.editorconfig

+# Check http://editorconfig.org for more information
+# This is the main config file for this project:
+root = true
+
+[*]
+charset = utf-8
+indent_style = space
+trim_trailing_whitespace = true
+end_of_line = lf
+insert_final_newline = true
+
+[*.html]
+indent_size = 2
+
+[*.scss]
+indent_size = 2

.gitmodules

+[submodule "groundStation/src/vrpn"]
+	path = groundStation/src/vrpn
+	url = https://github.com/vrpn/vrpn

.ruby-version

+ruby-2.3.0

Readme.md

+Repository for 2016-2017 MicroCART project.

.gitignore → groundStation/.gitignore

@@ -38,4 +38,5 @@ src/vrpn/build*
 src/vrpn/pc_linux64/*
 
 #Exacutables
-./BlueTooth
+BlueTooth
+logs

Makefile → groundStation/Makefile

@@ -23,7 +23,9 @@ OBJECTS = $(CPPOBJECTS) $(COBJECTS)
 LIBS= -lpthread -lbluetooth -lvrpn -lquat -Lsrc/vrpn/build -Lsrc/vrpn/build/quat 
 
 # Default target
-all: logs vrpn/build $(EXE)
+all: logs $(EXE)
+
+vrpn: vrpn/build
 
 # Main target
 $(EXE): $(OBJECTS) 

src/communication.c → groundStation/src/communication.c

@@ -67,7 +67,6 @@ int formatCommand(unsigned char *command, unsigned char **formattedCommand) {
 		{
 			if(strcmp(tokens.tokens[0], registeredCommands[cmdIndex].commandText) == 0)
 			{
-
 				switch (registeredCommands[cmdIndex].dataType)
 				{
 					// Validate the float input
@@ -253,3 +252,17 @@ int processCommand(unsigned char *packet, unsigned int cmdIndex) {
 	// Only gets here if there is an error
 	return -1;
 }
+
+float getFloat(unsigned char* str, int pos) {
+	union {
+		float f;
+		int i;
+	} x;
+	x.i = ((str[pos+3] << 24) | (str[pos+2] << 16) | (str[pos+1] << 8) | (str[pos]));
+	return x.f;
+}
+
+int getInt(unsigned char* str, int pos) {
+	int i = ((str[pos+3] << 24) | (str[pos+2] << 16) | (str[pos+1] << 8) | (str[pos]));
+	return i;
+}

src/logger.c → groundStation/src/logger.c

@@ -4,21 +4,30 @@
  */
 #include "logger.h"
 #include <stdio.h>
+#include <err.h>
+#include <pthread.h>
 
-int quadlog_file;
+static FILE * quadlog_file = NULL;
+static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
 
 int createLogFile(int argc, char* argv)
 {
-	char log_file[300] = {'l', 'o', 'g','s', '/'};
+	if (quadlog_file != NULL) {
+		return -1;
+	}
+
+	if (pthread_mutex_lock(&mutex)) {
+		err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
+	}
+
+	char log_file[300];
+	strcpy(log_file, "logs/");
 	if(argc >= 2)
 	{
-		strcat(log_file, argv);
+		strncat(log_file, argv, 294);
 		printf("Creating log file '%s'...\n",log_file);
-		quadlog_file = open(log_file, O_WRONLY | O_CREAT, 0666);
-		return quadlog_file;
-	}
-	else
-	{
+		quadlog_file = fopen(log_file, "a");
+	} else {
 		time_t rawtime;
 		char timestr [30];
 		time(&rawtime);
@@ -26,7 +35,7 @@ int createLogFile(int argc, char* argv)
 
 		// Lets convert space to _ in
 		char *p = timestr;
-		int i = 0;
+		size_t i = 0;
 		while(i < strlen(timestr))
 		{ 
 		    if (*p == ' ')
@@ -40,18 +49,60 @@ int createLogFile(int argc, char* argv)
 		strncat(log_file, timestr, strlen(timestr) -1 );
 		strcat(log_file, ".txt");
 		printf("Creating log file '%s'...\n",log_file);
-		quadlog_file = open(log_file, O_WRONLY | O_CREAT, 0666);
-		return quadlog_file;
+		quadlog_file = fopen(log_file, "a");
+	}
+	if (pthread_mutex_unlock(&mutex)) {
+		err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
 	}
+	return 0;
 }
 
