File content as of revision 18:e72ee7aed088:

#include "mbed.h"
#include <string>
#include <sstream>
#include "adapt/usb.h"
#include "handle/handleCamera.h"
#include "handle/handleGPS.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()
{
    //getPS().sendPacket(0,NULL,0,PT_EMPTY);getPS().sendPacket(55,NULL,0,PT_IMAGE);
    //char output[256];for(int i=0;i<256;i++){output[i]=i;}getPS().sendPacket(0,NULL,0,PT_IMAGE);getPS().sendPacket(55,output,256);getPS().sendPacket(55,output,5);getPS().sendPacket(55,NULL,0,PT_END);
    //while(true){}
 /*   PacketStruct* packs[4];
    for(int i=0;i<4;i){
        packs[i]=getPS().getNextPacket();
        if(packs[i]!=NULL)i++;
    }
    for(int i=0;i<4;i++){
        PacketStruct* pack=packs[i];
        if(pack!=NULL){
            USB::getSerial().printf("Got Packet!\n");
            USB::getSerial().printf(" > %d\n",pack->type);
            for(int i=0;i<sizeof(PacketStruct);i++){
                USB::getSerial().printf("%d\n",((char*)pack)[i]);
            }
            USB::getSerial().printf("\n",pack->type);
        }else{
            //USB::getSerial().printf(".");
        }
    }
    while(true){}
    */
    //getPS().sendPacket(55,NULL,0,PT_IMAGE);char output[256];for(int i=0;i<256;i++){output[i]=i;}getPS().sendPacket(55,output,256,PT_IMAGE);getPS().sendPacket(55,output,5,PT_IMAGE);getPS().sendPacket(55,NULL,0,PT_END);while(true){}
    ImageHandle imageHand;
    GPSHandle gpsHand;
    /// Main Loop
    USB::getSerial().printf("Starting %d\n",sizeof(PacketStruct));
    //while(1){
        //USB::getSerial().printf("Test\n");
        //XBEE::getSerial().printf("ABC\n");
    //}
    USB::getSerial().printf("Check GPS\n");
    
    USB::getSerial().printf("Connect to the wifly network now!\r\n");
    __disable_irq();
    XBEE::getTCPInterrupt().fall(&connection_lost);
    
    getPS().wait_for_egg();
    //for(int a=0;a<1000000000;a++);
    while(1){
        //while(1){
//            USB::getSerial().printf("sending 0's\n");
//            getPS().openConnection();
//            USB::getSerial().printf("connection open!\r\n");
//            for(int b=0;b<50;b++){
//                for(int a=0;a<sizeof(PacketStruct)-1;a++){
//                    while(!getPS().outputDevice.writeable()){}
//                    getPS().outputDevice.putc(0);
//                }
//                while(!getPS().outputDevice.writeable()){}
//                getPS().outputDevice.putc(0xFF);
//            }
//            USB::getSerial().printf("sent all data\r\n");
//            //for(int a=0;a<10000000;a++);
//            getPS().closeConnection();
//            //for(int a=0;a<10000000;a++);
//        }

        // 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)//;
    }
}