positioning_systems_api
This package comprises following modules described below: serial_communication, follow_me_driver, rtls_driver, logger.
serial_communication
General purpose serial communication
Features
- support for different baudrate, parity, bytesize (5, 6, 7, or 8 bits), stopbits and flow control
- implementation for Linux and Windows
Usage
In order to use serial_communication in your code, include the interface header and appropriate implementation header, e.g.
#include "serial_communication/iserial.hpp"
#include "serial_communication/serial.hpp"
Add positioning_systems_api to find_package of your CMakeLists.txt and link the target against serial_communication:
target_link_libraries(target_name
positioning_systems_api::serial_communication
)
See subdirectory examples for a C++ source file presenting usage of serial_communication.
follow_me_driver
Driver dedicated for communication with Terabee Follow-Me system
Features
- set configuration parameters: span manual setting and auto-calibration, output mode (text/binary), swap beacons, Exponential Moving Average filter window size,
- configuration of RS485 connection parameters (slave address, baud rate, parity)
- set configuration parameters of the remote control: enable/disable buzzer, change button mode (toggle/hold)
- data reception (distance and heading)
Usage
Include the following header:
#include "follow_me_driver/follow_me_driver.hpp"
and header with appropriate implementation of serial port, e.g.
#include "serial_communication/serial.hpp"
Add positioning_systems_api to find_package of your CMakeLists.txt and link the target against follow_me_driver:
target_link_libraries(target_name
positioning_systems_api::follow_me_driver
)
See subdirectory examples for a C++ source file presenting usage of follow_me_driver.
rtls_driver
Driver dedicated for communication with Terabee Robot Positioning System
Features
- setting all configuration parameters
- reading the whole configuration of device
- reading position output of the tracker
Usage
Include the following header:
#include "rtls_driver/rtls_driver.hpp"
and header with appropriate implementation of serial port, e.g.
#include "serial_communication/serial.hpp"
Add positioning_systems_api to find_package of your CMakeLists.txt and link the target against rtls_driver:
target_link_libraries(target_name
positioning_systems_api::rtls_driver
)
See subdirectory examples for a C++ source file presenting usage of rtls_driver.
Compilation
mkdir build
cd build
cmake ../
make
Note:
If using MinGW in Windows, type
cmake .. -G "MinGW Makefiles" instead of cmake ../
to prevent configuring for MSVC.
Use cmake.exe --build . --target all -- -j to build.
Installation in the system
sudo make install
sudo ldconfig /usr/local/lib
Run tests
cd build
make test
For tests to pass, linux null modem emulator is required https://github.com/freemed/tty0tty
Logging
To use the logger, set the following environment variables:
export LOGGER_ENABLE_LOGGING=1
export LOGGER_PRINT_STDOUT=1
Set export LOGGER_ENABLE_DEBUG=1 to enable debug logs.
Set export LOGGER_FILENAME=rtls_output.log to change the default log file name.