 int updateLogFile(const struct ucart_vrpn_TrackerData * td)
 {
-	return dprintf(quadlog_file, "FPS: %lf Pos (xyz): (%lf %lf %lf) Att (pry): (%lf %lf %lf)\n",
+	int retval;
+
+	if (pthread_mutex_lock(&mutex)) {
+		err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
+	}
+     
+	retval = fprintf(quadlog_file, 
+			"FPS: %lf Pos (xyz): (%lf %lf %lf) Att (pry): (%lf %lf %lf)\n",
 		td->fps, td->x, td->y, td->z, td->pitch, td->roll, td->yaw);
+
+	if (pthread_mutex_unlock(&mutex)) {
+		err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
+	}
+	
+	return retval;
 }
 
 int writeStringToLog(const char * string)
 {
-	return dprintf(quadlog_file, "%s", string);
+	int retval;
+
+	if (pthread_mutex_lock(&mutex)) {
+		err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
+	}
+
+	retval = fprintf(quadlog_file, "%s", string);
+
+	if (pthread_mutex_unlock(&mutex)) {
+		err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
+	}
+
+	return retval;
+}
+
+void closeLogFile(void)
+{
+	if (pthread_mutex_lock(&mutex)) {
+		err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
+	}
+
+	fclose(quadlog_file);
+
+	if (pthread_mutex_unlock(&mutex)) {
+		err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
+	}
+
 }

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

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

src/microcart_cli.c → groundStation/src/microcart_cli.c

@@ -3,14 +3,17 @@
  * BlueTooth socket program for passing vrpn data to quad.
  */
 //system includes
+#include <err.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
 #include <signal.h>
 #include <sys/socket.h>
+#include <sys/select.h>
 #include <bluetooth/bluetooth.h>
 #include <bluetooth/rfcomm.h>
 #include <pthread.h>
+#include <assert.h>
 
 //user created includes
 #include "communication.h"
@@ -31,19 +34,24 @@ void sendStartPacket(void);
 void getVRPNPacket(struct ucart_vrpn_TrackerData *);
 void printVrpnData(struct ucart_vrpn_TrackerData *);
 int connectToZybo();
-void *handleQuadResponse();
-void *handleCliInput();
-int atomic_check(int*, pthread_mutex_t*);
-void performCommand(char *cmdName, char * command);
-int startsWith(const char *pre, const char *str);
+// void *handleQuadResponse();
+// void *handleCliInput();
+// int atomic_check(int*, pthread_mutex_t*);
+void performCommand(char *, char *);
+int startsWith(const char *, const char *);
+int safe_fd_set(int , fd_set* , int* );
+int safe_fd_clr(int , fd_set* , int* );
 
-//static void cb(struct ucart_vrpn_TrackerData *);
+static void cb(struct ucart_vrpn_TrackerData *);
+
+/* Thread-safe wrappers */
+pthread_mutex_t quadSocketMutex;
+static ssize_t writeQuad(const char * buf, size_t count);
 
 // global variables
 static volatile int keepRunning = 1;
 const char *TRACKER_IP = "UAV@192.168.0.120:3883";
-int quadlog_file;
-int zyboSocket, status, bytes_read;
+static int zyboSocket;
 struct ucart_vrpn_tracker * tracker = NULL;
 const char *logHeader = "";//"#\n#\tDefault log header\n#\tEverything after '#'`s will be printed as is in the processed logs.\n#\n\0";
 
@@ -58,186 +66,137 @@ modular_structs_t structs = {};
 // Currently doing much more than it should. It will be slimmed down 
 // 		in the future.
 
-// static void cb(struct ucart_vrpn_TrackerData * td)
-// {
-// 	static int count = 0;
-
-// 	if(!(count % 10)) {
-// 		sendVrpnPacket(td);
-// 		updateLogFile(td);
-// 	}
-
-// 	count++;
-
-// 	// This will print the vrpn data to the terminal if necissary.
-// 	// Commented out because the callback will cover quad log data
-// 	//   at the end of flight.
-// 	/**if(!(count % 100)) {
-// 	 	printVrpnData(td);
-// 	 	printf("[Info] Received %d tracker updates.\n", count);
-// 	}**/
-// }
-
-
-void *handleQuadResponse() {
-	unsigned char buffer[255];
-
-	while(keepRunning) {
-		// Clear the buffer and read the message from the socket (from the server)
-		memset(buffer, 0, 255);
-
-		// If there was an error reading from the socket, throw an error
-		if(read(zyboSocket, buffer, 255) <= 0) {
-			fprintf(stderr, "CLI QUAD: ERROR reading from quad.\n");
-			continue;
-		}
-
-		pthread_mutex_lock(&quadResponseMutex);
-		newQuadResponse = 1;
-		memcpy(respBuf, buffer, 255);
-		pthread_mutex_unlock(&quadResponseMutex);
+static void cb(struct ucart_vrpn_TrackerData * td)
+{
+	static int count = 0;
 
