test.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include <mrpt/hwdrivers/CGPSInterface.h>
#include <mrpt/config/CConfigFile.h>
#include <mrpt/system/filesystem.h>
#include <mrpt/system/os.h>
 
#include <thread>
#include <iostream>
 
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;
 
        //      bool                                    thereisData;
        //      mrpt::obs::CObservationGPS      gpsData;
 
        CGenericSensor::TListObservations lstObs;
        CGenericSensor::TListObservations::iterator itObs;
 
        while (!mrpt::system::os::kbhit())
        {
                gps.doProcess();
                std::this_thread::sleep_for(500ms);
 
                gps.getObservations(lstObs);
 
                if (lstObs.empty())
                {
                        printf("[Test_GPS] Waiting for data...\n");
                }
                else
                {
                        for (itObs = lstObs.begin(); itObs != lstObs.end(); itObs++)
                        {
                                ASSERT_(
                                        itObs->second->GetRuntimeClass() ==
                                        CLASS_ID(CObservationGPS));
 
                                CObservationGPS::Ptr gpsData =
                                        std::dynamic_pointer_cast<CObservationGPS>(itObs->second);
                                gpsData->dumpToConsole(std::cout);
                        }
                        lstObs.clear();
                }
        }
 
        os::fclose(f);
}
 
int main()
{
        try
        {
                Test_GPS();
                return 0;
        }
        catch (std::exception& e)
        {
                std::cout << "EXCEPCION: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Another exception!!");
                return -1;
        }
}