getpid gets sent properly to the backend now

groundStation/src/backend/backend.c

@@ -174,9 +174,6 @@ int main(int argc, char **argv)
 		err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
 	}
 	
-	// create vrpnTracker instance
-	tracker = ucart_vrpn_tracker_createInstance(TRACKER_IP);
-
 	// open the log file
 	if(createLogFile(argc, argv[1]))
 	{
@@ -196,8 +193,12 @@ int main(int argc, char **argv)
 	// Tell the quad we are ready to send it vrpn data
 	sendStartPacket();
 
-	// this function will be called whenever tracker receives data
-	ucart_vrpn_tracker_addCallback(tracker, cb);
+	if(!getenv(NOVRPN_ENV)){
+		// create vrpnTracker instance
+		tracker = ucart_vrpn_tracker_createInstance(TRACKER_IP);
+		// this function will be called whenever tracker receives data
+		ucart_vrpn_tracker_addCallback(tracker, cb);	
+	}
 
 	struct timeval timeout = {
 		.tv_sec = 1,
@@ -257,7 +258,6 @@ int main(int argc, char **argv)
 							}
 						}
 					} else if (get_client_index(fd) > -1) {
-						printf("receiving from client\n");
 						client_recv(fd);
 					}
 				}
@@ -584,21 +584,31 @@ static void client_recv(int fd) {
 			break;
 		}
 		buffer[newline] = '\0';
-
+		printf("Client(%d) : '%s'\n",fd, buffer);
 		unsigned char * packet;
 		// printf("newline =%li, Client sent: '%s'\n", newline, buffer);
-		if(formatCommand(buffer, &packet) != -1) {
-			printf("Backend sees as: %f\n", getFloat(packet, 7));
-		} else {
+		if(formatCommand(buffer, &packet) == -1) {
 			printf("Could not recognize command '%s'\n", buffer);
 		}
-		writeQuad((char *) packet, len);
+
+		int datalen = (packet[6] << 8) | (packet[5]);
+		printf("data length = %d\n", datalen);
+		printf("packet = '");
+		for (int i = 0; i < datalen+7+1; ++i)
+		{
+			printf("%x ", packet[i]);
+		}
+		printf("'\n");
+		
+		writeQuad((char *) packet, datalen +7);
 		//free(packet);
 		
 		char * rest = &buffer[newline] + 1;
 		size_t restLen = (strlen(rest) == 0) ? 1 : strlen(rest);
 		/* Delete parsed data and move the rest to the left */
 		memmove(buffer, rest, restLen);
+
+		break;
 	}
 }
 

groundStation/src/frontend/frontend_common.c

@@ -51,7 +51,7 @@ struct backend_conn * ucart_backendConnect()
 
 	conn->len = 0;
 	conn->buf = NULL;
-	conn->socket = fdopen(s, "rw");
+	conn->socket = fdopen(s, "r+");
 	if (conn->socket == NULL) {
 		perror("fdopen");
 		goto fail_malloc_conn;

groundStation/src/frontend/frontend_getpid.c

@@ -22,31 +22,25 @@
 int frontend_getpid(
 		struct backend_conn * conn, struct frontend_pid_data * pid_data) {
 	
-	char line[10] = "getpid \0";
-	char pid_option[2];
+	char line[100];
 	switch (pid_data->pid) {
 		case PITCH :
-			strncpy(pid_option, "p\0", 2);
+			strncpy(line, "getpitchp\ngetpitchd\n\0", 21);
 			break;
 		case ROLL :
-			strncpy(pid_option, "i\0", 2);
+			strncpy(line, "getrollp\ngetrolld\n\0", 19);
 			break;
 		case YAW :
-			strncpy(pid_option, "d\0", 2);
+			strncpy(line, "getyawp\ngetyawd\n\0", 17);
 			break;
 		default :
 			return 1;
 	}
 
-	strncat(line, pid_option, 2);
-
 	int size;
 	if((size = ucart_backendWrite(conn, line)) < 0 ) {
-		printf("nope! %d \n", size);
 		return 1;
 	}
 
-	printf("we send size bytes\n");
-
 	return 0;
 }	
\ No newline at end of file