-		//parse_packet(buffer, &respBuf, &metadata);
-		// fprintf(stderr, "CLI QUAD: %s\n", buffer);
+	if(!(count % 10)) {
+		sendVrpnPacket(td);
+		updateLogFile(td);
 	}
 
-	pthread_exit(NULL);
+	count++;
+	// This will print the vrpn data to the terminal if necissary.
+	// Commented out because the callback will cover quad log data
+	//   at the end of flight.
+	/**if(!(count % 100)) {
+	 	printVrpnData(td);
+	 	printf("[Info] Received %d tracker updates.\n", count);
+	}**/
 }
 
-void *handleCliInput() {
-	sleep(1);
-	while(keepRunning)
-	{
-		char userCommand[CMD_MAX_LENGTH] = {};
-		fprintf(stderr, "$microcart> ");
-
-		while(fgets(userCommand, sizeof(userCommand), stdin) != NULL && keepRunning) {
-			
-			// if the user simply hit enter then let them try again
-			if((userCommand[0] == '\n') || (userCommand[0] == '\r'))
-			{
-				fprintf(stderr, "$microcart> ");
-
-				memset(userCommand, 0, CMD_MAX_LENGTH);
-
-				continue;
-			}
-
-			if((userCommand[strlen(userCommand) - 1] == '\n') || (userCommand[strlen(userCommand) - 1] == '\r'))
-			userCommand[strlen(userCommand) - 1] = '\0';
-
-			pthread_mutex_lock(&cliInputMutex);
-			newCliInput = 1;
-			memcpy(commandBuf, &userCommand, CMD_MAX_LENGTH);
-			pthread_mutex_unlock(&cliInputMutex);
-
-			fprintf(stderr, "$microcart> ");
-
-			memset(userCommand, 0, CMD_MAX_LENGTH);
-		}
-	}
-
-	pthread_exit(NULL);
-}
 
 int main(int argc, char **argv)
 {
-	pthread_t quadResponse, cliInput;
-	respBuf = malloc(1024);
-	commandBuf = malloc(CMD_MAX_LENGTH);
+	// pthread_t quadResponse, cliInput;
+	fd_set rfds;
+	int activity;
+	int max_fd = 0;
 	
 	signal(SIGINT, killHandler);
 
-	if ((zyboSocket = connectToZybo()) < 0)
-	{
-		perror("Error connecting to Zybo...");
-		free(respBuf);
-		free(commandBuf);
-		exit(1);
+	if (pthread_mutex_lock(&quadSocketMutex)) {
+		err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
 	}
-	
-	// create vrpnTracker instance
-//	tracker = ucart_vrpn_tracker_createInstance(TRACKER_IP);
 
-	// Retrieve VRPN data from the control loop
-	fprintf(stderr, "CLI: Starting quad receiving thread...\n");
-	pthread_create(&quadResponse, NULL, handleQuadResponse, NULL);
-	fprintf(stderr, "CLI: Thread quad receiving started.\n");
+	// if ((zyboSocket = connectToZybo()) < 0)
+	// {
+	// 	perror("Error connecting to Zybo...");
+	// 	free(respBuf);
+	// 	free(commandBuf);
+	// 	exit(1);
+	// }
 
-	// Retrieve user command input
-	fprintf(stderr, "CLI: Starting cli input thread...\n");
-	pthread_create(&cliInput, NULL, handleCliInput, NULL);
-	fprintf(stderr, "CLI: Thread Cli input started.\n");
+	if (pthread_mutex_unlock(&quadSocketMutex)) {
+		err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
+	}
+	
+	// create vrpnTracker instance
+	//tracker = ucart_vrpn_tracker_createInstance(TRACKER_IP);
 
