Diff: handle/handleCommand.cpp

Revision:

20:81d5655fecc2

Child:

51:d6b64ac3c30d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/handle/handleCommand.cpp	Tue Apr 22 04:26:31 2014 +0000
@@ -0,0 +1,91 @@
+#include "handleCommand.h"
+
+CommandHandle* CommandHandle::hand = NULL;
+
+void CommandHandle::setup(){
+    initialized = false;
+}
+
+int CommandHandle::getNextPacketType(){
+    PacketStruct pack;
+    char rx_status = getPS().receivePacket(&pack);
+    if(rx_status == 1){
+        return pack.type;
+    }
+    return -1;
+}
+
+void CommandHandle::getCommands(){
+    getPS().openConnection();
+    getPS().sendPacket(0,NULL,0,PT_EMPTY);
+    getPS().sendPacket(0,NULL,0,PT_GETCOMMANDS);
+    getPS().clearRXBuffer();
+    getPS().sendPacket(0,NULL,0,PT_END);
+    char startCommandsReceived = 0;
+    char endCommandsReceived = 0;
+    char pack_type_failed = 0;
+    char waypoints_sent = 0;
+    char location_requested = 0;
+    if(getPS().getSynced() == 1){
+        while(!endCommandsReceived && !pack_type_failed){
+            int pack_type = getNextPacketType();
+            if(pack_type < 0){
+                USB::getSerial().printf("Failed to get packet type!\r\n");
+                pack_type_failed = 1;
+            }else{
+                switch(pack_type){
+                    case PT_STARTCOMMANDS:
+                        USB::getSerial().printf("Start Commands\r\n");
+                        startCommandsReceived = 1;
+                        break;
+                    case PT_ENDCOMMANDS:
+                        endCommandsReceived = 1;
+                        USB::getSerial().printf("End Commands\r\n");
+                        break;
+                    case PT_WAY:
+                        GPSHandle::getGPSHand().readWaypoints();
+                        break;
+                    case PT_REQLOC:
+                        USB::getSerial().printf("\r\n\r\nLocation Requested!!!!!!!!!!!!!!!!!!!!!!!!!!!\r\n\r\n\r\n");
+                        location_requested = 1;
+                        break;
+                    default:
+                        USB::getSerial().printf("Unknown command issued: %d\r\n",pack_type);
+                        break;
+                }
+            }
+        }
+    }else{
+        USB::getSerial().printf("Failed to sync!!!!!\r\n");   
+    }
+    USB::getSerial().printf("Done Getting Commands. Closing Connection.\r\n");
+    getPS().closeConnection();
+    if(location_requested){
+        USB::getSerial().printf("sending location...\r\n");
+        GPSHandle::getGPSHand().sendLoc();
+    }
+    if(waypoints_sent){
+        
+    }
+}
+
+void CommandHandle::locationRequest(){
+    
+}
+
+bool CommandHandle::check(){
+    return true;
+}
+
+void CommandHandle::run(){
+    if(!initialized){
+        initialized=true;
+        USB::getSerial().printf("Setup Command Handler\r\n");
+        setup();
+    }
+    if(check()){
+        USB::getSerial().printf("Getting Commands\r\n");
+        getCommands();
+        USB::getSerial().printf("Done Getting Commans\r\n");
+    }
+}
\ No newline at end of file