groundStation/src/backend/commands.h

+#ifndef _COMMANDS_H
+#define _COMMANDS_H
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "type_def.h"
+
+
+// ----------------------
+// Helper stuff
+
+#define MAX_TYPE 6
+#define MAX_SUBTYPE 100
+
+enum Message{
+	BEGIN_CHAR = 0xBE,
+	END_CHAR   = 0xED
+};
+
+// This should also have double to avoid confusion with float values.
+enum DataType
+{
+	floatType,
+	intType,
+	stringType
+};
+
+// MESSAGE SUBTYPES
+struct MessageSubtype{
+	char ID;
+	char cmdText[100];
+	char cmdDataType;
+	int (*functionPtr)(unsigned char *command, int dataLen, modular_structs_t *structs);
+};
+
+// MESSAGE TYPES
+struct MessageType{
+	char ID;
+	struct MessageSubtype subtypes[MAX_SUBTYPE];
+};
+
+int debug(unsigned char *c, int dataLen, modular_structs_t *structs);
+int update(unsigned char *c, int dataLen, modular_structs_t *structs);
+int logdata(unsigned char *c, int dataLen, modular_structs_t *structs);
+int response(unsigned char *packet, int dataLen, modular_structs_t *structs);
+int setyaw(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setyawp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setyawd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setroll(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setrollp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setrolld(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setpitch(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setpitchp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setpitchd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setthrottle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setthrottlep(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setthrottlei(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setthrottled(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getyaw(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getyawp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getyawd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getroll(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getrollp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getrolld(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getpitch(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getpitchp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getpitchd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getthrottle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getthrottlep(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getthrottlei(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getthrottled(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getaccel(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getgyro(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getpitchangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getrollangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respaccel(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respgyro(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resppitchangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resprollangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respyaw(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respyawp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respyawd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resproll(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resprollp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resprolld(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resppitch(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resppitchp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resppitchd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respthrottle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respthrottlep(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respthrottlei(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respthrottled(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respaccel(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respgyro(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resppitchangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resprollangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+
+float getFloat(unsigned char* str, int pos);
+int getInt(unsigned char* str, int pos);
+
+// TODO add in string to be read from the command line when sending a subtype of message
+extern struct MessageType MessageTypes[MAX_TYPE];
+
+#endif
\ No newline at end of file

