Revision 9:da906eeac51e, committed 2014-04-03

Comitter:

dylanembed123

Date:

Thu Apr 03 17:15:29 2014 +0000

Parent:

8:28b866df62cf

Child:

10:c4745ddaaf6a

Commit message:

Fix compile errors

Changed in this revision

--- a/flight/flightControl.cpp	Tue Apr 01 17:58:35 2014 +0000
+++ b/flight/flightControl.cpp	Thu Apr 03 17:15:29 2014 +0000
@@ -1,4 +1,4 @@
-#include "mbed.h"
+#include "flightControl.h"
 
 PwmOut throttle(p21);
 PwmOut roll(p22);
@@ -7,50 +7,50 @@
 PwmOut arm(p25);
 PwmOut baroHold(p26);
 
-    //TODO see if pwm output gets initialized 
-    public void FlightControl::startPwm(){
-        throttle.period_ms(20);
-        roll.period_ms(20);
-        pitch.period_ms(20);
-//        yaw.period_ms(20);
-        arm.period_ms(20);
-    }
-    
-    public void FlightControl::stopPwm(){
-        throttle.pulsewidth_us(0);
-        roll.pulsewidth_us(0);
-        pitch.pulsewidth_us(0);
+//TODO see if pwm output gets initialized 
+void FlightControl::startPwm(){
+    throttle.period_ms(20);
+    roll.period_ms(20);
+    pitch.period_ms(20);
+    //        yaw.period_ms(20);
+    arm.period_ms(20);
+}
+
+void FlightControl::stopPwm(){
+    throttle.pulsewidth_us(0);
+    roll.pulsewidth_us(0);
+    pitch.pulsewidth_us(0);
 //        yaw.pulsewidth_us(0);
-        throttle.pulsewidth_us(0);
-    }
+    throttle.pulsewidth_us(0);
+}
+
+//-500 means full back; 500 means full forward
+void FlightControl::setPitch(int val){
+    if (val > 500) val = 500;
+    else if (val < -500) val = 0;
+    pitch.pulsewidth_us(1500 + val);
+}
 
-    //-500 means full back; 500 means full forward
-    public void FlightControl::setPitch(int val){
-        if (val > 500) val = 500;
-        else if (val < -500) val = 0;
-        pitch.pulsewidth_us(1500 + val);
-    }
-    
-    //-500 means full left; 500 means full right
-    public void FlightControl::setRoll(int val){
-        if (val > 500) val = 500;
-        else if (val < -500) val = 0;
-        roll.pulsewidth_us(1500 + val);
-    }
-    
-    //0 means no throttle, 1000 means full throttle
-    public void FlightControl::setThrottle(int val){
-        if (val > 1000) val = 1000;
-        else if (val < 0) val = 0;
-        throttle.pulsewidth_us(1000 + val);        
-    }
-    
-    public void FlightControl::setArmState(bool armState){
-        if (armState) arm.pulsewidth_us(2000);
-        else arm.pulsewidth_us(1000);
-    }
-    
-    public void FlightControl::setHoldAltitude(bool hold){
-        if (hold) baroHold.pulsewidth_us(2000);
-        else baroHold.pulsewidth_us(1000);
-    }
\ No newline at end of file
+//-500 means full left; 500 means full right
+void FlightControl::setRoll(int val){
+    if (val > 500) val = 500;
+    else if (val < -500) val = 0;
+    roll.pulsewidth_us(1500 + val);
+}
+
+//0 means no throttle, 1000 means full throttle
+void FlightControl::setThrottle(int val){
+    if (val > 1000) val = 1000;
+    else if (val < 0) val = 0;
+    throttle.pulsewidth_us(1000 + val);        
+}
+
+void FlightControl::setArmState(bool armState){
+    if (armState) arm.pulsewidth_us(2000);
+    else arm.pulsewidth_us(1000);
+}
+
+void FlightControl::setHoldAltitude(bool hold){
+    if (hold) baroHold.pulsewidth_us(2000);
+    else baroHold.pulsewidth_us(1000);
+}
\ No newline at end of file

--- a/flight/flightControl.h	Tue Apr 01 17:58:35 2014 +0000
+++ b/flight/flightControl.h	Thu Apr 03 17:15:29 2014 +0000
@@ -1,6 +1,9 @@
+#include "mbed.h"
+
 class FlightControl{
 public:
-    void startPWM();
+    void startPwm();
+    void stopPwm();
     //-500 means full back; 500 means full forward
     void setPitch(int vel);
     
