examples/simple_seatalk_nmea_converter.cpp

   1 #include <map>
   2 #include <boost/asio.hpp>
   3 #include <marnav/nmea/nmea.hpp>
   4 #include <marnav/nmea/dpt.hpp>
   5 #include <marnav/seatalk/seatalk.hpp>
   6 #include <marnav/seatalk/message_00.hpp>
   7 #include <marnav/io/default_seatalk_reader.hpp>
   8 #include <marnav/io/default_seatalk_serial.hpp>
   9
  10 using namespace marnav;
  11
  12 namespace marnav_example
  13 {
  14 static std::string conv_depth_below_transducer(const seatalk::message & msg)
  15 {
  16         using namespace marnav::seatalk;
  17
  18         const auto & m = message_cast<message_00>(msg);
  19
  20         nmea::dpt dpt;
  21         dpt.set_depth_meter(m.get_depth_meters());
  22         dpt.set_transducer_offset(0.0);
  23         return nmea::to_string(dpt);
  24 }
  25 }
  26
  27 int main(int, char **)
  28 {
  29         using namespace marnav_example;
  30         using namespace marnav::io;
  31
  32         // mapping of conversion functions
  33         static const std::map<seatalk::message_id,
  34                 std::function<std::string(const seatalk::message &)>>
  35                 CONV = {
  36                         {seatalk::message_id::depth_below_transducer, conv_depth_below_transducer},
  37                 };
  38
  39         // open output port
  40         boost::asio::io_service io;
  41         boost::asio::serial_port serial{io, "/dev/ttyUSB1"};
  42         serial.set_option(boost::asio::serial_port_base::baud_rate(4800));
  43
  44         // open input port and reader
  45         default_seatalk_reader reader{make_default_seatalk_serial("/dev/ttyUSB0")};
  46         seatalk::raw data;
  47
  48         while (reader.read_message(data)) {
  49                 // receive message
  50                 auto msg = seatalk::make_message(data);
  51                 if (!msg)
  52                         continue;
  53
  54                 // convert message to NMEA sentence, if known
  55                 std::string nmea;
  56                 auto func = CONV.find(msg->type());
  57                 if (func != CONV.end())
  58                         nmea = func->second(*msg);
  59
  60                 // send NMEA sentence
  61                 if (nmea.size() > 0) {
  62                         nmea += "\r\n";
  63                         boost::asio::write(serial, boost::asio::buffer(nmea.c_str(), nmea.size()));
  64                 }
  65         }
  66
  67         return 0;
  68 }