Colin Stearns / Mbed 2 deprecated qcControl

QC Control software

Dependencies:   mbed

Fork of dgps by Colin Stearns

main.cpp@54:fc7c8b5d4d41, 2014-04-26 (annotated)

Committer:
dylanembed123
Date:
Sat Apr 26 16:26:18 2014 +0000
Revision:
54:fc7c8b5d4d41
Parent:
53:d785a6f6abdd
Child:
55:c2c10a521874
Update mutliple send attempts of path.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
stearnsc 0:9c001c4e7bf4 1 #include "mbed.h"
stearnsc 0:9c001c4e7bf4 2 #include <string>
stearnsc 0:9c001c4e7bf4 3 #include <sstream>
dylanembed123 7:c75d5e5e6bfc 4 #include "adapt/usb.h"
dylanembed123 9:da906eeac51e 5 #include "handle/handleCamera.h"
dylanembed123 9:da906eeac51e 6 #include "handle/handleGPS.h"
krobertson 20:81d5655fecc2 7 #include "handle/handleCommand.h"
dylanembed123 26:06f1c9d70e9f 8 #include "handle/mavcommands.h"
dylanembed123 33:ad63e7013801 9 #include "handle/dataLocation.h"
krobertson 44:2ae602b89961 10 #include "handle/handleCompass.h"
dylanembed123 33:ad63e7013801 11 #define DELAYBOOT 1
stearnsc 8:28b866df62cf 12
stearnsc 0:9c001c4e7bf4 13 Serial pc(USBTX,USBRX);
stearnsc 0:9c001c4e7bf4 14 Serial xbee(p9,p10);//tx, rx
stearnsc 0:9c001c4e7bf4 15 Serial gps(p28,p27);
dylanembed123 6:434d20e99e49 16 Serial camera(p13,p14);
stearnsc 0:9c001c4e7bf4 17
stearnsc 0:9c001c4e7bf4 18 typedef struct {
stearnsc 0:9c001c4e7bf4 19 int latitude; //in .0001 minutes
stearnsc 0:9c001c4e7bf4 20 int longitude; //in .0001 minutes
stearnsc 0:9c001c4e7bf4 21 int altitude; //in decimeters
stearnsc 0:9c001c4e7bf4 22 int time; //in milliseconds
stearnsc 0:9c001c4e7bf4 23 } GpsData;
stearnsc 0:9c001c4e7bf4 24
stearnsc 8:28b866df62cf 25 void readSerial(Serial &s, char str[], int size)
stearnsc 8:28b866df62cf 26 {
stearnsc 8:28b866df62cf 27 for (int i = 0; i < size; i++) {
stearnsc 8:28b866df62cf 28 str[i] = s.getc();
stearnsc 0:9c001c4e7bf4 29 }
stearnsc 0:9c001c4e7bf4 30 }
stearnsc 0:9c001c4e7bf4 31
krobertson 18:e72ee7aed088 32 void connection_lost(){
krobertson 18:e72ee7aed088 33 USB::getSerial().printf("TCP connection lost!\r\n");
krobertson 18:e72ee7aed088 34 }
krobertson 18:e72ee7aed088 35
stearnsc 0:9c001c4e7bf4 36 //sends: "$<command>*<checksum>\r\l"
stearnsc 8:28b866df62cf 37 void sendGpsCommand(string command)
stearnsc 8:28b866df62cf 38 {
stearnsc 0:9c001c4e7bf4 39 uint8_t checksum = 0;
stearnsc 0:9c001c4e7bf4 40 pc.printf("Sending command to gps: ");
stearnsc 0:9c001c4e7bf4 41 gps.putc('$');
stearnsc 0:9c001c4e7bf4 42 pc.putc('$');
stearnsc 0:9c001c4e7bf4 43 char c;
stearnsc 8:28b866df62cf 44 for (int i = 0; i < command.length(); i++) {
stearnsc 0:9c001c4e7bf4 45 c = command[i];
stearnsc 0:9c001c4e7bf4 46 checksum ^= c;
stearnsc 0:9c001c4e7bf4 47 gps.putc(c);
stearnsc 0:9c001c4e7bf4 48 pc.putc(c);
stearnsc 0:9c001c4e7bf4 49 }
