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# Copyright (C) 2015 Swift Navigation Inc.
# Contact: Fergus Noble <fergus@swiftnav.com>
#
# This source is subject to the license found in the file 'LICENSE' which must
# be be distributed together with this source. All other rights reserved.
#
# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
"""
the :mod:`sbp.client.examples.simple` module contains a basic example of
reading SBP messages from a serial port, decoding BASELINE_NED messages and
printing them out.
"""
from sbp.client.drivers.pyserial_driver import PySerialDriver
from sbp.client import Handler, Framer
from sbp.client.loggers.json_logger import JSONLogger
from sbp.navigation import SBP_MSG_BASELINE_NED, MsgBaselineNED
import argparse
def main():
parser = argparse.ArgumentParser(
description="Swift Navigation SBP Example.")
parser.add_argument(
"-p",
"--port",
default=['/dev/ttyUSB0'],
nargs=1,
help="specify the serial port to use.")
args = parser.parse_args()
# Open a connection to Piksi using the default baud rate (1Mbaud)
with PySerialDriver(args.port[0], baud=1000000) as driver:
with Handler(Framer(driver.read, None, verbose=True)) as source:
try:
for msg, metadata in source.filter(SBP_MSG_BASELINE_NED):
# Print out the N, E, D coordinates of the baseline
print("%.4f,%.4f,%.4f" % (msg.n * 1e-3, msg.e * 1e-3,
msg.d * 1e-3))
except KeyboardInterrupt:
pass
if __name__ == "__main__":
main()