71 lines
1.6 KiB
Haxe
71 lines
1.6 KiB
Haxe
package bin;
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import lib.CLIAppBase;
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import kernel.gps.INS;
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import lib.Pos3;
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import lib.Vec.Vec3;
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using tink.CoreApi;
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class GPS extends CLIAppBase {
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public function new() {
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registerSyncSubcommand("set", (args)->{
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var x: Float = Std.parseFloat(args[0]);
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var y: Float = Std.parseFloat(args[1]);
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var z: Float = Std.parseFloat(args[2]);
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var pos: Pos3 = new Vec3<Float>(x, y, z);
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kernel.gps.GPS.setManualPosition(pos);
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return true;
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},"<x> <y> <z>");
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registerSyncSubcommand("status",(args)->{
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var pos = kernel.gps.GPS.getPosition();
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if (pos != null) {
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handle.writeLine('Position x:${pos.x} y:${pos.y} z:${pos.z}');
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} else {
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handle.writeLine("Position not available");
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return true;
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}
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var acc = kernel.gps.GPS.getAccuracy();
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if (acc == 1){
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handle.writeLine("Accuracy: Low");
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} else if (acc == 2){
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handle.writeLine("Accuracy: Medium");
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} else if (acc == 3){
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handle.writeLine("Accuracy: High");
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}
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var ins = INS.getHeading();
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if (ins != null) {
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handle.writeLine('INS heading: ${ins.x} y:${ins.y} z:${ins.z}');
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} else {
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handle.writeLine("INS heading not available");
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}
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return true;
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});
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registerAsyncSubcommand("locate",(args)->{
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return kernel.gps.GPS.locate().map((pos)->{
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if (pos != null) {
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handle.writeLine('Position x:${pos.x} y:${pos.y} z:${pos.z}');
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} else {
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handle.writeLine("Position not available");
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}
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return true;
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});
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});
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registerAsyncSubcommand("ins",(args)->{
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return INS.align().map((_)->{
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handle.writeLine("INS aligned");
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return true;
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});
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});
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}
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}
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