Example: hwdrivers_gps_example
C++ example source code:
/* +------------------------------------------------------------------------+ | Mobile Robot Programming Toolkit (MRPT) | | https://www.mrpt.org/ | | | | Copyright (c) 2005-2024, Individual contributors, see AUTHORS file | | See: https://www.mrpt.org/Authors - All rights reserved. | | Released under BSD License. See: https://www.mrpt.org/License | +------------------------------------------------------------------------+ */ #include <mrpt/config/CConfigFile.h> #include <mrpt/hwdrivers/CGPSInterface.h> #include <mrpt/system/filesystem.h> #include <mrpt/system/os.h> #include <chrono> #include <iostream> #include <thread> using namespace mrpt; using namespace mrpt::obs; using namespace mrpt::system; using namespace mrpt::hwdrivers; using namespace mrpt::config; using namespace std; string SERIAL_NAME; // Name of the serial port to open // ------------------------------------------------------ // Test_GPS // ------------------------------------------------------ void Test_GPS() { CGPSInterface gps; string serName; cout << "GPS test application." << endl << endl; if (mrpt::system::fileExists("./CONFIG_gps.ini")) { cout << "Using configuration from './CONFIG_gps.ini'" << endl; CConfigFile iniFile("./CONFIG_gps.ini"); gps.loadConfig(iniFile, "GPS"); } else { if (SERIAL_NAME.empty()) { cout << "Enter the serial port name (e.g. COM1, ttyS0, ttyUSB0, " "ttyACM0): "; getline(cin, serName); } else { cout << "Using serial port: " << SERIAL_NAME << endl; serName = SERIAL_NAME; } // Set the laser serial port: gps.setSerialPortName(serName); } FILE* f = os::fopen("gps_log.txt", "wt"); if (!f) return; while (!mrpt::system::os::kbhit()) { gps.doProcess(); std::this_thread::sleep_for(500ms); const CGenericSensor::TListObservations lstObs = gps.getObservations(); if (lstObs.empty()) { printf("[Test_GPS] Waiting for data...\n"); } else { for (const auto& kv : lstObs) { const auto& obs = kv.second; ASSERT_(obs->GetRuntimeClass() == CLASS_ID(CObservationGPS)); CObservationGPS::Ptr gpsData = std::dynamic_pointer_cast<CObservationGPS>(obs); gpsData->dumpToConsole(std::cout); } } } os::fclose(f); } int main() { try { Test_GPS(); return 0; } catch (const std::exception& e) { std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl; return -1; } catch (...) { printf("Another exception!!"); return -1; } }