@@ -13,4 +16,4 @@
     void setArmState(bool arm);
     
     void setHoldAltitude(bool hold);
-}
\ No newline at end of file
+};
\ No newline at end of file

--- a/handle/dataLocation.cpp	Tue Apr 01 17:58:35 2014 +0000
+++ b/handle/dataLocation.cpp	Thu Apr 03 17:15:29 2014 +0000
@@ -1,34 +1,43 @@
-
-
-DataLocation* LocHolder::locs=NULL;
-DataLocation* LocHolder::targ=NULL;
-DataLocation* LocHolder::base=NULL;
+#include "dataLocation.h"
 
-DataLocation* LocHolder::getLocs(){
-    if(locs==NULL)locs=new DataLocation[MAXNUMLOCS];
-    return locs;
-}
-
-DataLocation* LocHolder::getTarg(){
-    if(targ==NULL)targ=new DataLocation[MAXNUMLOCS];
-    return targ;
-}
-
-DataLocation* LocHolder::getBase(){
-    if(base==NULL)base=new DataLocation[MAXNUMLOCS];
+DataLocation* LocHolder::get(LHType type){
+    if(type==LHType_locs){
+        return locs;
+    }else if(type==LHType_targ){
+        return targ;
+    }else if(type==LHType_base){
+        return base;
+    }
     return base;
 }
 
-unsigned int LocHolder::getRealIndex(int index,int offset=0){
-    return (index+offset)%MAXNUMLOCS;
+unsigned int LocHolder::getRealIndex(LHType type,int index,int offset,bool useSize){
+    return (index+offset)%(useSize?getI(type,LHIType_size):MAXNUMLOCS);
+}
+
+DataLocation& LocHolder::getC(LHType type,int offset){
+    return get(type)[getRealIndex(type,offset)];
 }
 
-DataLocation& LocHolder::getCurrentLocs(int offset=0){
-    return getLocs()[getRealIndex(headLocs,offset)];
+unsigned int& LocHolder::getI(LHType type,LHIType indexType){
+    if(indexType==LHIType_head){
+        // Grab proper header
+        if(type==LHType_locs){return headLocs;}else if(type==LHType_targ){return headTarg;}else if(type==LHType_base){return headBase;}
+    }else if(indexType==LHIType_size){
+        // Grab proper size
+        if(type==LHType_locs){return sizeLocs;}else if(type==LHType_targ){return sizeTarg;}else if(type==LHType_base){return sizeBase;}    
+    }
+    return headLocs;
 }
-DataLocation& LocHolder::getCurrentTarg(int offset=0){
-    return getTarg()[getRealIndex(headTarg,offset)];
+
+void LocHolder::inc(LHType type,int amount,bool abs){
+    unsigned int& index=getI(type);
+    index=getRealIndex(type,(abs?0:index),amount);//((abs?0:index)+amount)%getI(type,LHIType_size);
+    getI(type)=index;
 }
-DataLocation& LocHolder::getCurrentBase(int offset=0){
-    return getBase()[getRealIndex(headBase,offset)];
-}
+
+void LocHolder::add(LHType type,DataLocation newLoc){
+    getI(type)=getI(type,LHIType_size);
+    getI(type,LHIType_size)++;
+    getC(type)=newLoc;
+}
\ No newline at end of file

--- a/handle/dataLocation.h	Tue Apr 01 17:58:35 2014 +0000
+++ b/handle/dataLocation.h	Thu Apr 03 17:15:29 2014 +0000
@@ -1,3 +1,7 @@
+/**
+  *  \brief Data location data holder
+  **/
+
 #define MAXNUMLOCS 256
 
 // Storage of data location
@@ -5,31 +9,63 @@
 private:
     // Current value of lat lon and alt
     double lat,lon,alt;
+    double timestamp;
 public:
+    DataLocation(){}
+    DataLocation(double latA,double lonA,double altA,double timestampA=0):lat(latA),lon(lonA),alt(altA),timestamp(timestampA){}
     double& getLat(){return lat;}
     double& getLon(){return lon;}
     double& getAlt(){return alt;}
-}
+};
+
+/// \brief Location holder type
+enum LHType{
+    LHType_locs=0,
+    LHType_targ,
+    LHType_base
+};
+
+/// \brief Location holder index type
+enum LHIType{
+    LHIType_head=0,
+    LHIType_size
+};
 
