From 779933be3276c148f9a718aa19534b9b801d6bf8 Mon Sep 17 00:00:00 2001
From: Djeeberjr <djeeberjr@gmail.com>
Date: Wed, 31 May 2023 18:57:10 +0200
Subject: [PATCH] refactored GPS bin

---
 src/bin/GPS.hx | 139 ++++++++++++++++++++-----------------------------
 1 file changed, 56 insertions(+), 83 deletions(-)

diff --git a/src/bin/GPS.hx b/src/bin/GPS.hx
index 04beb69..faf071c 100644
--- a/src/bin/GPS.hx
+++ b/src/bin/GPS.hx
@@ -1,97 +1,70 @@
 package bin;
 
-import kernel.ps.ProcessHandle;
-import kernel.ps.Process;
+import lib.CLIAppBase;
 import kernel.gps.INS;
 import lib.Pos3;
 import lib.Vec.Vec3;
 
 using tink.CoreApi;
 
-class GPS implements Process {
-	private var handle:ProcessHandle;
-
-	public function new() {}
-
-	public function run(handle: ProcessHandle):Void {
-		this.handle = handle;
-
-		var subcommand = handle.args[0];
-		var subcommand_args = handle.args.slice(1);
-
-		switch (subcommand) {
-			case "set":
-				handle.close(setManuelPos(subcommand_args));
-			case "status":
-				handle.close(getGPSStatus());
-			case "locate":
-				kernel.gps.GPS.instance.locate().handle((pos)->{
-					if (pos != null) {
-						handle.writeLine('Position x:${pos.x} y:${pos.y} z:${pos.z}');
-						handle.close(true);
-					} else {
-						handle.writeLine("Position not available");
-						handle.close(false);
-					}
-				});
-			case "ins":
-				INS.instance.align().handle(()->{
-					handle.writeLine("INS aligned");
-					handle.close(true);
-				});
-			default:
-				handle.writeLine("Unknown subcommand: " + subcommand);
-				printHelp();
-				handle.close(false);
-		}
-	}
-
-	private function printHelp(){
-		handle.writeLine("GPS commands:");
-		handle.writeLine("set <x> <y> <z> - set manual position");
-		handle.writeLine("status - get current position and accuracy");
-		handle.writeLine("locate - get current position");
-		handle.writeLine("ins - align INS");
-	}
-
-	private function setManuelPos(args: Array<String>): Bool {
-		var x: Float = Std.parseFloat(args[0]);
-		var y: Float = Std.parseFloat(args[1]);
-		var z: Float = Std.parseFloat(args[2]);
-
-		var pos: Pos3 = new Vec3<Float>(x, y, z);
-
-		kernel.gps.GPS.instance.setManualPosition(pos);
-
-		return true;
-	}
-
-	private function getGPSStatus(): Bool {
-
-		var pos = kernel.gps.GPS.instance.getPosition();
-		if (pos != null) {
-			handle.writeLine('Position x:${pos.x} y:${pos.y} z:${pos.z}');
-		} else {
-			handle.writeLine("Position not available");
+class GPS extends CLIAppBase {
+	public function new() {
+		registerSyncSubcommand("set", (args)->{
+			var x: Float = Std.parseFloat(args[0]);
+			var y: Float = Std.parseFloat(args[1]);
+			var z: Float = Std.parseFloat(args[2]);
+	
+			var pos: Pos3 = new Vec3<Float>(x, y, z);
+	
+			kernel.gps.GPS.instance.setManualPosition(pos);
+	
 			return true;
-		}
+		},"<x> <y> <z>");
 
-		var acc = kernel.gps.GPS.instance.getAccuracy();
-		if (acc == 1){
-			handle.writeLine("Accuracy: Low");
-		} else if (acc == 2){
-			handle.writeLine("Accuracy: Medium");
-		} else if (acc == 3){
-			handle.writeLine("Accuracy: High");
-		}
+		registerSyncSubcommand("status",(args)->{
+			var pos = kernel.gps.GPS.instance.getPosition();
+			if (pos != null) {
+				handle.writeLine('Position x:${pos.x} y:${pos.y} z:${pos.z}');
+			} else {
+				handle.writeLine("Position not available");
+				return true;
+			}
+	
+			var acc = kernel.gps.GPS.instance.getAccuracy();
+			if (acc == 1){
+				handle.writeLine("Accuracy: Low");
+			} else if (acc == 2){
+				handle.writeLine("Accuracy: Medium");
+			} else if (acc == 3){
+				handle.writeLine("Accuracy: High");
+			}
+	
+			var ins = INS.instance.getHeading();
+			if (ins != null) {
+				handle.writeLine('INS heading: ${ins.x} y:${ins.y} z:${ins.z}');
+			} else {
+				handle.writeLine("INS heading not available");
+			}
+	
+			return true;
+		});
 
-		var ins = INS.instance.getHeading();
-		if (ins != null) {
-			handle.writeLine('INS heading: ${ins.x} y:${ins.y} z:${ins.z}');
-		} else {
-			handle.writeLine("INS heading not available");
-		}
+		registerAsyncSubcommand("locate",(args)->{
+			return kernel.gps.GPS.instance.locate().map((pos)->{
+				if (pos != null) {
+					handle.writeLine('Position x:${pos.x} y:${pos.y} z:${pos.z}');
+				} else {
+					handle.writeLine("Position not available");
+				}
+				return true;
+			});
+		});
 
-		return true;
+		registerAsyncSubcommand("ins",(args)->{
+			return INS.instance.align().map((_)->{
+				handle.writeLine("INS aligned");
+				return true;
+			});
+		});
 	}
 }