From 419bd31b281ca7b20497e25703caa7a6a76a4d76 Mon Sep 17 00:00:00 2001
From: Eneko Cruz <eneko.cruz@opendeusto.es>
Date: Sun, 15 May 2016 16:49:49 +0200
Subject: [PATCH] Modified logged messages and gps mode switch notification
 functions for coherence.

---
 gps/GPS.cc           | 22 +++++++++++++++++-----
 gps/GPS.h            |  2 ++
 logic/initialize.cc  |  4 ++++
 logic/land.cc        |  2 +-
 logic/safe_mode.cc   |  4 ++++
 logic/wait_launch.cc |  2 +-
 6 files changed, 29 insertions(+), 7 deletions(-)

diff --git a/gps/GPS.cc b/gps/GPS.cc
index bcd342e..2884a67 100644
--- a/gps/GPS.cc
+++ b/gps/GPS.cc
@@ -353,7 +353,7 @@ void GPS::enter_airborne_1g_mode()
  		0x03, 0x00, 0x00, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00,	//determines new
  		0x05, 0x00, 0xFA, 0x00, 0xFA, 0x00, 0x64, 0x00, 0x2C,	//operation mode.
  		0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
- 		0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC 
+ 		0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x16, 0xDC
 	};
 	uint8_t sz_setdm6 = 44;
 
@@ -496,7 +496,7 @@ bool GPS::receive_check_ublox_ack(unsigned char *message)
 		ack_packet[9]+= ack_packet[8];
 	}
 	bytes_ordered = 0;
-	
+
 	gettimeofday(&time_start, NULL);
 	ms_start = (long)((time_start.tv_sec)*1000 + (time_start.tv_usec)/1000);
 	ms_now = ms_start;
@@ -505,7 +505,7 @@ bool GPS::receive_check_ublox_ack(unsigned char *message)
 		gettimeofday(&time_now, NULL);						//timing out after
 		ms_now = (long)((time_now.tv_sec)*1000 + (time_now.tv_usec)/1000);	//3s
 
-		if (bytes_ordered > 9)				
+		if (bytes_ordered > 9)
 		{
  			return true;
  		}
@@ -526,14 +526,26 @@ bool GPS::receive_check_ublox_ack(unsigned char *message)
 	return false;
 }
 
+void GPS::notify_initialization()
+{
+	this->logger->log("Initialization notified. Switching to pedestrian mode");
+	this->enter_pedestrian_mode();
+}
+
 void GPS::notify_takeoff()
 {
-	this->logger->log("GPS notified takeoff. Switching to airborne mode");
+	this->logger->log("Takeoff notified. Switching to airborne mode");
+	this->enter_airborne_1g_mode();
+}
+
+void GPS::notify_safe_mode()
+{
+	this->logger->log("Safe mode entry notified. Switching to airborne mode");
 	this->enter_airborne_1g_mode();
 }
 
 void GPS::notify_landing()
 {
-	this->logger->log("GPS notified landing. Switching to stationary mode");
+	this->logger->log("Landing notified. Switching to stationary mode");
 	this->enter_stationary_mode();
 }
diff --git a/gps/GPS.h b/gps/GPS.h
index 45b7379..a9b657c 100644
--- a/gps/GPS.h
+++ b/gps/GPS.h
@@ -79,6 +79,8 @@ namespace os {
 
 		void notify_takeoff();
 		void notify_landing();
+		void notify_initialization();
+		void notify_safe_mode();
 	};
 }
 
diff --git a/logic/initialize.cc b/logic/initialize.cc
index d48aa38..41d325f 100644
--- a/logic/initialize.cc
+++ b/logic/initialize.cc
@@ -37,6 +37,10 @@ if ( ! GPS::get_instance().initialize())
 }
 logger.log("GPS initialized.");
 
+//Notify the GPS about its initialization, so that it sets itself to the appropriate mode
+logger.log("Notifying GPS about initialization...");
+GPS::get_instance().notify_initialization();
+
 logger.log("Initializing GSM...");
 if ( ! GSM::get_instance().initialize())
 {
diff --git a/logic/land.cc b/logic/land.cc
index 5ec6ac8..d4b22b8 100644
--- a/logic/land.cc
+++ b/logic/land.cc
@@ -4,7 +4,7 @@ if ( ! Camera::get_instance().stop())
 else
 	logger->log("Video stopped.");
 
-logger->log("Setting GPS to stationary mode...");
+logger->log("Notifying GPS about landing...");
 GPS::get_instance().notify_landing();
 
 logger->log("Waiting 1 minute before sending landed SMS...");
diff --git a/logic/safe_mode.cc b/logic/safe_mode.cc
index 859d116..bcddf28 100644
--- a/logic/safe_mode.cc
+++ b/logic/safe_mode.cc
@@ -161,6 +161,10 @@ switch (last_state)
 			}
 
 			logger->log("GPS fix acquired.");
+
+			logger->log("Notifying GPS about entering safe mode...");
+			GPS::get_instance().notify_safe_mode();
+
 			this_thread::sleep_for(5s);
 			for (int i = 0;
 				GPS::get_instance().get_HDOP() > 5 && i < 10;
diff --git a/logic/wait_launch.cc b/logic/wait_launch.cc
index ff60d78..debbb03 100644
--- a/logic/wait_launch.cc
+++ b/logic/wait_launch.cc
@@ -12,5 +12,5 @@ while ( ! has_launched(launch_altitude))
 
 logger->log("Balloon launched.");
 
-logger->log("Setting GPS to airborne mode...");
+logger->log("Notifying GPS about launch...");
 GPS::get_instance().notify_takeoff();