Transfer commit at v1.5.5

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10.2)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(PACKAGE_VERSION 1.5.5)
+project(positioning_systems_api VERSION ${PACKAGE_VERSION})
+
+if(${CMAKE_BUILD_TYPE} MATCHES "Debug")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -O0 -g3 -pthread -fPIC")
+else()
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -O2 -g0 -pthread -fPIC")
+endif()
+
+option(BUILD_TESTS "Builds tests" ON)
+option(BUILD_EXAMPLES "Build short example binaries" ON)
+
+include(GNUInstallDirs)
+set(project_config_in "${CMAKE_CURRENT_LIST_DIR}/cmake/positioning_systems_apiConfig.cmake.in")
+set(project_config_out "${CMAKE_CURRENT_BINARY_DIR}/positioning_systems_apiConfig.cmake")
+set(config_targets_file_serial_communication "serial_communication.cmake")
+set(config_targets_file_follow_me_driver "follow_me_driver.cmake")
+set(config_targets_file_rtls_driver "rtls_driver.cmake")
+set(version_config_file "${CMAKE_CURRENT_BINARY_DIR}/positioning_systems_apiConfigVersion.cmake")
+set(export_dest_dir "lib/cmake/positioning_systems_api")
+
+add_subdirectory(serial_communication)
+add_subdirectory(follow_me_driver)
+add_subdirectory(rtls_driver)
+add_subdirectory(logger)
+if(BUILD_TESTS)
+  enable_testing()
+  add_subdirectory(tests)
+endif()
+
+if(BUILD_EXAMPLES)
+  add_subdirectory(examples)
+endif()
+
+include(CMakePackageConfigHelpers)
+configure_file("${project_config_in}" "${project_config_out}" @ONLY)
+write_basic_package_version_file("${version_config_file}" COMPATIBILITY SameMajorVersion)
+
+install(FILES
+  "${project_config_out}"
+  "${version_config_file}" DESTINATION "${export_dest_dir}"
+)

LICENSE

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+MIT License
+
+Copyright (c) 2021 Terabee
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

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+# 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
+```
+
+## 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.

cmake/positioning_systems_apiConfig.cmake.in

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+set(config_targets_file_serial_communication @config_targets_file_serial_communication@)
+include("${CMAKE_CURRENT_LIST_DIR}/${config_targets_file_serial_communication}")
+set(config_targets_file_follow_me_driver @config_targets_file_follow_me_driver@)
+include("${CMAKE_CURRENT_LIST_DIR}/${config_targets_file_follow_me_driver}")

examples/CMakeLists.txt

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+project(positioning_systems_api_examples)
+
+add_executable(serial_example
+  serial_example.cpp
+)
+
+target_link_libraries(serial_example
+  serial_communication
+)
+
+add_executable(follow_me_master_example
+  follow_me_master_example.cpp
+)
+
+target_link_libraries(follow_me_master_example
+  follow_me_driver
+  serial_communication
+)
+
+add_executable(follow_me_remote_example
+  follow_me_remote_example.cpp
+)
+
+target_link_libraries(follow_me_remote_example
+  follow_me_driver
+  serial_communication
+)
+
+add_executable(rtls_anchor_example
+  rtls_anchor_example.cpp
+)
+
+target_link_libraries(rtls_anchor_example
+  rtls_driver
+  serial_communication
+)
+
+add_executable(rtls_tracker_example
+  rtls_tracker_example.cpp
+)
+
+target_link_libraries(rtls_tracker_example
+  rtls_driver
+  serial_communication
+)

