Revision 42:c78632c16d54, committed 2014-04-23

Comitter:

krobertson

Date:

Wed Apr 23 04:16:46 2014 +0000

Parent:

40:7b4d6043f533

Parent:

41:df156ae5631b

Child:

43:b8cbe6f0ec47

Commit message:

merged

Changed in this revision

--- a/handle/handleGPS.cpp	Wed Apr 23 04:09:06 2014 +0000
+++ b/handle/handleGPS.cpp	Wed Apr 23 04:16:46 2014 +0000
@@ -93,9 +93,9 @@
 void GPSHandle::handleUpdate(){
     char c;
     reading = false;
-    while(getPS().rx_ready_with_timeout(&GPS::getSerial())){
+    while(getPS().rx_ready_with_timeout(&GPS::getSerial(),0,1000)){
         c = GPS::getSerial().getc();
-        USB::getSerial().printf("%c",c);
+        //USB::getSerial().printf("%c",c);
         if (reading) {
             if(line_i>=MAXREADIN){reading=false;return;}
             if (c == '*') { //sentence buffer complete; we're ignoring the checksum
@@ -122,7 +122,7 @@
                         longitude = degrees + minutes/60;
                         USB::getSerial().printf("\nMy GPS data: Lat: %f, Lon: %f, Alt: %f, Time:%f\r\n",latitude,longitude,altitude,timeS);
                         DH::Locs().add(LHType_locs,DataLocation(latitude,longitude,altitude,timeS));
-                        USB::getSerial().printf("Current Time:%f\r\n",DH::Locs().getC().getTime());
+                       // USB::getSerial().printf("Current Time:%f\r\n",DH::Locs().getC().getTime());
                         return;
                     }
                 }

--- a/main.cpp	Wed Apr 23 04:09:06 2014 +0000
+++ b/main.cpp	Wed Apr 23 04:16:46 2014 +0000
@@ -134,12 +134,16 @@
     getPS().openConnection();
     getPS().closeConnection();
     //Main Loop
+    int count = 0;
         while(1){
+            USB::getSerial().printf("Running GPS...\r\n");
             GPSHandle::getGPSHand().run();
             USB::getSerial().printf("Requesting commands from egg...\r\n");
-            wait_us(100000);
-            CommandHandle::getCommandHand().run();
-            wait_us(100000);
+            if(count % 100 == 0){
+                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);
@@ -147,10 +151,11 @@
                 USB::getSerial().printf("sent all data\r\n");
                 wait_us(100000);
                 GPSHandle::getGPSHand().next_waypoint();
+                wait_us(100000);
             }else{
                 USB::getSerial().printf("Not close enough to waypoint for image\r\n");
             }
-            wait_us(1000000);
+            count++;
         //}
 
         // Run image handler

--- a/packet.h	Wed Apr 23 04:09:06 2014 +0000
+++ b/packet.h	Wed Apr 23 04:16:46 2014 +0000
@@ -96,15 +96,22 @@
         }
     }
     
-    char rx_ready_with_timeout(Serial* serialDevice = NULL){
+    char rx_ready_with_timeout(Serial* serialDevice = NULL, float seconds = 0, unsigned int u_seconds = 0){
         if(serialDevice == NULL){
             serialDevice = &outputDevice;
         }
+        if(seconds==0 && u_seconds==0){
+            seconds = 3.0;
+        }
         if(serialDevice->readable()){
             return 1;
         }else{
             EvTimer t;
-            t.set_s_period(3.0);
+            if(seconds>0){
+                t.set_s_period(seconds);
+            }else{
+                t.set_us_period(u_seconds);
+            }
             t.start_timer();
             while(t.get_num_trips() == 0){
                 if(serialDevice->readable()){