Diff: main.cpp

Revision:

14:92bacb5af01b

Parent:

12:8644abfa86da

Child:

15:dbf20c1209ae

--- a/main.cpp	Wed Aug 26 06:29:50 2015 +0000
+++ b/main.cpp	Wed Aug 26 16:33:26 2015 +0000
@@ -2,6 +2,7 @@
 #include <string>
 #include <sstream>
 #include <vector>
+#include "Get.h"
 using namespace std;
 
 #define MAX_IMU_SIZE 29
@@ -19,11 +20,13 @@
 int  IMU_message_counter=0;
 char GPS_message[256];
 int  GPS_message_counter=0;
+char PC_message[256];
+int  PC_message_counter=0;
 
 string IMU_Y="N/A";
 string IMU_P="N/A";
 string IMU_R="N/A";
-string GPS_quality="N/A";
+string GPS_Quality="N/A";
 string GPS_UTC="N/A";
 string GPS_Latitude="N/A";
 string GPS_Longtitude="N/A";
@@ -32,9 +35,10 @@
 string GPS_HDOP="N/A";
 string GPS_VDOP="N/A";
 string GPS_PDOP="N/A";
-string GPS_date="N/A";
-string GPS_velocityKnot="N/A";
-string GPS_velocityKph="N/A";
+string GPS_Date="N/A";
+string GPS_VelocityKnot="N/A";
+string GPS_VelocityKph="N/A";
+
 int asterisk_idx;
 
 vector<string> split(const string &s, char delim) {
@@ -63,8 +67,8 @@
     if (GPS_data_string.substr(0,6) == "$GPGGA") {
         GPS_data_string = GPS_data_string.substr(7);
         vector<string> result = split(GPS_data_string, ',');
-        GPS_quality = result.at(5);
-        if(GPS_quality != "0" and GPS_quality != "6") {
+        GPS_Quality = result.at(5);
+        if(GPS_Quality != "0" and GPS_Quality != "6") {
             GPS_UTC = result.at(0);
             GPS_Latitude = result.at(2) + result.at(1);
             GPS_Longtitude = result.at(4) + result.at(3);
@@ -72,22 +76,22 @@
             GPS_HDOP = result.at(7);
             GPS_Altitude = result.at(8) + result.at(9);
         }
-    } else if (GPS_data_string.substr(0,6) == "$GPGSA" and GPS_quality != "0" and GPS_quality != "6") {
+    } else if (GPS_data_string.substr(0,6) == "$GPGSA" and GPS_Quality != "0" and GPS_Quality != "6") {
         GPS_data_string = GPS_data_string.substr(7);
         vector<string> result = split(GPS_data_string, ',');
         GPS_PDOP = result.at(14);
         asterisk_idx = result.at(16).find('*');
         GPS_VDOP = result.at(16).substr(0, asterisk_idx);
-    } else if (GPS_data_string.substr(0,6) == "$GPRMC" and GPS_quality != "0" and GPS_quality != "6") {
+    } else if (GPS_data_string.substr(0,6) == "$GPRMC" and GPS_Quality != "0" and GPS_Quality != "6") {
         GPS_data_string = GPS_data_string.substr(7);
         vector<string> result = split(GPS_data_string, ',');
-        GPS_date = result.at(8);
-    } else if (GPS_data_string.substr(0,6) == "$GPVTG" and GPS_quality != "0" and GPS_quality != "6") {
+        GPS_Date = result.at(8);
+    } else if (GPS_data_string.substr(0,6) == "$GPVTG" and GPS_Quality != "0" and GPS_Quality != "6") {
         GPS_data_string = GPS_data_string.substr(7);
         vector<string> result = split(GPS_data_string, ',');
-        GPS_velocityKnot = result.at(4) + result.at(5);
+        GPS_VelocityKnot = result.at(4) + result.at(5);
         asterisk_idx = result.at(7).find('*');
-        GPS_velocityKph = result.at(6) + result.at(7).substr(0, asterisk_idx);
+        GPS_VelocityKph = result.at(6) + result.at(7).substr(0, asterisk_idx);
     }
         
 }
@@ -97,11 +101,12 @@
  }
  
 void printStateGPS() {
-   pc.printf("GPS_quality: %s, GPS_UTC: %s, GPS_Latitude: %s, GPS_Longtitude: %s, GPS_Altitude: %s, "
-            "GPS_Num_Satellite: %s, GPS_HDOP: %s, GPS_VDOP: %s, GPS_PDOP: %s, GPS_date: %s, GPS_velocityKnot: %s, GPS_velocityKph: %s\n",
-            GPS_quality.c_str(), GPS_UTC.c_str(), GPS_Latitude.c_str(), GPS_Longtitude.c_str(), GPS_Altitude.c_str(), GPS_Num_Satellite.c_str(),
-            GPS_HDOP.c_str(), GPS_VDOP.c_str(), GPS_PDOP.c_str(), GPS_date.c_str(), GPS_velocityKnot.c_str(), GPS_velocityKph.c_str());    
+   pc.printf("GPS_Quality: %s, GPS_UTC: %s, GPS_Latitude: %s, GPS_Longtitude: %s, GPS_Altitude: %s, "
+            "GPS_Num_Satellite: %s, GPS_HDOP: %s, GPS_VDOP: %s, GPS_PDOP: %s, GPS_Date: %s, GPS_VelocityKnot: %s, GPS_VelocityKph: %s\n",
+            GPS_Quality.c_str(), GPS_UTC.c_str(), GPS_Latitude.c_str(), GPS_Longtitude.c_str(), GPS_Altitude.c_str(), GPS_Num_Satellite.c_str(),
+            GPS_HDOP.c_str(), GPS_VDOP.c_str(), GPS_PDOP.c_str(), GPS_Date.c_str(), GPS_VelocityKnot.c_str(), GPS_VelocityKph.c_str());    
 }
+
 //#YPR=-183.74,-134.27,-114.39
 void IMU_serial_ISR() {
     char buf;
@@ -109,7 +114,7 @@
      while (IMU.readable()) {
         buf = IMU.getc();
         
-
+        //pc.putc(buf);
         IMU_message[IMU_message_counter]=buf;
         IMU_message_counter+=1;
         
@@ -132,8 +137,8 @@
     
      while (GPS.readable()) {
         buf = GPS.getc();
-        
-
+              
+        //pc.putc(buf);  
         GPS_message[GPS_message_counter]=buf;
         GPS_message_counter+=1;
         
@@ -154,7 +159,18 @@
     
      while (pc.readable()) {
         buf = pc.getc();
-        //pc.putc(buf);    
+        
+        //pc.putc(buf); 
+        PC_message[PC_message_counter]=buf;
+        PC_message_counter+=1;
+        
+        if (buf=='\n'){
+            string PC_copy(PC_message, PC_message_counter);
+            //pc.printf("%s", PC_copy.c_str());
+            decodePC(PC_copy);
+            PC_message_counter=0; 
+            PC_copy[0] = '\0';
+        }   
     }
     
     led4= !led4;