groundStation/src/backend/communication.c

+#include "communication.h"
+#include "commands.h"
+#include <string.h>
+#include <ctype.h>
+
+static int msgNum = 0;
+
+tokenList_t tokenize(char* cmd) {
+	int maxTokens = 16;
+	tokenList_t ret;
+	ret.numTokens = 0;
+	ret.tokens = malloc(sizeof(char*) * maxTokens);
+	ret.tokens[0] = NULL;
+
+	int i = 0;
+	char* token = strtok(cmd, " ");
+	while (token != NULL && i < maxTokens - 1) {
+		ret.tokens[i++] = token;
+		ret.tokens[i] = NULL;
+		ret.numTokens++;
+		token = strtok(NULL, " ");
+	}
+
+	return ret;
+}
+
+int checkFloat(char *floatString, float *value) {
+	char *tmp;
+	*value = strtod(floatString, &tmp);
+	if(!(isspace(*tmp) || *tmp == 0)) {
+		fprintf(stderr, "%s is not a valid floating-point number\n", floatString);
+		return 0;
+	}
+	return 1;
+}
+
+int checkInt(char *intString, int *value) {
+	char *tmp;
+	long temp_long;
+	temp_long = strtol(intString, &tmp, 0); // base 10 number inputted
+	if(temp_long < INT_MIN || temp_long > INT_MAX ||  !(isspace(*tmp) || *tmp == 0)) {
+		fprintf(stderr, "%s is not a valid integer number\n", intString);
+		return 0;
+	}
+	printf("temp: %ld\n\n", temp_long);
+	*value = (int) temp_long;
+	return 1;
+}
+
+//--------------------------------
+// Ground Station
+//--------------------------------
+
+// Formatting commands from ground station CLI
+int formatCommand(char *command, unsigned char **formattedCommand) {
+	//fprintf(stderr, "length = %li , received '%s'\n", strlen(command), command);
+	char cmd[strlen(command)];
+	strncpy(cmd, command, strlen(command));
+	cmd[strlen(command)] = '\0';
+
+	tokenList_t tokens = tokenize(cmd);
+	float floatValue = 0.0;
+	int intValue = 0;
+	int valid;
+	metadata_t metadata;
+	
+	// ----------------------------------------------
+	if(tokens.numTokens > 0) {
+		for(int type = 0; type < MAX_TYPE; type++)
+		{
+			for(int subtype = 0; subtype < MAX_SUBTYPE; subtype++)
+			{
+				if(strcmp(tokens.tokens[0], MessageTypes[type].subtypes[subtype].cmdText) == 0)
+				{
+					printf("Sending\n\ttype: %d, \n\tsubtype: %d\n\tcommand: %s\n", type, subtype, MessageTypes[type].subtypes[subtype].cmdText);
+					
+					// Make sure the second token is the right type
+					switch (MessageTypes[type].subtypes[subtype].cmdDataType)
+					{
+						// Validate the float input
+						case floatType:
+							metadata.begin_char = (char) BEGIN_CHAR;
+							metadata.msg_type = MessageTypes[type].ID;
+							metadata.msg_subtype = MessageTypes[type].subtypes[subtype].ID;
+
+							if(MessageTypes[type].ID == 0x01) {
+								valid = checkFloat(tokens.tokens[1], &floatValue);
+								if(!valid) {
+									return -1;
+								}
+								metadata.data_len = sizeof(floatValue);
+							} else {
+								metadata.data_len = 0;
+							}
+							
+							metadata.msg_id = msgNum++;
+							formatPacket(&metadata, &floatValue, formattedCommand);
+							break;
+						
+						// Validate the integer input
+						case intType:
+							metadata.begin_char = (char) BEGIN_CHAR;
+							metadata.msg_type = MessageTypes[type].ID;
+							metadata.msg_subtype = MessageTypes[type].subtypes[subtype].ID;
+							
+							if(MessageTypes[type].ID == 0x01) {
+								valid = checkInt(tokens.tokens[1], &intValue);
+								if(!valid) {
+									return -1;
+								}
+								metadata.data_len = sizeof(intValue);
+							} else {
+								metadata.data_len = 0;
+							}
+							
+							metadata.msg_id = msgNum++;
+							formatPacket(&metadata, &intValue, formattedCommand);
+							
+							break;
+						
+						// Validate the string input (doesn't need to happen)
+						case stringType:
+							metadata.begin_char = (char) BEGIN_CHAR;
+							metadata.msg_type = MessageTypes[type].ID;
+							metadata.msg_subtype = MessageTypes[type].subtypes[subtype].ID;
+							metadata.msg_id = msgNum++;
+							metadata.data_len = strlen(tokens.tokens[1]);
+							
+							formatPacket(&metadata, &tokens.tokens[1], formattedCommand);
+							
+							break;
+						default:
+							return -1;
+					}
+					return 0;
+				}
+			}
+		}
+	}
+
+	// Only gets here if the command does not exist
+	return -1;	
+}
+// QUAD & Ground Station
+// Format the log data from log_message
+//int formatData(unsigned char *log_msg, unsigned char *formattedCommand)
+int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedCommand)
+{
+	*formattedCommand = malloc(sizeof(unsigned char) * metadata->data_len + 8);
+	//----------------------------------------------------------------------------------------------
+	//	   index||	   0	|	  1	   |	  2		 |	3 & 4 |		 5 & 6		 |	7+	|	end	   |
+	//---------------------------------------------------------------------------------------------|
+	// msg param|| beg char | msg type | msg subtype | msg id | data len (bytes) | data | checksum |
+	//-------------------------------------------------------------------------------------------- |
+	//	   bytes||	   1	|	  1	   |	  1		 |	  2	  |		   2		 | var	|	 1	   |
+	//----------------------------------------------------------------------------------------------
+	
+	// Begin Char:
+	(*formattedCommand)[0] = metadata->begin_char;
+
+	// Msg type:
+	(*formattedCommand)[1] = metadata->msg_type;
+	
+	// Msg subtype
+	(*formattedCommand)[2] = metadata->msg_subtype;
+	
+	//Msg id (msgNum is 2 bytes)
+	(*formattedCommand)[3] = (metadata->msg_id & 0x000000ff);
+	(*formattedCommand)[4] = ((metadata->msg_id >> 8) & 0x000000ff);
+	
+	// Data length and data - bytes 5&6 for len, 7+ for data
+	(*formattedCommand)[5] = metadata->data_len & 0x000000ff;
+	(*formattedCommand)[6] = (metadata->data_len >> 8) & 0x000000ff;
+	
+	memcpy(&((*formattedCommand)[7]), data, metadata->data_len);
+	
+	// Checksum
+	// receive data and calculate checksum
+	int i;
+	char data_checksum;
+	for(i = 0; i < 7 + metadata->data_len; i++)
+	{
+		data_checksum ^= (*formattedCommand)[i];
+	}
+	
+	(*formattedCommand)[7 + metadata->data_len] = data_checksum;
+	
+	return 0;
+}
+
+// returns the length of the data in bytes (datalen from packet) and fills data
+// and metadata with the packet information
+// use as follows:
+//
+//		packet is the entire packet message (formatted) 
+//		data is an unallocated (char *) (pass it to this function as &data) 
+//		meta_data is a pointer to an instance of metadata_t
+//
+int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * meta_data)
+{
+	//----------------------------------------------------------------------------------------------
+	//     index||     0    |     1    |      2      |  3 & 4 |      5 & 6       |  7+  |   end    |
+	//---------------------------------------------------------------------------------------------|
+	// msg param|| beg char | msg type | msg subtype | msg id | data len (bytes) | data | checksum |
+	//-------------------------------------------------------------------------------------------- |
+	//     bytes||     1    |     1    |      1      |    2   |        2         | var  |    1     |
+	//----------------------------------------------------------------------------------------------	
+	
+	// first byte must be the begin char
+	if(packet[0] != 0xBE)
+		return -1;
+
+	// receive metadata
+	meta_data->begin_char = packet[0];
+	meta_data->msg_type = packet[1];
+	meta_data->msg_subtype = packet[2];
+	meta_data->msg_id = (packet[4] << 8) | (packet[3]);
+	meta_data->data_len = (packet[6] << 8) | (packet[5]);
+	unsigned char packet_checksum = packet[7+meta_data->data_len];
+	//fprintf(stderr, "datalen: %d\n", meta_data->data_len);
+	
+	int i;
+	
+	// receive data
+	*data = malloc(meta_data->data_len);
+	for(i = 0; i < meta_data->data_len; i++)
+	{
+		(*data)[i] = packet[7+i];
+	}
+
+	// calculate checksum
+	unsigned char calculated_checksum = 0;
+	for(i = 0; i < meta_data->data_len + 7; i++)
+	{
+		calculated_checksum ^= packet[i];
+	}
+
+	// compare checksum
+	if(packet_checksum != calculated_checksum)
+		fprintf(stderr, "Checksums did not match (Parse Packet): 0x%02x\t0x%02x\n", packet_checksum, calculated_checksum);
+
+	return 0;
+}
+
+// QUAD & Ground Station
+// Process the command received
+int processCommand(unsigned char *packet, modular_structs_t *structs) {
+	int validPacket;
+	unsigned char *data;
+	metadata_t metadata;
+	
+	// Validate the message is correctly formatted
+	validPacket = parse_packet(packet, &data, &metadata);
+	if(validPacket != 0) {
+		return -1;
+	}
+	
+	if(metadata.data_len >= 0) {
+		/* Null check*/
+		if (MessageTypes[(unsigned char)metadata.msg_type].subtypes[
+				(unsigned char) metadata.msg_subtype].functionPtr) {
+			// Call the appropriate subtype function
+			(* (MessageTypes[(unsigned char)metadata.msg_type].subtypes[(unsigned char)metadata.msg_subtype].functionPtr))(data, metadata.data_len, structs);
+		}
+			
+		return 0;
+	}
+	
+	// Only gets here if there is an error
+	return -1;
+}

