test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, 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 <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;

    //  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 (const std::exception& e)
    {
        std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
        return -1;
    }
    catch (...)
    {
        printf("Another exception!!");
        return -1;
    }
}