Sample code for getting data form the Microstrain IMU sensor

sample_code.cpp

#include "mscl/Communication/Connection.h"
#include "mscl/MicroStrain/Inertial/InertialNode.h"
#include <iostream>

using namespace std;
using namespace mscl;

void printStatus(mscl::InertialNode& node) {

  mscl::MipChannels channels = node.getActiveChannelFields(mscl::MipTypes::CLASS_AHRS_IMU);
  cout << "Number of channels: " << channels.size() << endl;
  cout << "Communication mode: " << node.getCommunicationMode() << endl;
  DeviceStatusData basicStatus = node.getBasicDeviceStatus();
  cout << "Basic Status: " << endl;
  cout << "   system state: " << basicStatus.systemState << endl;
  cout << "   imuStreamIsEnabled: " << basicStatus.imuStreamIsEnabled << endl;
  cout << "   outgoingIMUDroppedPacketCount: " <<
    basicStatus.outgoingIMUDroppedPacketCount << endl;
  cout << "   numOfBytesWrittenToComPort: " <<
    basicStatus.numOfBytesWrittenToComPort << endl;
  cout << "   numOfBytesWrittenFromComPort: " <<
    basicStatus.numOfBytesWrittenFromComPort << endl;
}

int main(void) {
  mscl::Connection my_connection =
    mscl::Connection::Serial("/dev/ttyACM0", 115200);

  ////create the InertialNode, passing in the connection
  mscl::InertialNode node(my_connection);
  cout << "made a node" << endl;

  printStatus(node);
  bool success = node.ping();
  if (!success) {
    cout << "Node did not ping correctly!" << endl;
    exit(1);
  }

  node.setToIdle();

  cout << "set MipChannel CH_FIELD_SENSOR_RAW_ACCEL_VEC" << endl;
  mscl::MipChannels ahrsImuChs;
  ahrsImuChs.push_back(mscl::MipChannel(
        mscl::MipTypes::CH_FIELD_SENSOR_RAW_ACCEL_VEC,
        mscl::SampleRate::Hertz(50)));

  cout << "setActiveChannelFields" << endl;
  node.setActiveChannelFields(mscl::MipTypes::CLASS_AHRS_IMU, ahrsImuChs);

  printStatus(node);
  cout << "enable data stream" << endl;
  node.enableDataStream(mscl::MipTypes::CLASS_AHRS_IMU);

  printStatus(node);

  cout << "resume node" << endl;
  node.resume();

  printStatus(node);
  cout << "start inifinite loop" << endl;
  while(true)
  {
    mscl::MipDataPackets packets = node.getDataPackets(500);
    cout << "Number of packets received: " << packets.size() << endl;
    for(mscl::MipDataPacket packet : packets)
    {
      packet.descriptorSet(); //the descriptor set of the packet
      cout << "get packet data" << endl;
      mscl::MipDataPoints points = packet.data();
      for(mscl::MipDataPoint dataPoint : points)
      {
        dataPoint.channelName();  //the name of the channel for this point
        dataPoint.storedAs();     //the ValueType that the data is stored as
        cout << dataPoint.as_float() << endl;     //get the value as a float
      }
    }
  }
}