsyncData"></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>*.c</code> files in the directory <code><root>/c/src</code> along with the file located at <code><root>/c/examples/ez_async_data/main.c</code> to your project for compilation. You will also need to add <code><root>/c/include</code> to your include directories. Finally, before compiling, open the file <code>main.c</code> and edit the <code>SENSOR_PORT</code> and <code>SENSOR_BAUDRATE</code> constants at the top of the <code>main()</code> function to the settings used by your attached VectorNav sensor.</p>
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<div class="fragment"><div class="line"><span class="preprocessor">#include <stdio.h></span></div>
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<div class="line"></div>
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<div class="line"><span class="comment">/* Include files needed to use VnEzAsyncData. */</span></div>
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<div class="line"><span class="preprocessor">#include "vn/sensors/ezasyncdata.h"</span></div>
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<div class="line"></div>
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<div class="line"><span class="keywordtype">int</span> processErrorReceived(<span class="keywordtype">char</span>* errorMessage, VnError errorCode);</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">void</span>)</div>
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<div class="line">{</div>
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<div class="line"> <a name="_a0"></a><a class="code" href="struct_vn_ez_async_data.html">VnEzAsyncData</a> ez;</div>
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<div class="line"> VnError error = E_NONE;</div>
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<div class="line"> <span class="keywordtype">size_t</span> i = 0;</div>
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<div class="line"> <span class="keywordtype">char</span> strConversions[50];</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">/* This example walks through using the VnEzAsyncData structure to easily access</span></div>
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<div class="line"><span class="comment"> * asynchronous data from a VectorNav sensor at a slight performance hit which is</span></div>
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<div class="line"><span class="comment"> * acceptable for many applications, especially simple data logging. */</span></div>
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<div class="line"></div>
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<div class="line"> <span class="comment">/* First determine which COM port your sensor is attached to and update the</span></div>
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<div class="line"><span class="comment"> * constant below. Also, if you have changed your sensor from the factory</span></div>
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<div class="line"><span class="comment"> * default baudrate of 115200, you will need to update the baudrate</span></div>
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<div class="line"><span class="comment"> * constant below as well. */</span></div>
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<div class="line"> <span class="keyword">const</span> <span class="keywordtype">char</span> SENSOR_PORT[] = <span class="stringliteral">"COM1"</span>; <span class="comment">/* Windows format for physical and virtual (USB) serial port. */</span></div>
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<div class="line"> <span class="comment">/*const char SENSOR_PORT[] = "/dev/ttyS1"; */</span> <span class="comment">/* Linux format for physical serial port. */</span></div>
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<div class="line"> <span class="comment">/*const char SENSOR_PORT[] = "/dev/ttyUSB0"; */</span> <span class="comment">/* Linux format for virtual (USB) serial port. */</span></div>
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<div class="line"> <span class="comment">/*const char SENSOR_PORT[] = "/dev/tty.usbserial-FTXXXXXX"; */</span> <span class="comment">/* Mac OS X format for virtual (USB) serial port. */</span></div>
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<div class="line"> <span class="comment">/*const char SENSOR_PORT[] = "/dev/ttyS0"; */</span> <span class="comment">/* CYGWIN format. Usually the Windows COM port number minus 1. This would connect to COM1. */</span></div>
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<div class="line"> <span class="keyword">const</span> uint32_t SENSOR_BAUDRATE = 115200;</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">/* We call the initialize and connect method to connect with our VectorNav sensor. */</span></div>
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<div class="line"> <span class="keywordflow">if</span> ((error = VnEzAsyncData_initializeAndConnect(&ez, SENSOR_PORT, SENSOR_BAUDRATE)) != E_NONE)</div>
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<div class="line"> <span class="keywordflow">return</span> processErrorReceived(<span class="stringliteral">"Error connecting to sensor."</span>, error);</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">/* Now let's display the latest yaw, pitch, roll data at 5 Hz for 5 seconds. */</span></div>
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<div class="line"> printf(<span class="stringliteral">"Displaying yaw, pitch, roll at 5 Hz for 5 seconds.\n"</span>);</div>
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<div class="line"> <span class="keywordflow">for</span> (i = 0; i < 25; i++)</div>
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<div class="line"> {</div>
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<div class="line"> <a name="_a1"></a><a class="code" href="struct_vn_composite_data.html">VnCompositeData</a> cd;</div>