stearnsc 0:9c001c4e7bf4 50 gps.putc('*');
stearnsc 0:9c001c4e7bf4 51 pc.putc('*');
stearnsc 0:9c001c4e7bf4 52 string checkSumString;
stearnsc 8:28b866df62cf 53 while (checksum > 0) {
stearnsc 0:9c001c4e7bf4 54 uint8_t checksumChar = checksum & 0x0F;
stearnsc 8:28b866df62cf 55 if (checksumChar >= 10) {
stearnsc 0:9c001c4e7bf4 56 checksumChar -= 10;
stearnsc 8:28b866df62cf 57 checksumChar += 'A';
stearnsc 0:9c001c4e7bf4 58 } else {
stearnsc 8:28b866df62cf 59 checksumChar += '0';
stearnsc 0:9c001c4e7bf4 60 }
stearnsc 0:9c001c4e7bf4 61 checkSumString.push_back((char) checksumChar);
stearnsc 8:28b866df62cf 62 checksum = checksum >> 4;
stearnsc 0:9c001c4e7bf4 63 }
stearnsc 0:9c001c4e7bf4 64
stearnsc 8:28b866df62cf 65 for (int i = checkSumString.length() - 1; i >= 0; i--) {
stearnsc 0:9c001c4e7bf4 66 gps.putc(checkSumString[i]);
stearnsc 8:28b866df62cf 67 pc.putc(checkSumString[i]);
stearnsc 8:28b866df62cf 68 }
stearnsc 0:9c001c4e7bf4 69 gps.putc('\r');
stearnsc 0:9c001c4e7bf4 70 pc.putc('\r');
stearnsc 0:9c001c4e7bf4 71 gps.putc('\n');
stearnsc 0:9c001c4e7bf4 72 pc.putc('\n');
stearnsc 0:9c001c4e7bf4 73 }
stearnsc 8:28b866df62cf 74 //
stearnsc 8:28b866df62cf 75 ////cs: little endian parsing
stearnsc 8:28b866df62cf 76 //int nextInt(char *data, int i)
stearnsc 8:28b866df62cf 77 //{
stearnsc 8:28b866df62cf 78 // i |= data[i];
stearnsc 8:28b866df62cf 79 // i |= (data[i + 1] << 8);
stearnsc 8:28b866df62cf 80 // i |= (data[i + 2] << 16);
stearnsc 8:28b866df62cf 81 // i |= (data[i + 3] << 24);
stearnsc 8:28b866df62cf 82 // return i;
stearnsc 8:28b866df62cf 83 //}
stearnsc 0:9c001c4e7bf4 84
stearnsc 8:28b866df62cf 85 //void handleXbeeGps()
stearnsc 8:28b866df62cf 86 //{
stearnsc 8:28b866df62cf 87 // static bool reading = false;
stearnsc 8:28b866df62cf 88 // static char packet[16];
stearnsc 8:28b866df62cf 89 // static int i = 0;
stearnsc 8:28b866df62cf 90 //
stearnsc 8:28b866df62cf 91 // char c = xbee.getc();
stearnsc 8:28b866df62cf 92 // if (reading) {
stearnsc 8:28b866df62cf 93 // packet[i] = c;
stearnsc 8:28b866df62cf 94 // i++;
stearnsc 8:28b866df62cf 95 // if (i == 16) {
stearnsc 8:28b866df62cf 96 // i = 0;
stearnsc 8:28b866df62cf 97 // otherGps.latitude = nextInt(packet, 0);
stearnsc 8:28b866df62cf 98 // otherGps.longitude = nextInt(packet, 4);
stearnsc 8:28b866df62cf 99 // otherGps.altitude = nextInt(packet, 8);
stearnsc 8:28b866df62cf 100 // otherGps.time = nextInt(packet, 12);
stearnsc 8:28b866df62cf 101 //
stearnsc 8:28b866df62cf 102 // pc.printf("His GPS data: Lat: %d, Lon: %d, Alt: %d, Time:%d\r\n",
stearnsc 8:28b866df62cf 103 // otherGps.latitude, otherGps.longitude, otherGps.altitude, otherGps.time
stearnsc 8:28b866df62cf 104 // );
stearnsc 8:28b866df62cf 105 // reading = false;
stearnsc 8:28b866df62cf 106 // }
stearnsc 8:28b866df62cf 107 // } else if (c == 'X') {
