Diff: main.cpp.orig

Revision:

24:e65416d6de22

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp.orig	Tue Apr 22 14:15:27 2014 +0000
@@ -0,0 +1,180 @@
+#include "mbed.h"
+#include <string>
+#include <sstream>
+#include "adapt/usb.h"
+#include "handle/handleCamera.h"
+#include "handle/handleGPS.h"
+#include "handle/handleCommand.h"
+
+Serial pc(USBTX,USBRX);
+Serial xbee(p9,p10);//tx, rx
+Serial gps(p28,p27);
+Serial camera(p13,p14);
+
+typedef struct {
+    int latitude;  //in .0001 minutes
+    int longitude; //in .0001 minutes
+    int altitude;  //in decimeters
+    int time;      //in milliseconds
+} GpsData;
+
+void readSerial(Serial &s, char str[], int size)
+{
+    for (int i = 0; i < size; i++) {
+        str[i] = s.getc();
+    }
+}
+
+void connection_lost(){
+    USB::getSerial().printf("TCP connection lost!\r\n");    
+}
+
+//sends: "$<command>*<checksum>\r\l"
+void sendGpsCommand(string command)
+{
+    uint8_t checksum = 0;
+    pc.printf("Sending command to gps: ");
+    gps.putc('$');
+    pc.putc('$');
+    char c;
+    for (int i = 0; i < command.length(); i++) {
+        c = command[i];
+        checksum ^= c;
+        gps.putc(c);
+        pc.putc(c);
+    }
+    gps.putc('*');
+    pc.putc('*');
+    string checkSumString;
+    while (checksum > 0) {
+        uint8_t checksumChar = checksum & 0x0F;
+        if (checksumChar >= 10) {
+            checksumChar -= 10;
+            checksumChar += 'A';
+        } else {
+            checksumChar += '0';
+        }
+        checkSumString.push_back((char) checksumChar);
+        checksum = checksum >> 4;
+    }
+
+    for (int i = checkSumString.length() - 1; i >= 0; i--) {
+        gps.putc(checkSumString[i]);
+        pc.putc(checkSumString[i]);
+    }
+    gps.putc('\r');
+    pc.putc('\r');
+    gps.putc('\n');
+    pc.putc('\n');
+}
+//
+////cs: little endian parsing
+//int nextInt(char *data, int i)
+//{
+//    i |= data[i];
+//    i |= (data[i + 1] << 8);
+//    i |= (data[i + 2] << 16);
+//    i |= (data[i + 3] << 24);
+//    return i;
+//}
+
+//void handleXbeeGps()
+//{
+//    static bool reading = false;
+//    static char packet[16];
+//    static int i = 0;
+//
+//    char c = xbee.getc();
+//    if (reading) {
+//        packet[i] = c;
+//        i++;
+//        if (i == 16) {
+//            i = 0;
+//            otherGps.latitude = nextInt(packet, 0);
+//            otherGps.longitude = nextInt(packet, 4);
+//            otherGps.altitude = nextInt(packet, 8);
+//            otherGps.time = nextInt(packet, 12);
+//
+//            pc.printf("His GPS data: Lat: %d, Lon: %d, Alt: %d, Time:%d\r\n",
+//                      otherGps.latitude, otherGps.longitude, otherGps.altitude, otherGps.time
+//                     );
+//            reading = false;
+//        }
+//    } else if (c == 'X') {
+//        reading = true;
+//    }
+//}
+
+
+int main()
+{
+    //handlers
+    //ImageHandle imageHand;
+    //GPSHandle gpsHand;
+    //CommandHandle commHand;
+
+    USB::getSerial().printf("Starting %d\n",sizeof(PacketStruct));
+    USB::getSerial().printf("Check GPS\n");
+    USB::getSerial().printf("Connect to the wifly network now!\r\n");
+    //XBEE::getTCPInterrupt().fall(&connection_lost);
+    
+    //checking connection to egg before continuing
+    getPS().openConnection();
+    getPS().closeConnection();
+    
+    //Main Loop
+    //while(1){
+        while(1){
+            USB::getSerial().printf("Requesting commands from egg...\r\n");
+            wait_us(100000);
+            CommandHandle::getCommandHand().run();
+            wait_us(100000);
+            if(GPSHandle::getGPSHand().if_image_location()){
+                USB::getSerial().printf("Taking picture and sending...\r\n");
+                wait_us(100000);
+                ImageHandle::getImageHand().run();
+                USB::getSerial().printf("sent all data\r\n");
+                wait_us(100000);
+            }
+            wait_us(1000000);
+        //}
+
+        // Run image handler
+        //USB::getSerial().printf("Check Image\n");
+       // imageHand.run();
+        // Run GPS handler
+       // USB::getSerial().printf("Check GPS\n");
+        //gpsHand.run();
+        //USB::getSerial().printf("GPS Time: %f\n",DH::Locs().getC().getTime());
+        // Read packet
+        //USB::getSerial().printf("Read Input\n");
+        //PacketStruct* pack=getPS().lastValid;//getPS().getNextPacket();
+        //if(pack!=NULL){
+        //    USB::getSerial().printf("Received Type: %d\n",pack->type);
+        //    if(pack->type==PT_REQLOC){
+        //if(getPS().outputDevice.readable()>0){
+//                char input=getPS().outputDevice.getc();
+//                //if(getPS().outputDevice.getc()=='A'){
+//                // Send location
+//                unsigned int sID=getPS().getSuperID();
+//                getPS().sendPacket(0,NULL,0,PT_EMPTY);
+//                getPS().sendPacket(sID,NULL,0,PT_SENDLOC);
+//                getPS().sendPacket(sID,(char*)(&DH::Locs().getC().getLoc()),sizeof(DataLocation));
+//                getPS().sendPacket(sID,NULL,0,PT_END);
+//                //}
+//        }
+    }
+    /// Main Loop
+   // while(true) {
+//        gps.baud(57600);
+//        xbee.baud(9600);
+//        pc.baud(57600);
+//
+//        sendGpsCommand("PMTK301,1");
+//        while(true) {
+//            pc.putc(gps.getc());
+//        }
+        //gps.attach(&handleGpsData, Serial::RxIrq);
+        //xbee.attach(&handleXbeeGps, Serial::RxIrq)//;
+    //}
+}