examples/simple_seatalk_nmea_converter.cpp

   1 #include <marnav/nmea/nmea.hpp>
   2 #include <marnav/nmea/dpt.hpp>
   3 #include <marnav/seatalk/seatalk.hpp>
   4 #include <marnav/seatalk/message_00.hpp>
   5 #include <marnav-io/default_seatalk_reader.hpp>
   6 #include <marnav-io/default_seatalk_serial.hpp>
   7 #include <boost/asio.hpp>
   8 #include <map>
   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         // TODO: explicit type unnecessary once seatalk is also using units
  22         dpt.set_depth_meter(units::meters{m.get_depth_meters()});
  23         dpt.set_transducer_offset(units::meters{0.0});
  24         return nmea::to_string(dpt);
  25 }
  26 }
  27
  28 int main(int, char **)
  29 {
  30         using namespace marnav_example;
  31         using namespace marnav::io;
  32
  33         // mapping of conversion functions
  34         static const std::map<seatalk::message_id,
  35                 std::function<std::string(const seatalk::message &)>>
  36                 CONV = {
  37                         {seatalk::message_id::depth_below_transducer, conv_depth_below_transducer},
  38                 };
  39
  40         // open output port
  41         boost::asio::io_service io;
  42         boost::asio::serial_port serial{io, "/dev/ttyUSB1"};
  43         serial.set_option(boost::asio::serial_port_base::baud_rate(4800));
  44
  45         // open input port and reader
  46         default_seatalk_reader reader{make_default_seatalk_serial("/dev/ttyUSB0")};
  47         seatalk::raw data;
  48
  49         while (reader.read_message(data)) {
  50                 // receive message
  51                 auto msg = seatalk::make_message(data);
  52                 if (!msg)
  53                         continue;
  54
  55                 // convert message to NMEA sentence, if known
  56                 std::string nmea;
  57                 auto func = CONV.find(msg->type());
  58                 if (func != CONV.end())
  59                         nmea = func->second(*msg);
  60
  61                 // send NMEA sentence
  62                 if (nmea.size() > 0) {
  63                         nmea += "\r\n";
  64                         boost::asio::write(serial, boost::asio::buffer(nmea.c_str(), nmea.size()));
  65                 }
  66         }
  67
  68         return 0;
  69 }