groundStation/src/backend/communication.h

+#ifndef _COMMUNICATION_H
+#define _COMMUNICATION_H
+
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <limits.h>
+#include "type_def.h"
+
+tokenList_t tokenize(char* cmd);
+int checkFloat(char *floatString, float *value);
+int checkInt(char *intString, int *value);
+int formatCommand(char *command, unsigned char **formattedCommand);
+int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedCommand);
+int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * meta_data);
+int processCommand(unsigned char *command, modular_structs_t *structs);
+int logData(unsigned char *log_msg, unsigned char *formattedCommand);
+
+#endif
\ No newline at end of file

groundStation/src/backend/config.h

+#ifndef __CONFIG_H
+#define __CONFIG_H
+
+
+#define DEFAULT_SOCKET "/var/run/ucart.socket"
+#define SOCKET_ENV "UCART_SOCKET"
+#define NOQUAD_ENV "UCART_NO_QUAD"
+#define NOVRPN_ENV "UCART_NO_VRPN"
+
+
+// If you are planning on using any of these env vars and you have
+// 	exported them with normal user rights. You will need to run the 
+// 	backend with sudo elevation and with the --preserve-env flag or -E
+#define QUAD_WIFI_ENV "UCART_USE_WIFI"
+#define QUAD_IP_ENV "UCART_QUAD_IP"
+#define QUAD_IP_DEFAULT "192.168.4.1"
+#define QUAD_PORT_ENV "UCART_QUAD_PORT"
+#define QUAD_PORT_DEFAULT 8080
+
+#endif

src/logger.h → groundStation/src/backend/logger.h

@@ -15,6 +15,7 @@
 int createLogFile(int, char*);
 int writeStringToLog(const char*);
 int updateLogFile(const struct ucart_vrpn_TrackerData* );
+void closeLogFile();
 
 
-#endif
\ No newline at end of file
+#endif

src/vrpn_tracker.hpp → groundStation/src/backend/vrpn_tracker.hpp

@@ -23,13 +23,13 @@ extern "C"
 #endif
 	struct ucart_vrpn_tracker;
 	struct ucart_vrpn_TrackerData {
-		double x;
-		double y;
-		double z;
+		float x;
+		float y;
+		float z;
 
-		double pitch;
-		double roll;
-		double yaw;
+		float pitch;
+		float roll;
+		float yaw;
 
 		double fps;
 		struct timeval timestamp;
@@ -54,16 +54,19 @@ extern "C"
 namespace microcart
 {
 	struct TrackerData {
-		double x;
-		double y;
-		double z;
+	public:
+		float x;
+		float y;
+		float z;
 
-		double pitch;
-		double roll;
-		double yaw;
+		float pitch;
+		float roll;
+		float yaw;
 
 		double fps;
 		timeval timestamp;
+
+		TrackerData();
 	};
 
 	class Tracker {

groundStation/src/cli/README.md

+# CLI
+
+## Usage
+
+The Cli has been designed to function similarly to command line programs. Run the program using ./Cli
+
+To run a specific command in the