*** empty log message ***

sw/in_progress/river_tracking/river_tracking-Makefile.mk

@@ -19,6 +19,6 @@ main : src/river_track.c
 	$(CC) src/river_track.c -o bin/river_track $(INCLUDES)
 
 clean :
-	rm -f *.o
+	cd $(RTHOME) rm -f *.o
 	cd $(RTSOURCE); rm -f *.o;
 	cd $(RTBIN); rm -f river_track;

sw/in_progress/river_tracking/src/nextwp.c

@@ -4,16 +4,17 @@ next waypoint.
 
 #include "waypoint.h"
 
+extern float ADD;
 
 Waypoint get_next_waypoint() {
     Waypoint next_wp;
 
     /* Insert all sorts of opencv magic here */
-    
     next_wp.ac_id = 1;
     next_wp.wp = 3;
     next_wp.alt = 1420.;
-    next_wp.lat = 41.820258;
-    next_wp.lon = -111.98964;
+    next_wp.lat = 41.823364 + ADD;
+    next_wp.lon = -111.988800 + ADD;
+    ADD+=.00004;
     return next_wp;
 }

sw/in_progress/river_tracking/src/river_track.c

@@ -5,15 +5,25 @@
 
 #include <stdlib.h>
 #include <stdio.h>
+#include <string.h>
 #include <Ivy/ivy.h>
 #include <Ivy/ivyglibloop.h>
 #include <gtk-2.0/gtk/gtk.h>
-//#include <gtk/gtk.h> is what the previous line should read when compiling
-//with pkg-config --cflags --libs gtk+-2.0
+/*#include <gtk/gtk.h> is what the previous line should read when compiling
+with pkg-config --cflags --libs gtk+-2.0 */
 #include "nextwp.c"
 #include "waypoint.h"
 
 
+
+/* Some global variables */
+float END_LAT = 0.0; //latitude of the "end" waypoint (the fifth waypoint defined in flight plan)
+float END_LON = 0.0; //longitude of the "end" waypoint (the fifth waypoint defined in flight plan)
+int CONTINUE = 1; //When this variable is set to 0 river_track will stop moving the waypoint around
+float ADD = 0; //just to move the waypoint around for fun
+
+
+
 /* callback associated to "Hello" messages */
 void textCallback(IvyClientPtr app, void *data, int argc, char **argv)
 {
@@ -22,14 +32,53 @@ void textCallback(IvyClientPtr app, void *data, int argc, char **argv)
 }
 
 
-void start_track( GtkWidget *widget, gpointer data )
+/* Sets the global variables END_LAT & END_LON to the GPS coordinates
+ * of the end waypoint (the fifth waypoint defined in the flight plan).
+ */
+void set_end(IvyClientPtr app, void *data, int argc, char **argv)
 {
-    fprintf(stderr, "starting river tracking...\n");
+    const char *arg = (argc < 1) ? "" : argv[0];
+
+    char *current;
+    current = strtok(arg, " ");
+    current = strtok(NULL, " ");
+    current = strtok(NULL, " ");
+    current = strtok(NULL, " ");
+    END_LAT = atof(current);
+    current = strtok(NULL, " ");
+    END_LON = atof(current);
+//    fprintf(stderr, "END_LAT=%f. END_LON=%f.", END_LAT, END_LON);
+}
+
+/* Called by clicking a button */
+void init_river_tracking( GtkWidget *widget, gpointer data )
+{
+    fprintf(stderr, "initializing river tracking...\n");
     /* Call function get_next_waypoint (defined in nexcwp.c)
      * which returns a waypoint. */
     Waypoint new_wp = get_next_waypoint();
     IvySendMsg("gcs MOVE_WAYPOINT %d %d %f %f %f", \
-            new_wp.ac_id, new_wp.wp, new_wp.lat, new_wp.lon, new_wp.alt);
+            new_wp.ac_id, 4, new_wp.lat, new_wp.lon, new_wp.alt);
+}
+
+
+/* Called when aircraft reaches "Block 1" (the second 
+ * block defined in the flight plan)
+ */
+void start_track(IvyClientPtr app, void *data, int argc, char **argv)
+{
+    fprintf(stderr, ".");
+    /* Call function get_next_waypoint (defined in nexcwp.c)
+     * which returns a waypoint. */
+    Waypoint new_wp = get_next_waypoint();
+    
+    if(CONTINUE) {
+        IvySendMsg("gcs MOVE_WAYPOINT %d %d %f %f %f", \
+                new_wp.ac_id, 4, new_wp.lat, new_wp.lon, new_wp.alt); //Always move waypoint 4
+    }
+    /* else we've reached the end (we've seen the "end" waypoint in the
+     * picture), so don't send any message.
+     */
 }
 
 
@@ -40,13 +89,13 @@ static void destroy( GtkWidget *widget, gpointer data )
 }
 
 
-int main( int   argc, char *argv[] ) {
+int main( int   argc, char *argv[] )
+{
     GtkWidget *window;
     GtkWidget *button;
     GtkWidget *box1;
     
     char *bus=getenv("IVYBUS");
-    char *tosend="foo";
     
     gtk_init(&argc, &argv);
     window = gtk_window_new(GTK_WINDOW_TOPLEVEL);
@@ -57,14 +106,14 @@ int main( int   argc, char *argv[] ) {
     gtk_container_add (GTK_CONTAINER (window), box1);
     
     //first button...
-    button = gtk_button_new_with_label("start river tracking");
-    g_signal_connect(G_OBJECT(button), "clicked", G_CALLBACK(start_track), &tosend);
+    button = gtk_button_new_with_label("(Re)define region of interest");
+    g_signal_connect(G_OBJECT(button), "clicked", G_CALLBACK(init_river_tracking), 0);
     gtk_box_pack_start(GTK_BOX(box1), button, TRUE, TRUE, 0);
     gtk_widget_show (button);
             
     //second button...
     button = gtk_button_new_with_label("Quit");
-    g_signal_connect(G_OBJECT(button), "clicked", G_CALLBACK(destroy), &tosend);
+    g_signal_connect(G_OBJECT(button), "clicked", G_CALLBACK(destroy), 0);
     gtk_box_pack_start(GTK_BOX (box1), button, TRUE, TRUE, 0);
     gtk_widget_show (button);
 
@@ -72,7 +121,9 @@ int main( int   argc, char *argv[] ) {
     gtk_widget_show(window);
 
     IvyInit("river_track", "river_track READY", NULL, NULL, NULL, NULL);
-    IvyBindMsg(textCallback,&tosend,"^river_track hello(.*)");
+    IvyBindMsg(textCallback,0,"^river_track hello(.*)");
+    IvyBindMsg(start_track,0,"(NAV_STATUS 1 1 +.*)");
+    IvyBindMsg(set_end,0,"(WAYPOINT_MOVED 1 5 +.*)");
     IvyStart(bus);
     
     gtk_main();