 // Singleton location holder
 class LocHolder{
 private:
     // Actual Locations (absolute)
-    static DataLocation locs[MAXNUMLOCS];
+    DataLocation locs[MAXNUMLOCS];
     // Target Locations (relative to base station -> base station is at 0,0,0)
-    static DataLocation targ[MAXNUMLOCS];
+    DataLocation targ[MAXNUMLOCS];
     // Base Station Locations (absolute)
-    static DataLocation base[MAXNUMLOCS];
+    DataLocation base[MAXNUMLOCS];
     // Index of the head of the circular buffers
-    static unsigned int headLocs,headTarg,headBase;
+    unsigned int headLocs,headTarg,headBase;
+    // Number of locations
+    unsigned int sizeLocs,sizeTarg,sizeBase;
 public:
-    static DataLocation* getLocs();
-    static DataLocation* getTarg();
-    static DataLocation* getBase();
+    /// \brief Default constructor
+    LocHolder():headLocs(0),headTarg(0),headBase(0),sizeLocs(0),sizeTarg(0),sizeBase(0){}
+    
+    /// \brief Get locations type
+    DataLocation* get(LHType type);
+    
+    /// \brief Get Current value
+    DataLocation& getC(LHType type,int offset=0);
+    
+    /// \brief Get Index
+    unsigned int& getI(LHType type,LHIType indexType=LHIType_head);
     
-    DataLocation& getCurrentLocs(int offset=0);
-    DataLocation& getCurrentTarg(int offset=0);
-    DataLocation& getCurrentBase(int offset=0);
+    /// \brief Fix an index that might be out of bounds;
+    unsigned int getRealIndex(LHType type,int index,int offset=0,bool useSize=true);
+    
+    /// \brief Increment index
+    void inc(LHType type,int amount=1,bool abs=false);
     
-    
-};
\ No newline at end of file
+    /// \brief Append a location to the end.
+    void add(LHType type,DataLocation newLoc);
+};
+
+static LocHolder mainLocHolder;
+static LocHolder& Locs(){return mainLocHolder;}
\ No newline at end of file

--- a/handle/handleCamera.cpp	Tue Apr 01 17:58:35 2014 +0000
+++ b/handle/handleCamera.cpp	Thu Apr 03 17:15:29 2014 +0000
@@ -17,7 +17,7 @@
     int i;
     for(i=0;i<size;){
         // read 32 bytes at a time;
-        uint8_t bytesToRead = min(64, size-i); // change 32 to 64 for a speedup but may not work with all setups!
+        uint8_t bytesToRead = std::min(64, size-i); // change 32 to 64 for a speedup but may not work with all setups!
         uint8_t bytesRead=0;
         uint8_t* buffer = cam.readPicture(bytesToRead,&bytesRead);
         for(int a=0;a<bytesRead;a++){USB::getSerial().putc(buffer[a]);}

--- a/handle/handleCamera.h	Tue Apr 01 17:58:35 2014 +0000
+++ b/handle/handleCamera.h	Thu Apr 03 17:15:29 2014 +0000
@@ -3,6 +3,7 @@
 
 #include "adapt/usb.h"
 #include "adapt/camera.h"
+#include <algorithm>
 class ImageHandle{
 private:
     Camera cam;

--- a/handle/handleGPS.cpp	Tue Apr 01 17:58:35 2014 +0000
+++ b/handle/handleGPS.cpp	Thu Apr 03 17:15:29 2014 +0000
@@ -1,40 +1,39 @@
-#include "mbed.h"
+#include "handleGPS.h"
 
-Serial gps(p28,p27);
+//Serial gps(p28,p27);
 
 void GPSHandle::setup(){
-    gps.baud(57600);
+    gps.getSerial().baud(57600);
     sendGpsCommand("PMTK301,1");
-    gps.attach(this, &handleUpdate, Serial::RxIrq);
+    //gps.getSerial().attach(this, handleUpdate, Serial::RxIrq);
     //cs: Send other standard init commands? Not strictly speaking necessary,
     //    but forces "up to date documentation" in the form of always knowing
     //    gps config.
 }
 
 void GPSHandle::handleUpdate(){
-    {
     static bool reading = false;
-    static stringstream line;
+    static std::stringstream line;
 