stearnsc 8:28b866df62cf 108 // reading = true;
stearnsc 8:28b866df62cf 109 // }
stearnsc 8:28b866df62cf 110 //}
dylanembed123 7:c75d5e5e6bfc 111
stearnsc 8:28b866df62cf 112 int main()
stearnsc 8:28b866df62cf 113 {
dylanembed123 40:7b4d6043f533 114
dylanembed123 24:e65416d6de22 115 // Start Mav test
dylanembed123 54:fc7c8b5d4d41 116 DH::Locs().add(LHType_targ,DataLocation(27.175015,78.042155,5.0));
dylanembed123 52:b4dddb28dffa 117 USB::getSerial().printf("Wait %d seconds\n",DELAYBOOT);
dylanembed123 33:ad63e7013801 118 wait(DELAYBOOT);
dylanembed123 25:b7f861fc8ddd 119 while(true){
dylanembed123 25:b7f861fc8ddd 120 MavCmd::get().run();
dylanembed123 25:b7f861fc8ddd 121 }
dylanembed123 52:b4dddb28dffa 122
dylanembed123 24:e65416d6de22 123 // End mav test
dylanembed123 21:c546eab07e28 124
krobertson 20:81d5655fecc2 125 //handlers
krobertson 20:81d5655fecc2 126 //ImageHandle imageHand;
krobertson 20:81d5655fecc2 127 //GPSHandle gpsHand;
krobertson 20:81d5655fecc2 128 //CommandHandle commHand;
krobertson 20:81d5655fecc2 129
dylanembed123 13:a6d3cf2b018e 130 USB::getSerial().printf("Starting %d\n",sizeof(PacketStruct));
dylanembed123 14:6be57da62283 131 USB::getSerial().printf("Check GPS\n");
krobertson 20:81d5655fecc2 132 USB::getSerial().printf("Connect to the wifly network now!\r\n");
krobertson 20:81d5655fecc2 133 //XBEE::getTCPInterrupt().fall(&connection_lost);
krobertson 20:81d5655fecc2 134 //checking connection to egg before continuing
krobertson 19:8c1f2a2204fb 135 getPS().openConnection();
krobertson 19:8c1f2a2204fb 136 getPS().closeConnection();
krobertson 20:81d5655fecc2 137 //Main Loop
krobertson 41:df156ae5631b 138 int count = 0;
krobertson 19:8c1f2a2204fb 139 while(1){
krobertson 41:df156ae5631b 140 USB::getSerial().printf("Running GPS...\r\n");
krobertson 32:9cb7bc3fc9e0 141 GPSHandle::getGPSHand().run();
krobertson 44:2ae602b89961 142 USB::getSerial().printf("Running Compass...\r\n");
krobertson 44:2ae602b89961 143 compassHandle::getCompassHand().run();
krobertson 20:81d5655fecc2 144 USB::getSerial().printf("Requesting commands from egg...\r\n");
krobertson 41:df156ae5631b 145 if(count % 100 == 0){
krobertson 41:df156ae5631b 146 wait_us(100000);
krobertson 41:df156ae5631b 147 CommandHandle::getCommandHand().run();
krobertson 41:df156ae5631b 148 wait_us(100000);
krobertson 41:df156ae5631b 149 }
krobertson 20:81d5655fecc2 150 if(GPSHandle::getGPSHand().if_image_location()){
krobertson 20:81d5655fecc2 151 USB::getSerial().printf("Taking picture and sending...\r\n");
krobertson 20:81d5655fecc2 152 wait_us(100000);
krobertson 20:81d5655fecc2 153 ImageHandle::getImageHand().run();
krobertson 20:81d5655fecc2 154 USB::getSerial().printf("sent all data\r\n");
krobertson 20:81d5655fecc2 155 wait_us(100000);