 	// open the log file
-	if( (status = createLogFile(argc, argv[1])) < 0)
+	if(createLogFile(argc, argv[1]))
 	{
 		perror("Error creating log file...");
-		free(respBuf);
-		free(commandBuf);
 		exit(1);
 	}
-	writeStringToLog(logHeader);
+//	writeStringToLog(logHeader);
+
+
+	// clear the fd set
+	FD_ZERO(&rfds);
+	// watch for input from stdin (fd 0) to see when it has input
+	safe_fd_set(fileno(stdin), &rfds, &max_fd);
+	// watch for input from the zybo socket
+	//safe_fd_set(zyboSocket, &rfds, &max_fd);
+
+	//printf("zyboSocket = %d, max_fd = %d\n", zyboSocket, max_fd);
 
 	//tell the quad we are ready to send it vrpn data
 	printf("sending Start Packet...\n");
-	sendStartPacket();
+	//sendStartPacket();
+
 
 	// this function will be called whenever tracker receives data
 	// ucart_vrpn_tracker_addCallback(tracker, cb);
-	int updatePrompt = 0;
+
+	// start the prompt
+	fprintf(stdout, "$microcart> ");
 	while(keepRunning)
 	{
-		char tmpRespBuf[1024];
-		unsigned char tmpCommandBuf[CMD_MAX_LENGTH];
-
-
-		if(updatePrompt)
-		{
-			fprintf(stderr, "$microcart> ");
-			updatePrompt = 0;	
-		}
-
-		//check for user input via cli
-		if(atomic_check(&newCliInput, &cliInputMutex))
-		{
-			pthread_mutex_lock(&cliInputMutex);
-			newCliInput = !newCliInput;
-			memcpy(tmpCommandBuf, commandBuf, CMD_MAX_LENGTH);
-			pthread_mutex_unlock(&cliInputMutex);
-
-			// I can use printf becuase the command was gathered using fgets.
-			//fprintf(stderr, "\rINPUT FOUND via CLI: '%s'\n", tmpCommandBuf);
-			updatePrompt = !updatePrompt;
-			unsigned char *packet;
-			formatCommand(tmpCommandBuf, &packet);
-		}
-
-		//check for update/response from quad
-		if(atomic_check(&newQuadResponse, &quadResponseMutex))
-		{
-			pthread_mutex_lock(&quadResponseMutex);
-			newQuadResponse = !newQuadResponse;
-			memcpy(tmpRespBuf, respBuf, 1024);
-			pthread_mutex_unlock(&quadResponseMutex);
-
-			char buf[1025];
-			memcpy(buf, tmpRespBuf, 1024);
-			buf[1025] = '\0';
-			//fprintf(stderr, "\rINPUT FOUND via QUAD: '%s'\n", buf);
-			writeStringToLog(buf);
-			updatePrompt = !updatePrompt;
+		activity = select(max_fd+1, &rfds, NULL, NULL, NULL);
+		if(activity == -1) {
+			perror("select() ");
+		} else if (activity) {
+			for(unsigned int fd = 0; fd <= max_fd; ++fd) {
+				if (FD_ISSET(fd, &rfds)) {
+					if (fd == fileno(stdin)) {
+						unsigned char userCommand[CMD_MAX_LENGTH] = {};
+						read(fileno(stdin), (char *)userCommand, sizeof(userCommand));
+						unsigned int cmdLen = strlen((char*) userCommand);
+						// if the user simply hit enter then let them try again
+						if((userCommand[0] != '\n') && (userCommand[0] != '\r'))
+						{
+							// remove newline and return line chars
+							if((userCommand[cmdLen - 1] == '\n') || (userCommand[cmdLen - 1] == '\r'))
+							userCommand[cmdLen - 1] = '\0';
+
+							unsigned char *packet;
+							formatCommand(userCommand, &packet);
+
+							printf("received input from cli: '%s'\n", userCommand);
+
+							fprintf(stdout, "CLI sees as: %f\n", getFloat(packet, 7));
+
+							// Write the command to the control_loop socket
+							// int n = writeQuad(packet, ((packet[6] << 8) | packet[5]) + 8);
+							// if(n < 0) {
+							// 	fprintf(stdout, "CLI: ERROR writing to socket\n");
+							// }
+						}
+						
+
+						fprintf(stdout, "$microcart> ");
+						memset(userCommand, 0, cmdLen);
+					} else if (fd == zyboSocket) {
+						
+					}
+				}
+			}
 		}
 	}
 
