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Commit 014cd429 authored by burneykb's avatar burneykb
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Merge branch 'master' of https://git.ece.iastate.edu/danc/MicroCART_17-18

parents 07f7d32f 88ad63f0
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View file @ 014cd429
test.log
\ No newline at end of file
test.log
groundStation/gui/build*
.gdb_history
groundStation/Makefile
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......@@ -34,7 +34,7 @@ FECOBJECTS = $(FECSOURCES:$(FESRCDIR)/%.c=$(OBJDIR)/%.o)
OBJECTS=$(CLIOBJECTS) $(BECOBJECTS) $(BECPPOBJECTS) $(FECOBJECTS)
# Default target
all: quad logs objdir backend cli $(SYMLINKS)
all: quad logs objdir backend cli $(SYMLINKS) frontend.a
quad:
$(MAKE) -C ../quad
......@@ -44,6 +44,9 @@ $(SYMLINKS): $(CLIBINARY)
vrpn: vrpn/build
frontend.a: $(FECOBJECTS)
ar rvs frontend.a $(wildcard $(OBJDIR)/frontend_*.o)
cli: $(CLIOBJECTS) $(FECOBJECTS)
$(GCC) $(CFLAGS) $^ -o $(CLIBINARY) $(INCLUDES) $(LIBS)
......@@ -78,4 +81,4 @@ clean_logs:
clean:
rm -rf $(OBJDIR)/ $(BEBINARY) $(CLIBINARY) $(SYMLINKS)
debug:
\ No newline at end of file
debug:
groundStation/gui/MicroCART/MicroCART.pro 0 → 100644
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#-------------------------------------------------
#
# Project created by QtCreator 2017-02-23T15:03:45
#
#-------------------------------------------------
QT += core gui
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
TARGET = MicroCART
TEMPLATE = app
LIBS += ../../frontend.a
INCLUDEPATH += ../../src/frontend/
SOURCES += main.cpp\
mainwindow.cpp \
wrappers.c \
trackerworker.cpp \
controlworker.cpp
HEADERS += mainwindow.h \
wrappers.h \
trackerworker.h \
controlworker.h
FORMS += mainwindow.ui
groundStation/gui/MicroCART/MicroCART.pro.user 0 → 100644
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
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groundStation/gui/MicroCART/controlworker.cpp 0 → 100644
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− 0
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#include "controlworker.h"
controlworker::controlworker(QObject *parent) :
QObject(parent)
{
}
groundStation/gui/MicroCART/controlworker.h 0 → 100644
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#ifndef CONTROLWORKER_H
#define CONTROLWORKER_H
#include <QObject>
#include "frontend_common.h"
class controlworker : public QObject
{
Q_OBJECT
public:
explicit controlworker(QObject *parent = 0);
signals:
public slots:
private:
struct backend_conn * conn;
};
#endif // CONTROLWORKER_H
groundStation/gui/MicroCART/main.cpp 0 → 100644
+ 11
− 0
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#include "mainwindow.h"
#include <QApplication>
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
MainWindow w;
w.show();
return a.exec();
}
groundStation/gui/MicroCART/mainwindow.cpp 0 → 100644
+ 119
− 0
View file @ 014cd429
#include "mainwindow.h"
#include "ui_mainwindow.h"
#include <QFileDialog>
#include <QThread>
#include <QTimer>
#include "wrappers.h"
#include "trackerworker.h"
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow),
backendPid(0),
backendPipe(-1)
{
ui->setupUi(this);
/* Create a thread for workers */
QThread* workerThread = new QThread(this);
/* Create a worker to update the tracker */
TrackerWorker * trackerWorker = new TrackerWorker();
/* Move it to the worker thread. This means that slots of this worker
* will run in the worker thread, and not block the UI */
trackerWorker->moveToThread(workerThread);
/* Connect tracker worker */
connect(trackerWorker, SIGNAL (finished(float, float, float, float, float, float)),
this, SLOT (updateTracker(float, float, float, float, float, float)));
/* Connect and disconnect from backend when signals emitted */
connect(this, SIGNAL (connectWorkers()), trackerWorker, SLOT (connectBackend()));
connect(this, SIGNAL (disconnectWorkers()), trackerWorker, SLOT (disconnectBackend()));
/* Create other workers and add them to the worker thread, then connect them */
/* Now we can activate the slots of the workers with impunity and not block the UI thread */
/* Connect refresh button and refresh timer to tracker worker */
