Revision 12:e42985e3ea64, committed 2014-04-05

Comitter:

dylanembed123

Date:

Sat Apr 05 22:27:18 2014 +0000

Parent:

11:97625c27ab90

Child:

13:a6d3cf2b018e

Commit message:

Update packet.h (interface to other c++ code).

Changed in this revision

--- a/adapt/camera.h	Sat Apr 05 17:49:57 2014 +0000
+++ b/adapt/camera.h	Sat Apr 05 22:27:18 2014 +0000
@@ -6,8 +6,8 @@
 #include "mbed.h"
 
 /// Define Pinout
-#define CAMERAPINTX p9
-#define CAMERAPINRX p10
+#define CAMERAPINTX p9 //p13
+#define CAMERAPINRX p10 //p14
 
 /// Define Baud
 #define CAMERABAUD 38400

--- a/adapt/gps.cpp	Sat Apr 05 17:49:57 2014 +0000
+++ b/adapt/gps.cpp	Sat Apr 05 22:27:18 2014 +0000
@@ -6,7 +6,7 @@
     if(gps==NULL){
         // Init Serial USB
         gps=new Serial(GPSPINTX,GPSPINRX);
-        gps->baud(GPSBAUD);//gps->baud(115200);//57600);
+        gps->baud(GPSBAUD);
     }
-//    return *pc;
+    return *gps;
 }
\ No newline at end of file

--- a/adapt/gps.h	Sat Apr 05 17:49:57 2014 +0000
+++ b/adapt/gps.h	Sat Apr 05 22:27:18 2014 +0000
@@ -4,8 +4,8 @@
 
 
 /// Define Pinout
-#define GPSPINTX p9
-#define GPSPINRX p10
+#define GPSPINTX p28
+#define GPSPINRX p27
 
 /// Define Baud
 #define GPSBAUD 57600

--- a/adapt/usb.cpp	Sat Apr 05 17:49:57 2014 +0000
+++ b/adapt/usb.cpp	Sat Apr 05 22:27:18 2014 +0000
@@ -7,7 +7,7 @@
     if(pc==NULL){
         // Init Serial USB
         pc=new Serial(USBTX,USBRX);
-        pc->baud(115200);//57600);
+        pc->baud(USBBAUD);
     }
     return *pc;
 }
\ No newline at end of file

--- a/adapt/usb.h	Sat Apr 05 17:49:57 2014 +0000
+++ b/adapt/usb.h	Sat Apr 05 22:27:18 2014 +0000
@@ -1,6 +1,10 @@
 #ifndef _USB_H_
 #define _USB_H_
 #include "mbed.h"
+
+/// Define Baud
+#define USBBAUD 115200
+
 class USB{
 private:
     static Serial* pc;

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/adapt/xbee.cpp	Sat Apr 05 22:27:18 2014 +0000
@@ -0,0 +1,12 @@
+#include "xbee.h"
+
+Serial* XBEE::xbee=NULL;
+
+Serial& XBEE::getSerial(){
+    if(xbee==NULL){
+        // Init Serial USB
+        xbee=new Serial(XBEEPINTX,XBEEPINRX);
+        xbee->baud(XBEEBAUD);
+    }
+    return *xbee;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/adapt/xbee.h	Sat Apr 05 22:27:18 2014 +0000
@@ -0,0 +1,20 @@
+#ifndef _XBEE_H_
+#define _XBEE_H_
+#include "mbed.h"
+
+
+/// Define Pinout
+#define XBEEPINTX p9
+#define XBEEPINRX p10
+
+/// Define Baud
+#define XBEEBAUD 57600
+
+class XBEE{
+private:
+    static Serial* xbee;
+public:
+    /// \brief Call this function to get a hold of the serial for USB.
+    static Serial& getSerial();
+};
+#endif
\ No newline at end of file

--- a/handle/handleCamera.cpp	Sat Apr 05 17:49:57 2014 +0000
+++ b/handle/handleCamera.cpp	Sat Apr 05 22:27:18 2014 +0000
@@ -1,7 +1,8 @@
 #include "handleCamera.h"
 
 void ImageHandle::setup(){
-    //char* version = cam.getVersion();
+    char* version = cam.getVersion();
+    outputDevice.printf("Version %s\n",version);
     uint8_t targetSize=VC0706_160x120;//VC0706_640x480;//VC0706_160x120;
     cam.setImageSize(targetSize);
     uint8_t realSize=cam.getImageSize();
@@ -9,21 +10,25 @@
 
 void ImageHandle::take(){
     if (! cam.takePicture()) {
-        USB::getSerial().printf("Failed to snap!\n");
+        outputDevice.printf("Failed to snap!\n");
         while(1){}
     }
+    unsigned int sID=getPS().getSuperID();
+    getPS().sendPacket(sID,NULL,0,PT_IMAGE);
     int size=cam.frameLength();
-    USB::getSerial().printf("Image Start\n",size);
+    outputDevice.printf("Image Start\n",size);
     int i;
     for(i=0;i<size;){
         // read 32 bytes at a time;
         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]);}
+        char* buffer = (char*)cam.readPicture(bytesToRead,&bytesRead);
+        getPS().sendPacket(sID,buffer,bytesRead);
+        //for(int a=0;a<bytesRead;a++){outputDevice.putc(buffer[a]);}
         i+=bytesRead;
     }
-    USB::getSerial().printf("Image End\n",size);
+    outputDevice.printf("Image End\n",size);
+    getPS().sendPacket(sID,NULL,0,PT_END);
 }
 
 bool ImageHandle::check(){
@@ -33,9 +38,11 @@
 void ImageHandle::run(){
     if(!initialized){
         initialized=true;
+        outputDevice.printf("Setup cam\n");
         setup();
     }
     if(check()){
         take();
+        while(true){}
     }
 }
\ No newline at end of file

