Base.c

#include "Exception/Exception.h"

#include "TCP/TCP.h"

#include "GPSDevice/GPSDevice.h"
#include "ComPort/ComPort.h"
#include "PacketLogger/PacketLogger.h"

#include "RTKBase.h"

const char* com_path = "/dev/ttyACM0";

const char* ip		= "192.168.0.68";
const uint16_t port = 3000;

int main() {

	Exception e = { 0 };

	ComPort			com;
	TCPServer		server;
	TCPConnection	correction_out;

	PacketLogger logger;

	ECEF		ecef;
	GPSPacket	packet;
	GPSDevice	base;

	char out[40];

	// =======================

	#ifdef _WIN32
	sprintf_s(out, 40, "%s:%i", ip, port);
	#elif __linux__ 
	sprintf(out, "%s:%i", ip, port);
	#endif

	ComPort_create(&e, &com, com_path);
	_EXCEPTION_PROMPT(e);
	
	TCPServer_create(&e, &server, ip, port);
	_EXCEPTION_PROMPT(e);
	
	PacketLogger_create(&e, &logger, NULL);
	_EXCEPTION_PROMPT(e);

	GPSDevice_create(&e, &base);
	_EXCEPTION_PROMPT(e);

	ComPort_serial_transceiver(&com, &base.transceiver);
	
	printf("Performing survey-in... \n");

	RTKBase_survey_in(&e, &base, 60000, &ecef);
	_EXCEPTION_PROMPT(e);

	printf("Survey-in finished... \n");

	TCPServer_start(&e, &server);
	_EXCEPTION_PROMPT(e);

	printf("Waiting for connection...\n");

	TCPServer_wait_for_connection(&e, &server, &correction_out);
	_EXCEPTION_PROMPT(e);

	printf("Connection established...\n");

	while (1) {

		GPSDevice_read_packet(&e, &base, &packet);
		_EXCEPTION_PROMPT(e);

		PacketLogger_log(&e, &logger, &packet, "COM8", out);
		_EXCEPTION_PROMPT(e);

		if (packet.type == RTCM) {
			
			TCPConnection_tx(&e, &correction_out, packet.buffer.data, packet.buffer.size);
			_EXCEPTION_PROMPT(e);

		}

		free(packet.buffer.data);

	}

	return 0;

}