get_id.cpp
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00034 
00039 #include <string>
00040 #include <boost/format.hpp>
00041 
00042 #include "ros/console.h"
00043 #include "microstrain_3dmgx2_imu/3dmgx2.h"
00044 #include "log4cxx/logger.h"
00045 
00046 std::string getID(microstrain_3dmgx2_imu::IMU &imu)
00047 {
00048   char dev_name[17];
00049   char dev_model_num[17];
00050   char dev_serial_num[17];
00051   char dev_opt[17];
00052   imu.getDeviceIdentifierString(microstrain_3dmgx2_imu::IMU::ID_DEVICE_NAME, dev_name);
00053   imu.getDeviceIdentifierString(microstrain_3dmgx2_imu::IMU::ID_MODEL_NUMBER, dev_model_num);
00054   imu.getDeviceIdentifierString(microstrain_3dmgx2_imu::IMU::ID_SERIAL_NUMBER, dev_serial_num);
00055   imu.getDeviceIdentifierString(microstrain_3dmgx2_imu::IMU::ID_DEVICE_OPTIONS, dev_opt);
00056   
00057   char *dev_name_ptr = dev_name;
00058   char *dev_model_num_ptr = dev_model_num;
00059   char *dev_serial_num_ptr = dev_serial_num;
00060   
00061   while (*dev_name_ptr == ' ')
00062     dev_name_ptr++;
00063   while (*dev_model_num_ptr == ' ')
00064     dev_model_num_ptr++;
00065   while (*dev_serial_num_ptr == ' ')
00066     dev_serial_num_ptr++;
00067   
00068   return (boost::format("%s_%s-%s")%dev_name_ptr%dev_model_num_ptr%dev_serial_num_ptr).str();
00069 }
00070 
00071 int main(int argc, char **argv)
00072 {
00073   if (argc < 2 || argc > 3)
00074   {
00075     fprintf(stderr, "usage: get_id /dev/ttyUSB? [quiet]\nOutputs the device ID of an IMU at that port. Add a second argument for script friendly output.\n");
00076     return 1;
00077   }
00078 
00079   bool verbose = (argc == 2);
00080   if (!verbose)
00081   {
00082     // In quiet mode we want to turn off logging levels that go to stdout.
00083     log4cxx::LoggerPtr logger = log4cxx::Logger::getLogger(ROSCONSOLE_DEFAULT_NAME);
00084     logger->setLevel(ros::console::g_level_lookup[ros::console::levels::Error]);
00085     ros::console::notifyLoggerLevelsChanged();
00086   }
00087 
00088   microstrain_3dmgx2_imu::IMU imu;
00089 
00090   try
00091   {
00092     imu.openPort(argv[1]);
00093   }
00094   catch (microstrain_3dmgx2_imu::Exception& e) 
00095   {
00096     fprintf(stderr, "Unable to open IMU at port %s. IMU may be disconnected.\n%s", argv[1], e.what());
00097     return 1;
00098   }
00099 
00100   imu.initTime(0.0);
00101   
00102   std::string id = getID(imu);
00103 
00104   if (verbose)
00105     fprintf(stdout, "IMU Device at port %s has ID: ", argv[1]);
00106   fprintf(stdout, "%s\n", id.c_str());
00107 
00108   try
00109   {
00110     imu.closePort();
00111   } 
00112   catch (microstrain_3dmgx2_imu::Exception& e) 
00113   {
00114     fprintf(stderr, "Exception thrown while stopping IMU.\n%s", e.what());
00115     return 1;
00116   }
00117   
00118   return 0;
00119 }


microstrain_3dmgx2_imu
Author(s): Jeremy Leibs, Blaise Gassend
autogenerated on Tue Jul 2 2019 19:22:59