Drone::Drone(int txPin, int rxPin) {
_serialIO = SerialIO(txPin, rxPin);
_callback = Callback();
_incomingPacketReader = IncomingPacketReader(&_serialIO);
_vitals = Vitals(&_serialIO, &_incomingPacketReader, &_callback);
_responseHandler = ResponseHandler(&_serialIO, &_incomingPacketReader, &_callback, &_vitals);
_rc = RC(&_serialIO, &_callback, &_incomingPacketReader);
_gpio = GPIO(&_serialIO, &_callback, &_incomingPacketReader);
_i2c = I2C(&_serialIO, &_callback, &_incomingPacketReader);
_pose = Pose(&_serialIO, &_callback, &_incomingPacketReader);
_autopilot = Autopilot(&_serialIO, &_callback, &_incomingPacketReader);
_transmitterSupport = TransmitterSupport(&_serialIO, &_callback, &_incomingPacketReader);
}
int
main(int argc, char **argv)
{
struct dataset *ds[7];
int nds;
double a;
const char *delim = " \t";
char *p;
int c, i, ci;
int column = 1;
int flag_s = 0;
int flag_n = 0;
int termwidth = 74;
int suppress_plot = 0;
if (isatty(STDOUT_FILENO)) {
struct winsize wsz;
if ((p = getenv("COLUMNS")) != NULL && *p != '\0')
termwidth = atoi(p);
else if (ioctl(STDOUT_FILENO, TIOCGWINSZ, &wsz) != -1 &&
wsz.ws_col > 0)
termwidth = wsz.ws_col - 2;
}
ci = -1;
while ((c = getopt(argc, argv, "AC:c:d:snw:")) != -1)
switch (c) {
case 'A':
suppress_plot = 1;
break;
case 'C':
column = strtol(optarg, &p, 10);
if (p != NULL && *p != '\0')
usage("Invalid column number.");
if (column <= 0)
usage("Column number should be positive.");
break;
case 'c':
a = strtod(optarg, &p);
if (p != NULL && *p != '\0')
usage("Not a floating point number");
for (i = 0; i < NCONF; i++)
if (a == studentpct[i])
ci = i;
if (ci == -1)
usage("No support for confidence level");
break;
case 'd':
if (*optarg == '\0')
usage("Can't use empty delimiter string");
delim = optarg;
break;
case 'n':
flag_n = 1;
break;
case 's':
flag_s = 1;
break;
case 'w':
termwidth = strtol(optarg, &p, 10);
if (p != NULL && *p != '\0')
usage("Invalid width, not a number.");
if (termwidth < 0)
usage("Unable to move beyond left margin.");
break;
default:
usage("Unknown option");
break;
}
if (ci == -1)
ci = 2;
argc -= optind;
argv += optind;
if (argc == 0) {
ds[0] = ReadSet("-", column, delim);
nds = 1;
} else {
if (argc > (MAX_DS - 1))
usage("Too many datasets.");
nds = argc;
for (i = 0; i < nds; i++)
ds[i] = ReadSet(argv[i], column, delim);
}
for (i = 0; i < nds; i++)
printf("%c %s\n", symbol[i+1], ds[i]->name);
if (!flag_n && !suppress_plot) {
SetupPlot(termwidth, flag_s, nds);
for (i = 0; i < nds; i++)
DimPlot(ds[i]);
for (i = 0; i < nds; i++)
PlotSet(ds[i], i + 1);
DumpPlot();
}
VitalsHead();
Vitals(ds[0], 1);
for (i = 1; i < nds; i++) {
Vitals(ds[i], i + 1);
if (!flag_n)
Relative(ds[i], ds[0], ci);
}
exit(0);
}