Diff: handle/handleGPS.cpp

Revision:

20:81d5655fecc2

Parent:

16:4f5d20b87dc3

Child:

29:b47b4fd78c00

Child:

30:327191ff57e8

diff -r 8c1f2a2204fb -r 81d5655fecc2 handle/handleGPS.cpp
--- a/handle/handleGPS.cpp	Sun Apr 20 22:01:05 2014 +0000
+++ b/handle/handleGPS.cpp	Tue Apr 22 04:26:31 2014 +0000
@@ -2,6 +2,8 @@
 
 //Serial gps(p28,p27);
 
+GPSHandle* GPSHandle::hand = NULL;
+
 void testVar(){
 }
 void GPSHandle::setup(){
@@ -14,6 +16,40 @@
     //    gps config.
 }
 
+char GPSHandle::readWaypoints(){
+    USB::getSerial().printf("getting waypoitns\r\n");
+    PacketStruct pack;
+    char rx_status = getPS().receivePacket(&pack);
+    if(rx_status != 1){
+        return rx_status;
+    }
+    Point* points = (Point*)pack.data;
+    unsigned int num_points = pack.size;
+    for(int i=0;i<num_points;i++){
+        USB::getSerial().printf("Adding Waypoint: %f, %f\r\n",points[i].lat,points[i].lon);
+    }
+    return 1;
+}
+
+void GPSHandle::sendLoc(){
+    wait_us(100000);
+    getPS().openConnection();
+    wait_us(100000);
+    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);
+    wait_us(100000);
+    getPS().closeConnection();
+    wait_us(100000);
+}
+
+bool GPSHandle::if_image_location(){
+    USB::getSerial().printf("Checking if at waypoint\r\n");
+    return true;
+}
+
 static bool reading = false;
 //static std::stringstream line;
 static char line[MAXREADIN+10];