QTimer * trackerTimer = new QTimer(this);
connect(trackerTimer, SIGNAL(timeout()), trackerWorker, SLOT(process()));
connect(findChild<QPushButton *>("pbRefresh"), SIGNAL (clicked()), trackerWorker, SLOT (process()));
/* Start the things */
trackerTimer->start(300);
workerThread->start();
/* Create a timer to poll stdout and populate virtual console */
QTimer * consoleTimer = new QTimer(this);
}
MainWindow::~MainWindow()
{
delete ui;
}
void MainWindow::updateConsole()
{
if (backendPipe != -1) {
char buf[256];
size_t len = 0;
len = readBackend(backendPipe, buf, len);
printf("%d\n", len);
if (len > 0) {
printf("From pipe: %s", buf);
QLineEdit * con = findChild<QLineEdit *>("vConsole");
con->setText(con->text().append(buf));
}
}
}
void MainWindow::updateTracker(float x, float y, float z, float p, float r, float yaw)
{
findChild<QLineEdit *>("xLineEdit")->setText(QString::number(x));
findChild<QLineEdit *>("yLineEdit")->setText(QString::number(y));
findChild<QLineEdit *>("zLineEdit")->setText(QString::number(z));
findChild<QLineEdit *>("pLineEdit")->setText(QString::number(p));
findChild<QLineEdit *>("rLineEdit")->setText(QString::number(r));
findChild<QLineEdit *>("yLineEdit_2")->setText(QString::number(yaw));
}
void MainWindow::on_pbStart_clicked()
{
this->backendPid = startBackend(findChild<QLineEdit *>("backendPath")->text().toStdString().c_str(), &backendPipe);
findChild<QPushButton *>("pbStart")->setEnabled(false);
findChild<QPushButton *>("pbStop")->setEnabled(true);
backendState = 1;
}
void MainWindow::on_pbConnect_clicked()
{
findChild<QPushButton *>("pbStart")->setEnabled(false);
findChild<QPushButton *>("pbConnect")->setEnabled(false);
findChild<QPushButton *>("pbStop")->setEnabled(true);
emit(connectWorkers());
backendState = 1;
}
void MainWindow::on_pbStop_clicked()
{
emit(disconnectWorkers());
if (backendPid) {
stopBackend(backendPid, backendPipe);
backendPipe = -1;
backendPid = 0;
}
findChild<QPushButton *>("pbStart")->setEnabled(true);
findChild<QPushButton *>("pbConnect")->setEnabled(true);
findChild<QPushButton *>("pbStop")->setEnabled(false);
backendState = 0;
}
void MainWindow::on_chooseBackend_clicked()
{
QString backendPath = QFileDialog::getOpenFileName(this,
tr("Path to Backend Executable"));
findChild<QLineEdit *>("backendPath")->setText(backendPath);
}
groundStation/gui/MicroCART/mainwindow.h 0 → 100644
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− 0
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#ifndef MAINWINDOW_H
#define MAINWINDOW_H
#include <QMainWindow>
namespace Ui {
class MainWindow;
}
class MainWindow : public QMainWindow
{
Q_OBJECT
public:
explicit MainWindow(QWidget *parent = 0);
~MainWindow();
signals:
void connectWorkers();
void disconnectWorkers();
private slots:
void on_pbStart_clicked();
void on_pbConnect_clicked();
void on_pbStop_clicked();
void on_chooseBackend_clicked();
void updateTracker(float x, float y, float z, float p, float r, float yaw);
void updateConsole();
private:
Ui::MainWindow *ui;
pid_t backendPid;
int backendPipe;
int backendState;
};
#endif // MAINWINDOW_H
groundStation/gui/MicroCART/mainwindow.ui 0 → 100644
+ 413
− 0
View file @ 014cd429
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>MainWindow</class>
<widget class="QMainWindow" name="MainWindow">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>798</width>
<height>581</height>
</rect>
</property>
<property name="windowTitle">
<string>MainWindow</string>
</property>
<widget class="QWidget" name="centralWidget">
<widget class="QTabWidget" name="tabWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>10</y>
<width>801</width>
<height>471</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Maximum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="currentIndex">
<number>2</number>
</property>
<widget class="QWidget" name="backend">
<attribute name="title">
<string>Connection</string>
</attribute>
<widget class="QWidget" name="verticalLayoutWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>761</width>