examples/follow_me_master_example.cpp

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+#include <memory>
+#include <iostream>
+#include <csignal>
+#include <thread>
+#include "follow_me_driver/follow_me_driver.hpp"
+
+#ifdef __linux__
+  #define STOP_SIGNAL SIGTSTP
+  #include "serial_communication/serial.hpp"
+  using SerialInterface = terabee::serial_communication::Serial;
+#elif defined(__MINGW32__) || defined(__MINGW64__) || defined(_WIN32) || defined(_WIN64)
+  #define STOP_SIGNAL SIGTERM
+  #include "serial_communication/serial_windows.hpp"
+  using SerialInterface = terabee::serial_communication::SerialWindows;
+#endif
+
+static volatile std::sig_atomic_t g_signal_status;
+void signal_handler(int signal) {
+  g_signal_status = signal;
+}
+
+int main(int argc, char **argv)
+{
+  terabee::utility::logger::Logger logger("FollowMeMasterExample");
+  if (argc != 2)
+  {
+    logger->info("usage: ./follow_me_master_example PORT_NAME");
+    return -1;
+  }
+  std::signal(STOP_SIGNAL, signal_handler);
+
+  std::string portname = argv[1];
+  std::shared_ptr<terabee::serial_communication::ISerial> serial_port =
+    std::make_shared<SerialInterface>(portname);
+
+  serial_port->setBaudrate(115200);
+  serial_port->setTimeout(std::chrono::milliseconds(200));
+
+  serial_port->open();
+
+  if (!serial_port->isOpen())
+  {
+    logger->error("Failed to open serial port!");
+    return 0;
+  }
+
+  terabee::FollowMeMasterBeacon master_beacon(serial_port);
+  terabee::PolarPoint2D point = { 0.0, 0.0 };
+
+  master_beacon.swapBeacons(false);
+  master_beacon.setEMAWindow(10);
+  master_beacon.setBeaconsSpan(1000);
+  logger->info(master_beacon.retrieveDeviceData());
+
+  master_beacon.printoutModeBin();
+  logger->info("Press Ctrl + Z to quit");
+  while (g_signal_status != STOP_SIGNAL)
+  {
+    master_beacon.process(point);
+    logger->info("Distance: {}\tHeading: {}", point.distance, point.heading);
+  }
+
+  return serial_port->close() ? 0 : -1;
+}

examples/follow_me_remote_example.cpp

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+#include <memory>
+#include <iostream>
+#include <csignal>
+#include <thread>
+#include "follow_me_driver/follow_me_driver.hpp"
+
+#ifdef __linux__
+  #define STOP_SIGNAL SIGTSTP
+  #include "serial_communication/serial.hpp"
+  using SerialInterface = terabee::serial_communication::Serial;
+#elif defined(__MINGW32__) || defined(__MINGW64__) || defined(_WIN32) || defined(_WIN64)
+  #define STOP_SIGNAL SIGTERM
+  #include "serial_communication/serial_windows.hpp"
+  using SerialInterface = terabee::serial_communication::SerialWindows;
+#endif
+
+static volatile std::sig_atomic_t g_signal_status;
+void signal_handler(int signal) {
+  g_signal_status = signal;
+}
+
+int main(int argc, char **argv)
+{
+  terabee::utility::logger::Logger logger("FollowMeRemoteExample");
+  if (argc != 2)
+  {
+    logger->info("usage: ./follow_me_remote_example PORT_NAME");
+    return -1;
+  }
+  std::signal(STOP_SIGNAL, signal_handler);
+
+  std::string portname = argv[1];
+  std::shared_ptr<terabee::serial_communication::ISerial> serial_port =
+    std::make_shared<SerialInterface>(portname);
+
+  serial_port->setBaudrate(115200);
+  serial_port->setTimeout(std::chrono::milliseconds(700));
+
+  serial_port->open();
+
+  if (!serial_port->isOpen())
+  {
+    logger->error("Failed to open serial port!");
+    return 0;
+  }
+
+  terabee::FollowMeRemoteControl remote_control(serial_port);
+
+  remote_control.setBuzzer(false);
+  remote_control.setButtonMode(terabee::FollowMeRemoteControl::button_mode::hold);
+
+  terabee::FollowMeRemoteControl::button_mode button_mode;
+  bool buzzer;
+  remote_control.retrieveRemoteParameters(button_mode, buzzer);
+  logger->info("Button mode: {}", static_cast<int>(button_mode));
+  logger->info("Buzzer: {}", buzzer);
+
+  return serial_port->close() ? 0 : -1;
+}