krobertson 32:9cb7bc3fc9e0 156 GPSHandle::getGPSHand().next_waypoint();
krobertson 41:df156ae5631b 157 wait_us(100000);
krobertson 32:9cb7bc3fc9e0 158 }else{
krobertson 46:f89fc45811a1 159 //USB::getSerial().printf("Not close enough to waypoint for image\r\n");
dylanembed123 21:c546eab07e28 160 }
krobertson 41:df156ae5631b 161 count++;
krobertson 20:81d5655fecc2 162 //}
krobertson 18:e72ee7aed088 163
dylanembed123 11:97625c27ab90 164 // Run image handler
krobertson 20:81d5655fecc2 165 //USB::getSerial().printf("Check Image\n");
krobertson 20:81d5655fecc2 166 // imageHand.run();
dylanembed123 11:97625c27ab90 167 // Run GPS handler
krobertson 20:81d5655fecc2 168 // USB::getSerial().printf("Check GPS\n");
krobertson 20:81d5655fecc2 169 //gpsHand.run();
krobertson 20:81d5655fecc2 170 //USB::getSerial().printf("GPS Time: %f\n",DH::Locs().getC().getTime());
dylanembed123 15:e3e03a9df89e 171 // Read packet
krobertson 20:81d5655fecc2 172 //USB::getSerial().printf("Read Input\n");
dylanembed123 16:4f5d20b87dc3 173 //PacketStruct* pack=getPS().lastValid;//getPS().getNextPacket();
dylanembed123 16:4f5d20b87dc3 174 //if(pack!=NULL){
dylanembed123 16:4f5d20b87dc3 175 // USB::getSerial().printf("Received Type: %d\n",pack->type);
dylanembed123 16:4f5d20b87dc3 176 // if(pack->type==PT_REQLOC){
krobertson 20:81d5655fecc2 177 //if(getPS().outputDevice.readable()>0){
krobertson 20:81d5655fecc2 178 // char input=getPS().outputDevice.getc();
krobertson 20:81d5655fecc2 179 // //if(getPS().outputDevice.getc()=='A'){
krobertson 20:81d5655fecc2 180 // // Send location
krobertson 20:81d5655fecc2 181 // unsigned int sID=getPS().getSuperID();
krobertson 20:81d5655fecc2 182 // getPS().sendPacket(0,NULL,0,PT_EMPTY);
krobertson 20:81d5655fecc2 183 // getPS().sendPacket(sID,NULL,0,PT_SENDLOC);
krobertson 20:81d5655fecc2 184 // getPS().sendPacket(sID,(char*)(&DH::Locs().getC().getLoc()),sizeof(DataLocation));
krobertson 20:81d5655fecc2 185 // getPS().sendPacket(sID,NULL,0,PT_END);
krobertson 20:81d5655fecc2 186 // //}
krobertson 20:81d5655fecc2 187 // }
dylanembed123 11:97625c27ab90 188 }
dylanembed123 7:c75d5e5e6bfc 189 /// Main Loop
krobertson 20:81d5655fecc2 190 // while(true) {
krobertson 20:81d5655fecc2 191 // gps.baud(57600);
krobertson 20:81d5655fecc2 192 // xbee.baud(9600);
krobertson 20:81d5655fecc2 193 // pc.baud(57600);
krobertson 20:81d5655fecc2 194 //
krobertson 20:81d5655fecc2 195 // sendGpsCommand("PMTK301,1");
krobertson 20:81d5655fecc2 196 // while(true) {
krobertson 20:81d5655fecc2 197 // pc.putc(gps.getc());
krobertson 20:81d5655fecc2 198 // }
dylanembed123 9:da906eeac51e 199 //gps.attach(&handleGpsData, Serial::RxIrq);
dylanembed123 9:da906eeac51e 200 //xbee.attach(&handleXbeeGps, Serial::RxIrq)//;
krobertson 20:81d5655fecc2 201 //}
dylanembed123 9:da906eeac51e 202 }