<height>341</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPushButton" name="pbStart">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Start</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pbConnect">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>Connect</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="pbStop">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Stop/Disconnect</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QPushButton" name="chooseBackend">
<property name="text">
<string>Choose Backend</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="backendPath"/>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QTextEdit" name="vConsole">
<property name="enabled">
<bool>true</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
<widget class="QWidget" name="status">
<attribute name="title">
<string>Quad Status</string>
</attribute>
<widget class="QWidget" name="horizontalLayoutWidget_2">
<property name="geometry">
<rect>
<x>-1</x>
<y>9</y>
<width>451</width>
<height>226</height>
</rect>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<layout class="QFormLayout" name="formLayout">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::ExpandingFieldsGrow</enum>
</property>
<item row="0" column="0">
<widget class="QLabel" name="xLabel">
<property name="text">
<string>X</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="xLineEdit">
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="yLabel">
<property name="text">
<string>Y</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="yLineEdit">
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="zLabel">
<property name="text">
<string>Z</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLineEdit" name="zLineEdit">
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="pLabel">
<property name="text">
<string>P</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="pLineEdit">
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="rLabel">
<property name="text">
<string>R</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLineEdit" name="rLineEdit">
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="yLabel_2">
<property name="text">
<string>Y</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QLineEdit" name="yLineEdit_2">
<property name="enabled">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QFormLayout" name="formLayout_2"/>
</item>
</layout>
</widget>
</widget>
<widget class="QWidget" name="controlGraph">
<attribute name="title">
<string>Controller Graph</string>
</attribute>
<widget class="QWidget" name="verticalLayoutWidget_2">
<property name="geometry">
<rect>
<x>9</x>
<y>9</y>
<width>771</width>
<height>421</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QLabel" name="graphImage">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_6">
<item>
<widget class="QLabel" name="label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Node:</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="nodeSelect">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Param:</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="paramSelect"/>
</item>
<item>
<widget class="QLabel" name="label_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Value:</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="paramValue">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="Line" name="line_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<widget class="QPushButton" name="pbControlRefresh">
<property name="text">
<string>Refresh Controller Graph</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
</widget>
<widget class="QPushButton" name="pbRefresh">
<property name="geometry">
<rect>
<x>10</x>
<y>480</y>
<width>88</width>
<height>34</height>
</rect>
</property>
<property name="text">
<string>Refresh</string>
</property>
</widget>
</widget>
<widget class="QMenuBar" name="menuBar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>798</width>
<height>30</height>
</rect>
</property>
</widget>
<widget class="QToolBar" name="mainToolBar">
<attribute name="toolBarArea">
<enum>TopToolBarArea</enum>
</attribute>
<attribute name="toolBarBreak">
<bool>false</bool>
</attribute>
</widget>
<widget class="QStatusBar" name="statusBar"/>
</widget>
<layoutdefault spacing="6" margin="11"/>
<resources/>
<connections/>
</ui>
groundStation/gui/MicroCART/trackerworker.cpp 0 → 100644
+ 37
− 0
View file @ 014cd429
#include "trackerworker.h"
