1 /*
2 * Author: Jon Trulson <jtrulson@ics.com>
3 * Copyright (c) 2014 Intel Corporation.
4 *
5 * Permission is hereby granted, free of charge, to any person obtaining
6 * a copy of this software and associated documentation files (the
7 * "Software"), to deal in the Software without restriction, including
8 * without limitation the rights to use, copy, modify, merge, publish,
9 * distribute, sublicense, and/or sell copies of the Software, and to
10 * permit persons to whom the Software is furnished to do so, subject to
11 * the following conditions:
12 *
13 * The above copyright notice and this permission notice shall be
14 * included in all copies or substantial portions of the Software.
15 *
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 */
24
25 #include <unistd.h>
26 #include <iostream>
27 #include <signal.h>
28 #include "ublox6.h"
29
30 using namespace std;
31
32 bool shouldRun = true;
33
sig_handler(int signo)34 void sig_handler(int signo)
35 {
36 if (signo == SIGINT)
37 shouldRun = false;
38 }
39
40 const size_t bufferLength = 256;
41
main(int argc,char ** argv)42 int main (int argc, char **argv)
43 {
44 signal(SIGINT, sig_handler);
45
46 //! [Interesting]
47 // Instantiate a Ublox6 GPS device on uart 0.
48 upm::Ublox6* nmea = new upm::Ublox6(0);
49
50 // make sure port is initialized properly. 9600 baud is the default.
51 if (!nmea->setupTty(B9600))
52 {
53 cerr << "Failed to setup tty port parameters" << endl;
54 return 1;
55 }
56
57 // Collect and output NMEA data. There are various libraries out on
58 // the Internet, such as tinyGPS or tinyGPS++ that can handle
59 // decoding NMEA data and presenting it in a more easily accessible
60 // format. This example will just check for, and read raw NMEA data
61 // from the device and output it on stdout.
62
63 // This device also supports numerous configuration options, which
64 // you can set with writeData(). Please refer to the Ublox-6 data
65 // sheet for further information on the formats of the data sent and
66 // received, and the various operating modes available.
67
68 char nmeaBuffer[bufferLength];
69 while (shouldRun)
70 {
71 // we don't want the read to block in this example, so always
72 // check to see if data is available first.
73 if (nmea->dataAvailable())
74 {
75 int rv = nmea->readData(nmeaBuffer, bufferLength);
76
77 if (rv > 0)
78 write(1, nmeaBuffer, rv);
79
80 if (rv < 0) // some sort of read error occured
81 {
82 cerr << "Port read error." << endl;
83 break;
84 }
85
86 continue;
87 }
88
89 usleep(100000); // 100ms
90 }
91 //! [Interesting]
92
93 cout << "Exiting..." << endl;
94
95 delete nmea;
96 return 0;
97 }
98