void NqDVL::timerCallBack(const ros::TimerEvent &)
{
readDVLData();
getVal();
_publisher.publish(_data);
}
int main(int argc, char **argv)
{
int fd, i, tmp, retcode= 0;
RawDVLData dvl;
/* Make sure we don't forget to free anything! */
dvl.privDbgInf= NULL;
/* Check that we have the appropriate number of arguments. */
if( (argc != 2 && argc != 3) || (argc == 2 && strcmp(argv[1], "-h") == 0)) {
printf("Usage: %s <location> [number]\n", argv[0]);
printf("Opens <location> and feeds it into dvl api, then prints [number] packet.\n");
return -1;
}
/* If we got a packet number, save it here */
if(argc == 3) {
if( (tmp= sscanf(argv[2], "%d", &i)) == EOF || tmp == 0) {
printf("invalid packet number\n");
return -1;
}
} else {
/* Assume we want to check the first packet if we got no number */
i= 1;
}
/* Open the file handle that we recieved */
fd= openDVL(argv[1]);
//fd= open(argv[1], O_RDONLY);
/* Invalid file handle? Bail! */
if(fd == -1) {
printf("\nCould not find device!\n");
retcode= -1;
goto bail;
}
/* Go through the program, grabbing packets one at a time
until we grabbed the number packet the user wanted. */
for(;i > 0;i--) {
/* Check to make sure that we actually read something */
if( (tmp= readDVLData(fd, &dvl)) ) {
translateError(tmp);
//retcode= -1;
//goto bail;
}
}
/* Now we need to print everything! WOOOOOOOOOOOO! */
printf("Header:\n");
printHeader(dvl.privDbgInf);
printf("\nFixed Leader:\n");
printFixedLeader(dvl.privDbgInf);
printf("\nVariable Leader:\n");
printVariableLeader(dvl.privDbgInf);
printf("\nBottom Track Data:\n");
printBTData(dvl.privDbgInf);
bail:
if(dvl.privDbgInf != NULL) {
free(dvl.privDbgInf);
}
close(fd);
return retcode;
}