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<div class="line"></div>
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<div class="line"> <a name="a2"></a><a class="code" href="thread_8h.html#ae184a96ccf6c94c4b9d7b937655b0c44">VnThread_sleepMs</a>(200);</div>
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<div class="line"></div>
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<div class="line"> cd = VnEzAsyncData_currentData(&ez);</div>
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<div class="line"></div>
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<div class="line"> str_vec3f(strConversions, cd.<a name="a3"></a><a class="code" href="struct_vn_composite_data.html#a422bd966180f1f455de6f4d6b9e60d17">yawPitchRoll</a>);</div>
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<div class="line"> printf(<span class="stringliteral">"Current YPR: %s\n"</span>, strConversions);</div>
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<div class="line"> }</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">/* Most of the asynchronous data handling is done by VnEzAsyncData but there are times</span></div>
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<div class="line"><span class="comment"> * when we wish to configure the sensor directly while still having VnEzAsyncData do</span></div>
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<div class="line"><span class="comment"> * most of the grunt work. This is easily accomplished and we show changing the ASCII</span></div>
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<div class="line"><span class="comment"> * asynchronous data output type here. */</span></div>
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<div class="line"> <span class="keywordflow">if</span> ((error = <a name="a4"></a><a class="code" href="group__register_access_methods.html#gaf36c1e47164b6462c07708b5971f97cf">VnSensor_writeAsyncDataOutputType</a>(VnEzAsyncData_sensor(&ez), VNYPR, <span class="keyword">true</span>)) != E_NONE)</div>
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<div class="line"> <span class="keywordflow">return</span> processErrorReceived(<span class="stringliteral">"Error setting async data output type."</span>, error);</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">/* We can now display yaw, pitch, roll data from the new ASCII asynchronous data type. */</span></div>
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<div class="line"> printf(<span class="stringliteral">"Displaying yaw, pitch, roll from new ASCII async type.\n"</span>);</div>
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<div class="line"> <span class="keywordflow">for</span> (i = 0; i < 25; i++)</div>
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<div class="line"> {</div>
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<div class="line"> <a class="code" href="struct_vn_composite_data.html">VnCompositeData</a> cd;</div>
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<div class="line"></div>
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<div class="line"> <a class="code" href="thread_8h.html#ae184a96ccf6c94c4b9d7b937655b0c44">VnThread_sleepMs</a>(200);</div>
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<div class="line"></div>
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<div class="line"> cd = VnEzAsyncData_currentData(&ez);</div>
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<div class="line"></div>
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<div class="line"> str_vec3f(strConversions, cd.<a class="code" href="struct_vn_composite_data.html#a422bd966180f1f455de6f4d6b9e60d17">yawPitchRoll</a>);</div>
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<div class="line"> printf(<span class="stringliteral">"Current YPR: %s\n"</span>, strConversions);</div>
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<div class="line"> }</div>
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<div class="line"></div>
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<div class="line"> <span class="comment">/* Now disconnect from the sensor since we are finished. */</span></div>
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<div class="line"> <span class="keywordflow">if</span> ((error = VnEzAsyncData_disconnectAndUninitialize(&ez)) != E_NONE)</div>
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<div class="line"> <span class="keywordflow">return</span> processErrorReceived(<span class="stringliteral">"Error disconnecting from sensor."</span>, error);</div>
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<div class="line"></div>
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<div class="line"> <span class="keywordflow">return</span> 0;</div>
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<div class="line">}</div>
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<div class="line"></div>
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<div class="line"><span class="keywordtype">int</span> processErrorReceived(<span class="keywordtype">char</span>* errorMessage, VnError errorCode)</div>
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<div class="line">{</div>
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<div class="line"> <span class="keywordtype">char</span> errorCodeStr[100];</div>
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<div class="line"> strFromVnError(errorCodeStr, errorCode);</div>
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<div class="line"> printf(<span class="stringliteral">"%s\nERROR: %s\n"</span>, errorMessage, errorCodeStr);</div>
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<div class="line"> <span class="keywordflow">return</span> -1;</div>
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<div class="line">}</div>
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