#include <QThread>
#include "frontend_common.h"
#include "frontend_tracker.h"
TrackerWorker::TrackerWorker() :
QObject(), conn(NULL)
{
}
TrackerWorker::~TrackerWorker()
{
disconnectBackend();
}
void TrackerWorker::connectBackend()
{
conn = ucart_backendConnect();
}
void TrackerWorker::disconnectBackend()
{
if (conn) {
ucart_backendDisconnect(conn);
conn = NULL;
}
}
void TrackerWorker::process()
{
if (conn) {
struct frontend_tracker_data td;
frontend_track(conn, &td);
emit finished(td.height, td.lateral, td.longitudinal, td.pitch, td.roll, td.yaw);
}
}
groundStation/gui/MicroCART/trackerworker.h 0 → 100644
+ 28
− 0
View file @ 014cd429
#ifndef TRACKERWORKER_H
#define TRACKERWORKER_H
#include <QObject>
#include "frontend_common.h"
#include "frontend_tracker.h"
class TrackerWorker : public QObject
{
Q_OBJECT
public:
TrackerWorker();
~TrackerWorker();
signals:
void finished(float, float, float, float, float, float);
public slots:
void process();
void connectBackend();
void disconnectBackend();
private:
struct backend_conn * conn;
};
#endif // TRACKERWORKER_H
groundStation/gui/MicroCART/wrappers.c 0 → 100644
+ 68
− 0
View file @ 014cd429
#include "wrappers.h"
#include <sys/types.h>
#include <sys/wait.h>
#include <sys/socket.h>
#include <unistd.h>
#include <signal.h>
#include <err.h>
#include <stdlib.h>
size_t readBackend(int fd, char * buf, size_t maxlen)
{
int len = read(fd, buf, maxlen);
if (len < 0) {
len = 0;
}
return len;
}
int stopBackend(int pid, int pipefd)
{
close(pipefd);
kill(pid, SIGTERM);
int status;
wait(&status);
return status;
}
int startBackend(const char * backend, int * pipefd)
{
/* Create a pipe */
int pipe_fds[2];
if (pipe(pipe_fds)) {
warn("Failed to open pipe, cannot start backend!");
return -1;
}
int pid = fork();
if (!pid) {
/* Child closes read end of pipe */
close(pipe_fds[0]);
write(pipe_fds[1], "From child", 11);
/* dup write end of pipe to stdout (FD 1), closing old stdout */
//dup2(pipe_fds[1], 1);
//dup2(pipe_fds[1], 2);
write(2, "Child stderr\n", 13);
printf("Child stdout\n");
/* Don't need whatever FD is in pipe_fds[1] anymore, since it is stdout now */
close(pipe_fds[1]);
execl(backend, "BackEnd", NULL);
exit(0);
}
/* Return the read end of the pipe in pipefd pointer */
*pipefd = pipe_fds[0];
/* Parent closes write end of the pipe */
close(pipe_fds[1]);
return pid;
}
groundStation/gui/MicroCART/wrappers.h 0 → 100644
+ 19
− 0
View file @ 014cd429
#ifndef WRAPPERS_H
#define WRAPPERS_H
#ifdef __cplusplus
extern "C"
{
#endif
#include <stdio.h>
int startBackend(const char * backend, int * pipefd);
int stopBackend(int pid, int pipefd);
size_t readBackend(int fd, char * buf, size_t maxlen);
#ifdef __cplusplus
}
#endif
#endif // WRAPPERS_H
groundStation/src/frontend/frontend_common.h
+ 8
− 1
View file @ 014cd429
......@@ -2,6 +2,10 @@
#define _FRONTEND_COMMON_H
#include <stdlib.h>
#ifdef __cplusplus
extern "C" {
#endif
struct backend_conn;
/* Start connection to quad */
......@@ -44,4 +48,7 @@ struct frontend_node_data {
char *name;
};
#endif /* __FRONTEND_COMMON_H */
\ No newline at end of file
#ifdef __cplusplus
}
#endif
#endif /* __FRONTEND_COMMON_H */
groundStation/src/frontend/frontend_nodes.c
+ 21
− 3
View file @ 014cd429
......@@ -11,14 +11,22 @@
*
* Returns 0 on success, 1 on error
*
* node_data and num_nodes are out-pointers.
* node_data must be a pointer to NULL
* num_nodes must be a pointer to zero
*
* Note : node_data may be resized inside this function.
* That is why you must pass in a strcut ... **
*/
int frontend_getnodes(
struct backend_conn * conn,
struct frontend_node_data ** node_data,
size_t * num_nodes) {
if ((node_data == NULL) || (num_nodes == NULL)) {
return 1;
}
if ((*node_data != NULL) || (*num_nodes != 0)) {
return 1;
}
char msg[64] = "";
int written;
......@@ -122,4 +130,14 @@ int frontend_addnode(
}
return 0;
}
\ No newline at end of file
}
void frontend_free_node_data(
struct frontend_node_data *nd,
size_t num_nodes)
{
for (size_t i = 0; i < num_nodes; i++) {
free(nd[i].name);
}
free(nd);
}
groundStation/src/frontend/frontend_nodes.h
+ 10
− 3
View file @ 014cd429
......@@ -8,8 +8,10 @@
*
* Returns 0 on success, 1 on error
*
* Note : node_data may be resized inside this function.