--- a/handle/handleCamera.h	Sat Apr 05 17:49:57 2014 +0000
+++ b/handle/handleCamera.h	Sat Apr 05 22:27:18 2014 +0000
@@ -3,11 +3,14 @@
 
 #include "adapt/usb.h"
 #include "adapt/camera.h"
+#include "packet.h"
 #include <algorithm>
+
 class ImageHandle{
 private:
     Camera cam;
     bool initialized;
+    Serial& outputDevice;
     
     /// \brief Setup the camera.
     void setup();
@@ -15,9 +18,11 @@
     void take();
     /// \brief Check if an image must be taken
     bool check();
+
 public:
+
     /// \brief Constructor
-    ImageHandle():initialized(false){}
+    ImageHandle():initialized(false),outputDevice(USB::getSerial()){}
     /// \brief Run an instance of this
     void run();
 };

--- a/main.cpp	Sat Apr 05 17:49:57 2014 +0000
+++ b/main.cpp	Sat Apr 05 22:27:18 2014 +0000
@@ -106,11 +106,12 @@
     ImageHandle imageHand;
     GPSHandle gpsHand;
     /// Main Loop
+    USB::getSerial().printf("Starting\n");
     while(1){
         // Run image handler
         imageHand.run();
         // Run GPS handler
-        gpsHand.run();
+        //gpsHand.run();
     }
     /// Main Loop
     while(true) {

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/packet.h	Sat Apr 05 22:27:18 2014 +0000
@@ -0,0 +1,77 @@
+#define PACKETSIZE 256
+
+// Example
+// Packet 1. (SuperPackid=5,type=PT_IMAGE,size=0)
+// Packet 2. (SuperPackid=5,type=PT_DEFAULT,size=1024)
+// Packet 3. (SuperPackid=5,type=PT_DEFAULT,size=1000)
+// Packet 4. (SuperPackid=5,type=PT_END,size=0)
+
+enum PACKET_TYPE{
+    PT_DEFAULT=0,
+    PT_END,
+    PT_IMAGE,
+    PT_SIZE
+};
+typedef struct PacketStruct{
+    PACKET_TYPE type;
+    unsigned int size;// Number of valid bits
+    char data[PACKETSIZE];
+    unsigned int superPackID;// 
+}PacketStruct;
+
+class PacketSender{
+    private:
+    unsigned int superID;
+    public:
+    unsigned int getSuperID(){return superID++;}
+    PacketSender():superID(0),outputDevice(USB::getSerial()){}
+    Serial& outputDevice;
+    void sendPacket(PacketStruct& output){
+        for(int a=0;a<sizeof(PacketStruct);a++){
+            outputDevice.putc(((char*)(&output))[a]);
+        }
+    }
+    unsigned int min(unsigned int a,unsigned int b){
+        return a<b ? a : b;
+    }
+    void sendPacket(unsigned int superPackID,char* data,unsigned int size,PACKET_TYPE type = PT_END){
+        if(data!=NULL && size>0){
+            for(int i=0;i<=size/PACKETSIZE;i++){
+                PacketStruct output;
+                output.type=PT_DEFAULT;
+                output.superPackID=superPackID;
+                output.size=min(PACKETSIZE,size-i*PACKETSIZE);
+                for(int a=0;a<output.size;a++){
+                    //USB::getSerial().printf(">>%d/%d - %d\n",a,size,output.size);
+                    output.data[a]=data[a-i*PACKETSIZE];
+                }
+                
+                //memcpy(output.data,&(data[i*PACKETSIZE]),min(PACKETSIZE,size-i*PACKETSIZE));
+                sendPacket(output);
+            }
+            
+        }else{
+            PacketStruct output;
+            output.type=type;
+            output.superPackID=superPackID;
+            sendPacket(output);
+        }
+    }
+    PacketStruct* getNextPacket(){
+        int avail = outputDevice.readable();
+        if(avail <= 0)return NULL;
+        PacketStruct* output=new PacketStruct();
+        for(int i=0;i<sizeof(PacketStruct);i++){
+            // Wait for byte
+            while(outputDevice.readable()<=0){}
+            ((char*)output)[i] = outputDevice.getc();
+        }
+        return output;
+    }
+    
+};
+static PacketSender* ps=NULL;
+static PacketSender& getPS(){
+    if(ps==NULL)ps=new PacketSender();
+    return *ps;
+}