get_id.cpp

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#include <string>
#include <boost/format.hpp>

#include "ros/console.h"
#include "microstrain_3dmgx2_imu/3dmgx2.h"


std::string getID(microstrain_3dmgx2_imu::IMU &imu)
{
  char dev_name[17];
  char dev_model_num[17];
  char dev_serial_num[17];
  char dev_opt[17];
  imu.getDeviceIdentifierString(microstrain_3dmgx2_imu::IMU::ID_DEVICE_NAME, dev_name);
  imu.getDeviceIdentifierString(microstrain_3dmgx2_imu::IMU::ID_MODEL_NUMBER, dev_model_num);
  imu.getDeviceIdentifierString(microstrain_3dmgx2_imu::IMU::ID_SERIAL_NUMBER, dev_serial_num);
  imu.getDeviceIdentifierString(microstrain_3dmgx2_imu::IMU::ID_DEVICE_OPTIONS, dev_opt);
  
  char *dev_name_ptr = dev_name;
  char *dev_model_num_ptr = dev_model_num;
  char *dev_serial_num_ptr = dev_serial_num;
  
  while (*dev_name_ptr == ' ')
    dev_name_ptr++;
  while (*dev_model_num_ptr == ' ')
    dev_model_num_ptr++;
  while (*dev_serial_num_ptr == ' ')
    dev_serial_num_ptr++;
  
  return (boost::format("%s_%s-%s")%dev_name_ptr%dev_model_num_ptr%dev_serial_num_ptr).str();
}

int main(int argc, char **argv)
{
  if (argc < 2 || argc > 3)
  {
    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");
    return 1;
  }

  bool verbose = (argc == 2);
  if (!verbose)
  {
    // In quiet mode we want to turn off logging levels that go to stdout.
    log4cxx::LoggerPtr my_logger = log4cxx::Logger::getLogger(ROSCONSOLE_DEFAULT_NAME);
    my_logger->setLevel(ros::console::g_level_lookup[ros::console::levels::Error]);
  }

  microstrain_3dmgx2_imu::IMU imu;

  try
  {
    imu.openPort(argv[1]);
  }
  catch (microstrain_3dmgx2_imu::Exception& e) 
  {
    fprintf(stderr, "Unable to open IMU at port %s. IMU may be disconnected.\n%s", argv[1], e.what());
    return 1;
  }

  imu.initTime(0.0);
  
  std::string id = getID(imu);

  if (verbose)
    fprintf(stdout, "IMU Device at port %s has ID: ", argv[1]);
  fprintf(stdout, "%s\n", id.c_str());

  try
  {
    imu.closePort();
  } 
  catch (microstrain_3dmgx2_imu::Exception& e) 
  {
    fprintf(stderr, "Exception thrown while stopping IMU.\n%s", e.what());
    return 1;
  }
  
  return 0;
}