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      1 /*
      2  * Author: Jon Trulson <jtrulson (at) 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 
     34 void sig_handler(int signo)
     35 {
     36   if (signo == SIGINT)
     37     shouldRun = false;
     38 }
     39 
     40 const size_t bufferLength = 256;
     41 
     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