ez_async_data/Program.cs

This example illustrates communicating with a VectorNav sensor over a serial port.

Visual Studio (Windows)

1. Open the solution file for your specific Visual Studio version located at <root>/net/examples/ez_async_data/projects/vs20XX/ez_async_data.sln.
2. Open the project file Program.cs and edit the SensorPort and SensorBaudrate constants at the top of the Main() method to the settings used by your attached VectorNav sensor.
3. Build the entire solution by going to the menu BUILD -> Build Solution.
4. Right-click the project ez_async_data and select Debug -> Start new instance.

Make (Linux)

1. You will first need to open the file <root>/net/examples/ez_async_data/Program.cs and edit the SensorPort and SensorBaudrate constants at the top of the Main() method to the settings used by your attached VectorNav sensor.
2. Open a terminal and change to the directory <root>/net/examples/ez_async_data .
3. To build the example, run the command make .
4. Run the example by executing the command sudo ./ez_async_data . Note that running the command using sudo is required since administrator privileges are required to access the serial ports on Linux.

using System;
using System.Threading;

// Allows access to data types within the VectorNav .NET Library.
using VectorNav.Sensor;
using VectorNav.Protocol.Uart;

class Program
{
    static void Main(string[] args)
    {
        // This example walks through using the EzAsyncData class to easily access
        // asynchronous data from a VectorNav sensor at a slight performance hit which is
        // acceptable for many applications, especially simple data logging.

        // First determine which COM port your sensor is attached to and update
        // the constant below. Also, if you have changed your sensor from the
        // factory default baudrate of 115200, you will need to update the
        // baudrate constant below as well.
        const string SensorPort = "COM1";               // Windows format for physical and virtual (USB) serial port.
        // const string SensorPort = "/dev/ttyS1";      // Linux format for physical serial port.
        // const string SensorPort = "/dev/ttyUSB0";    // Linux format for virtual (USB) serial port.
        const UInt32 SensorBaudrate = 115200;

        // We create and connect to a sensor by the call below.
        var ez = EzAsyncData.Connect(SensorPort, SensorBaudrate);

        // Now let's display the latest yaw, pitch, roll data at 5 Hz for 5 seconds.
        for (var i = 0; i < 25; i++)
        {
            Thread.Sleep(200);

            // This reads the latest data that has been processed by the EzAsyncData class.
            var cd = ez.CurrentData;

            // Make sure that we have some yaw, pitch, roll data.
            if (!cd.HasYawPitchRoll)
                Console.WriteLine("YPR Unavailable.");
            else
                Console.WriteLine("Current YPR: {0}", cd.YawPitchRoll);
        }

        // Most of the asynchronous data handling is done by EzAsyncData but there are times
        // when we wish to configure the sensor directly while still having EzAsyncData do
        // most of the grunt work.This is easily accomplished and we show changing the ASCII
        // asynchronous data output type here.
        ez.Sensor.WriteAsyncDataOutputType(AsciiAsync.VNYPR);

        // We can now display yaw, pitch, roll data from the new ASCII asynchronous data type.
        for (var i = 0; i < 25; i++)
        {
            Thread.Sleep(200);

            var cd = ez.CurrentData;

            if (!cd.HasYawPitchRoll)
                Console.WriteLine("YPR Unavailable.");
            else
                Console.WriteLine("Current YPR: {0}", cd.YawPitchRoll);
        }

        // The CompositeData structure contains some helper methods for getting data
        // into various formats. For example, although the sensor is configured to
        // output yaw, pitch, roll, our application might need it as a quaternion
        // value. However, if we query the Quaternion field, we see that we don't
        // have any data.

        Console.WriteLine("HasQuaternion: {0}", ez.CurrentData.HasQuaternion);

        // Uncommenting the line below will cause an exception to be thrown since
        // quaternion data is not available.

        // Console.WriteLine("Current Quaternion: {0}", ez.CurrentData.Quaternion);

        // However, the CompositeData structure provides the AnyAttitude field
        // which will perform the necessary conversions automatically.

        for (var i = 0; i < 25; i++)
        {
            Thread.Sleep(200);

            var cd = ez.CurrentData;

            // Make sure that we have some attitude data.
            if (!cd.HasAnyAttitude)
                Console.WriteLine("Attitude Unavailable.");
            else
                Console.WriteLine("Current Quaternion: {0}", cd.AnyAttitude.Quat);
        }

        ez.Disconnect();
    }

}