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.