* That is why you must pass in a strcut ... **
* node_data and num_nodes are out pointers
* node_data must point to a NULL pointer
* num_nodes must point to zero
*
*/
int frontend_getnodes(
struct backend_conn * conn,
......@@ -25,4 +27,9 @@ int frontend_addnode(
struct backend_conn * conn,
struct frontend_node_data * node_data);
#endif /* __FRONTEND_NODES_H */
\ No newline at end of file
/* Free a node_data array */
void frontend_free_node_data(
struct frontend_node_data * nd,
size_t num_nodes);
#endif /* __FRONTEND_NODES_H */
groundStation/src/frontend/frontend_tracker.h
+ 9
− 1
View file @ 014cd429
......@@ -3,6 +3,10 @@
#include "frontend_common.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Struct containing pos/att data */
struct frontend_tracker_data {
double height;
......@@ -24,4 +28,8 @@ struct frontend_tracker_data {
int frontend_track(struct backend_conn * conn,
struct frontend_tracker_data *data);
#endif /* __FRONTEND_TRACKER_H */
\ No newline at end of file
#ifdef __cplusplus
}
#endif
#endif /* __FRONTEND_TRACKER_H */
quad/src/queue/queue.c
+ 9
− 9
View file @ 014cd429
#include "queue.h"
int queue_init(struct Queue *q, volatile unsigned char *buff, unsigned int max_size) {
int queue_init(struct Queue *q, volatile unsigned char *buff, unsigned int max_size_plus1) {
q->buff = buff;
q->max_size = max_size + 1;
q->start = max_size;
q->max_size_plus1 = max_size_plus1;
q->start = max_size_plus1 - 1;
q->end = 0;
return 0;
}
......@@ -13,7 +13,7 @@ struct Queue * queue_malloc(unsigned int max_size) {
if (buff == NULL) return NULL;
struct Queue *q = malloc(sizeof(struct Queue));
if (q == NULL) return NULL;
queue_init(q, buff, max_size);
queue_init(q, buff, max_size + 1);
return q;
}
......@@ -28,7 +28,7 @@ int queue_add(struct Queue *q, unsigned char c) {
}
q->buff[q->end] = c;
q->end += 1;
q->end %= q->max_size;
q->end %= q->max_size_plus1;
return 0;
}
......@@ -37,17 +37,17 @@ int queue_remove(struct Queue *q, unsigned char *c) {
return -1;
}
q->start += 1;
q->start %= q->max_size;
q->start %= q->max_size_plus1;
*c = q->buff[q->start];
return 0;
}
int queue_size(struct Queue *q) {
return (q->max_size + q->end - q->start - 1) % q->max_size;
return (q->max_size_plus1 + q->end - q->start - 1) % q->max_size_plus1;
}
int queue_full(struct Queue *q) {
return q->start == q->end;;
return q->start == q->end;
}
int queue_empty(struct Queue *q) {
......@@ -57,7 +57,7 @@ int queue_empty(struct Queue *q) {
void queue_print(struct Queue *q) {
int i;
printf("buffer: (size: %d, full: %d, empty: %d)\n", queue_size(q), queue_full(q), queue_empty(q));
for (i = 0; i < q->max_size; i += 1) {
for (i = 0; i < q->max_size_plus1; i += 1) {
char c = (char) q->buff[i];
if (c == 0) c = '-';
printf("%c", c);;
......
quad/src/queue/queue.h
+ 2
− 2
View file @ 014cd429
......@@ -6,13 +6,13 @@
struct Queue {
volatile unsigned char *buff;
unsigned int max_size;
unsigned int max_size_plus1;
unsigned int start;
unsigned int end;
};
int queue_init(struct Queue *q, volatile unsigned char *buff, unsigned int max_size);
int queue_init(struct Queue *q, volatile unsigned char *buff, unsigned int max_size_plus1);
struct Queue * queue_malloc(unsigned int max_size);
void queue_free(struct Queue *q);
int queue_add(struct Queue *q, unsigned char c);
......
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