-    char c = gps.getc();
+    char c = gps.getSerial().getc();
 
     if (reading) {
         if (c == '*') { //sentence buffer complete; we're ignoring the checksum
-            string field;
+            std::string field;
             std::getline(line, field, ','); //GPGGA
             std::getline(line, field, ','); //time
-            gpsData.time = stringToDecimal(field);
+            double time = atof(field.c_str());
             std::getline(line, field, ','); //latitude
-            gpsData.latitude = stringToDecimal(field);
+            double latitude = atof(field.c_str());
             std::getline(line, field, ','); //N or S
             std::getline(line, field, ','); //longitude
-            gpsData.longitude = stringToDecimal(field);
+            double longitude = atof(field.c_str());
             std::getline(line, field, ','); //E or W
             std::getline(line, field, ','); //skip
             std::getline(line, field, ','); //skip
             std::getline(line, field, ','); //skip
             std::getline(line, field, ','); //altitude
-            gpsData.altitude = stringToDecimal(field);
+            double altitude = atof(field.c_str());
 
             //update whatever needs updating when gps updates
 //            pc.printf("My GPS data: Lat: %d, Lon: %d, Alt: %d, Time:%d\r\n",
@@ -54,21 +53,20 @@
 }
 
 //sends: "$<command>*<checksum>\r\l"
-void sendGpsCommand(string command)
-{
+void GPSHandle::sendGpsCommand(std::string command){
     uint8_t checksum = 0;
-    pc.printf("Sending command to gps: ");
-    gps.putc('$');
-    pc.putc('$');
+    //pc.printf("Sending command to gps: ");
+    gps.getSerial().putc('$');
+    //pc.putc('$');
     char c;
     for (int i = 0; i < command.length(); i++) {
         c = command[i];
         checksum ^= c;
-        gps.putc(c);
-        pc.putc(c);
+        gps.getSerial().putc(c);
+        //pc.putc(c);
     }
-    gps.putc('*');
-    pc.putc('*');
+    gps.getSerial().putc('*');
+    //pc.putc('*');
     string checkSumString;
     while (checksum > 0) {
         uint8_t checksumChar = checksum & 0x0F;
@@ -83,13 +81,13 @@
     }
 
     for (int i = checkSumString.length() - 1; i >= 0; i--) {
-        gps.putc(checkSumString[i]);
-        pc.putc(checkSumString[i]);
+        gps.getSerial().putc(checkSumString[i]);
+        //pc.putc(checkSumString[i]);
     }
-    gps.putc('\r');
-    pc.putc('\r');
-    gps.putc('\n');
-    pc.putc('\n');
+    gps.getSerial().putc('\r');
+    //pc.putc('\r');
+    gps.getSerial().putc('\n');
+    //pc.putc('\n');
 }
 
 int stringToDecimal(string s)

--- a/handle/handleGPS.h	Tue Apr 01 17:58:35 2014 +0000
+++ b/handle/handleGPS.h	Thu Apr 03 17:15:29 2014 +0000
@@ -2,10 +2,14 @@
 #define _HANDLEGPS_H_
 
 #include "adapt/usb.h"
-#include "adapt/camera.h"
+#include "adapt/gps.h"
+#ifndef _HANDLE_GPS_H_
+#define _HANDLE_GPS_H_
+#include <string>
+#include <sstream>
 class GPSHandle{
 private:
-    GPS gps
+    GPS gps;
     bool initialized;
     
     /// \brief Setup
@@ -14,7 +18,9 @@
     bool check();
 public:
     /// \brief Constructor
-    ImageHandle():initialized(false){}
+    GPSHandle():initialized(false){}
+    
+    void sendGpsCommand(std::string command);
     
     //handle incoming com from GPS hardware
     void handleUpdate();
@@ -22,5 +28,5 @@
     /// \brief Run an instance of this
     void run();
 };
-
+#endif
 #endif
\ No newline at end of file

--- a/main.cpp	Tue Apr 01 17:58:35 2014 +0000
+++ b/main.cpp	Thu Apr 03 17:15:29 2014 +0000
@@ -2,7 +2,8 @@
 #include <string>
 #include <sstream>
 #include "adapt/usb.h"
-#include "adapt/camera.h"
+#include "handle/handleCamera.h"
+#include "handle/handleGPS.h"
 
 Serial pc(USBTX,USBRX);
 Serial xbee(p9,p10);//tx, rx
@@ -103,7 +104,7 @@
 int main()
 {
     ImageHandle imageHand;
-    GPSHand gpsHand;
+    GPSHandle gpsHand;
 
     /// Main Loop
     while(true) {
@@ -115,6 +116,7 @@
         while(true) {
             pc.putc(gps.getc());
         }
-        gps.attach(&handleGpsData, Serial::RxIrq);
-        xbee.attach(&handleXbeeGps, Serial::RxIrq)//;
+        //gps.attach(&handleGpsData, Serial::RxIrq);
+        //xbee.attach(&handleXbeeGps, Serial::RxIrq)//;
     }
+}