int main(int argc, char *argv[])
{
if (argc == 3) {
try {
AHRS *imu = new AHRS(std::string(argv[1]),getBaudrate(argv[2]));
char *buffer = NULL;
size_t bufsize;
// Connect to the AHRS.
imu->openDevice();
printf("Connected to %s.\n", (imu->getInfo()).c_str());
// Prompt the user for a new baudrate.
printf("New speed? (baud) \n");
if (getline(&buffer, &bufsize, stdin) == -1)
{
fprintf(stderr, "Unable to read in new baudrate.\n");
imu->closeDevice();
return -1;
}
// Attempt to read in a baudrate and change to it.
imu->setBaudrate(getBaudrate(buffer));
// Clean up and close resources.
free(buffer);
imu->closeDevice();
// Tell the user of the result.
fprintf(stderr, "Changed speed successfully.\n");
exit(0);
} catch (std::exception& e) {
printError(e);
}
}
printUsage();
}
int main(int argc, char *argv[])
{
if (argc == 3) {
try {
AHRS *ahrs = new AHRS(std::string(argv[1]),getBaudrate(argv[2]));
AHRS::AcqConfig config;
AHRS::FilterData filters;
long unsigned int i;
ahrs->openDevice();
printf("Connected to %s.\n", (ahrs->getInfo()).c_str());
ahrs->sendAHRSDataFormat();
printf("AHRS Configuration data:\n");
config = ahrs->getAcqConfig();
printf("Acqusition mode: %d\n", config.poll_mode);
printf("Flush Filter: %d\n", config.flush_filter);
printf("Sample delay: %f\n", config.sample_delay);
filters = ahrs->getFIRFilters();
printf("Number of filters: %lu\n", filters.size());
for (i=0; i < filters.size(); i++)
printf("Filter #%.2lu: %f\n",i, filters[i]);
printf("Mag Truth Method: %d\n", ahrs->getMagTruthMethod());
printf("Functional mode: %d\n", ahrs->getAHRSMode());
printf("Declination: %f\n", ahrs->getDeclination());
printf("UserCalNumPoints: %d\n", ahrs->getCalPoints());
printf("Mag Setting: %d\n", ahrs->getMagCalID());
printf("Accel setting: %d\n", ahrs->getAccelCalID());
printf("Mounting mode: %d\n", ahrs->getMounting());
printf("Baudrate: %d\n", ahrs->getBaudrate().baud);
printf("True north? %d\n", ahrs->getTrueNorth());
printf("Big endian? %d\n", ahrs->getBigEndian());
printf("Auto sampling? %d\n", ahrs->getAutoCalibration());
printf("Mils/Degrees? %d\n", ahrs->getMils());
printf("HPR During Cal? %d\n", ahrs->getHPRCal());
ahrs->closeDevice();
exit(0);
}
catch (std::exception& e)
{
printError(e);
}
}
printUsage();
}
