GPS stuff

Pathing and GPS naviagtion for the rover. Documentation necessary!

[Gonna keep this updated as a working log of what I'm doing in the gps folder] -benton

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Documentation

This SoRo component is a new candidate for documentation! If you know markdown, and have a good idea about what's going on here, please feel free to make a new page about it in the docs! :)

Current build and run instructions

If SWIG is not installed, install it and python3 dev tools with

sudo apt install swig python3-dev gcc

Overview

Process:

1. wrap edc.c into a library
2. use edc.c to wrap sbc.c into a library
3. use sbc.c to wrap gps.c into a library
4. Then use gps.c library to wrap main.c or main.cpp

Automatic Wrapping Instructions

Run

make all

Manual Rewrapping instructions

edc.c

swig -python edc.i
gcc -fpic -c -I/usr/include/python3.8 edc.c edc_wrap.c
gcc -shared edc.o edc_wrap.o -o _edc.so

sbp.c

swig -python sbp.i
gcc -fpic -c -I/usr/include/python3.8 sbp.c sbp_wrap.c
gcc -shared sbp.o sbp_wrap.o -o _sbp.so edc.o 

gps.c

swig -python gps.i
gcc -fpic -c -I/usr/include/python3.8 gps.c gps_wrap.c
gcc -shared gps.o gps_wrap.o -o _gps.so sbp.o edc.o

main.c

swig -python main.i
gcc -fpic -c -I/usr/include/python3.8 main.c main_wrap.c
gcc -shared main.o main_wrap.o -o _gpsmain.so gps.o sbp.o edc.o

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Todo List

• Copy gps code over
• Figure out what is necessary to running the code and what can be disposed of (bye bye cpp and hpp files)
• Write a main function that can call gps methods just to see if the damn thing even works
• Get it all to at least build correctly
• Figure out how to wrap the gps code and turn it into a python module
• See if that module can be imported into another python script and the correct information from the Swift can be accesssed
• See if it will actually communicate with the Swift