-	//ucart_vrpn_tracker_freeInstance(tracker);
-	//free(vrpnData);
-	free(respBuf);
-	free(commandBuf);
-	pthread_mutex_destroy(&cliInputMutex);
-	pthread_mutex_destroy(&quadResponseMutex);
+	// ucart_vrpn_tracker_freeInstance(tracker);
+	
+	if (pthread_mutex_lock(&quadSocketMutex)) {
+		err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
+	}
 	close(zyboSocket);
-	close(quadlog_file);
+	if (pthread_mutex_unlock(&quadSocketMutex)) {
+		err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
+	}
+
+	closeLogFile();
 	return 0;
 }
 
@@ -247,18 +206,6 @@ void killHandler(int dummy) {
 	printf("\nleaving Bluetooth module\n");
 }
 
-void readAndPrint() {
-	// read data from the server
-	// this is a blocking call.
-	//TODO: Implement a non blocking version of this.
-	bytes_read = read(zyboSocket, respBuf, sizeof(respBuf) -1);
-	if( bytes_read > 0)
-	{
-		respBuf[bytes_read] = '\0';
-		printf("%s", respBuf);
-	}
-}
-
 void sendStartPacket() {
 	unsigned char packet[8] = {0};
 
@@ -285,7 +232,7 @@ void sendStartPacket() {
 		checksum ^= packet[i];
 
 	packet[metadata.data_len + 7] = checksum; //PACKET_END_BYTE;
-	status = write(zyboSocket, &packet, metadata.data_len + 8);
+	int status = writeQuad((char * ) packet, metadata.data_len + 8);
 	if (status != 8)
 	{
 		perror("Error sending start packet...\n");
@@ -317,7 +264,7 @@ void sendVrpnPacket(struct ucart_vrpn_TrackerData *info) {
 
 	packet[pSize - 1] = checksum; //PACKET_END_BYTE;
 
-	n = write(zyboSocket, packet, pSize);
+	n = writeQuad(packet, pSize);
 	if(n < 0) {	
 		perror("vrpnhandler: ERROR writing to socket");
 		keepRunning = 0;
@@ -352,7 +299,7 @@ int connectToZybo() {
 	
 	printf("Attempting to connect to zybo. Please be patient...\n");
 	// blocking call to connect to socket sock ie. zybo board
-	status = connect(sock, (struct sockaddr *)&addr, sizeof(addr));
+	int status = connect(sock, (struct sockaddr *)&addr, sizeof(addr));
 
 	// connection failed
 	if(status < 0)
@@ -368,18 +315,11 @@ int connectToZybo() {
 	}
 }
 
-int atomic_check(int* atomicFlag, pthread_mutex_t* mutex) {
-   pthread_mutex_lock(mutex);
-   int result = *atomicFlag;
-   pthread_mutex_unlock(mutex);
-   return result;
-}
-
 void performCommand(char *cmdName, char * command) {
 	for(int i = 0; i < NUM_COMMANDS; ++i)
 	{
 		if(startsWith(registeredCommands[i].commandText, command));
-			fprintf(stderr, "\r\n You used cmd '%s'\n",registeredCommands[i].commandText);
+			fprintf(stdout, "\r\n You used cmd '%s'\n",registeredCommands[i].commandText);
 	}
 }
 
@@ -387,4 +327,39 @@ int startsWith(const char *pre, const char *str) {
     size_t lenpre = strlen(pre),
            lenstr = strlen(str);
     return lenstr < lenpre ? 0 : (strncmp(pre, str, lenpre) == 0);
-}
+}
\ No newline at end of file
+
+/* add a fd to fd_set, and update max_fd */
+int safe_fd_set(int fd, fd_set* fds, int* max_fd) {
+    assert(max_fd != NULL);
+
+    FD_SET(fd, fds);
+    if (fd > *max_fd) {
+        *max_fd = fd;
+    }
+    return 0;
+}
+
+/* clear fd from fds, update max fd if needed */
+int safe_fd_clr(int fd, fd_set* fds, int* max_fd) {
+    assert(max_fd != NULL);
+
+    FD_CLR(fd, fds);
+    if (fd == *max_fd) {
+        (*max_fd)--;
+    }
+    return 0;
+}
+
+static ssize_t writeQuad(const char * buf, size_t count) {
+	ssize_t retval;
+	if (pthread_mutex_lock(&quadSocketMutex)) {
+		err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
+	}
+	retval = writeQuad(buf, count);
+	if (pthread_mutex_unlock(&quadSocketMutex)) {
+		err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
+	}
+
+	return retval;
+}

vrpn @ 99c54dbe

+Subproject commit 99c54dbefe04897cc7c146101a126f62c0e65f97