From 09d346319aa9e3d8d902b139a6b305dd1a1bb591 Mon Sep 17 00:00:00 2001
From: "ucart@co3050-12" <dawehr@iastate.edu>
Date: Sat, 11 Feb 2017 19:16:48 -0600
Subject: [PATCH] Missed files from last commit
---
quad/computation_graph/src/node_accumulator.c | 39 -------------------
quad/computation_graph/src/node_accumulator.h | 16 --------
quad/computation_graph/src/node_add.c | 25 ------------
quad/computation_graph/src/node_add.h | 17 --------
quad/computation_graph/src/node_constant.c | 25 ------------
quad/computation_graph/src/node_constant.h | 16 --------
quad/computation_graph/src/node_gain.c | 25 ------------
quad/computation_graph/src/node_gain.h | 20 ----------
quad/computation_graph/src/node_mult.c | 25 ------------
quad/computation_graph/src/node_mult.h | 18 ---------
quad/computation_graph/src/node_pow.c | 26 -------------
quad/computation_graph/src/node_pow.h | 20 ----------
quad/sw/modular_quad_pid/src/main.c | 4 +-
13 files changed, 2 insertions(+), 274 deletions(-)
delete mode 100644 quad/computation_graph/src/node_accumulator.c
delete mode 100644 quad/computation_graph/src/node_accumulator.h
delete mode 100644 quad/computation_graph/src/node_add.c
delete mode 100644 quad/computation_graph/src/node_add.h
delete mode 100644 quad/computation_graph/src/node_constant.c
delete mode 100644 quad/computation_graph/src/node_constant.h
delete mode 100644 quad/computation_graph/src/node_gain.c
delete mode 100644 quad/computation_graph/src/node_gain.h
delete mode 100644 quad/computation_graph/src/node_mult.c
delete mode 100644 quad/computation_graph/src/node_mult.h
delete mode 100644 quad/computation_graph/src/node_pow.c
delete mode 100644 quad/computation_graph/src/node_pow.h
diff --git a/quad/computation_graph/src/node_accumulator.c b/quad/computation_graph/src/node_accumulator.c
deleted file mode 100644
index 17a36ee92..000000000
--- a/quad/computation_graph/src/node_accumulator.c
+++ /dev/null
@@ -1,39 +0,0 @@
-#include "node_accumulator.h"
-#include <stdlib.h>
-
-struct accum_state {
- double accumulated;
-};
-
-static void accum_nodes(void *state, const double* params, const double *inputs, double *outputs) {
- struct accum_state* my_state = (struct accum_state*)state;
- my_state->accumulated += inputs[ACCUM_IN];
- outputs[ACCUMULATED] = my_state->accumulated;
-}
-
-static void reset(void *state) {
- ((struct accum_state*)state)->accumulated = 0;
-}
-
-
-static const char* const in_names[2] = {"Accumulator in"};
-static const char* const out_names[1] = {"Accumulated"};
-static const char* const param_names[0] = {};
-const struct graph_node_type node_accum_type = {
- .input_names = in_names,
- .output_names = out_names,
- .param_names = param_names,
- .n_inputs = 1,
- .n_outputs = 1,
- .n_params = 0,
- .execute = accum_nodes,
- .reset = reset
-};
-
-int graph_add_node_accum(struct computation_graph *graph, const char* name) {
- struct accum_state* node_state = malloc(sizeof(struct accum_state));
- if (sizeof(struct accum_state) && !node_state) {
- return -1; // malloc failed
- }
- return graph_add_node(graph, name, &node_accum_type, node_state);
-}
diff --git a/quad/computation_graph/src/node_accumulator.h b/quad/computation_graph/src/node_accumulator.h
deleted file mode 100644
index 3b34220ad..000000000
--- a/quad/computation_graph/src/node_accumulator.h
+++ /dev/null
@@ -1,16 +0,0 @@
-#ifndef __NODE_ACCUMULATOR_H__
-#define __NODE_ACCUMULATOR_H__
-#include "computation_graph.h"
-
-int graph_add_node_accum(struct computation_graph *graph, const char* name);
-
-extern const struct graph_node_type node_accum_type;
-
-enum graph_node_accum_inputs {
- ACCUM_IN,
-};
-
-enum graph_node_accum_outputs {
- ACCUMULATED
-};
-#endif // __NODE_ACCUMULATOR_H__
\ No newline at end of file
diff --git a/quad/computation_graph/src/node_add.c b/quad/computation_graph/src/node_add.c
deleted file mode 100644
index a28ca657b..000000000
--- a/quad/computation_graph/src/node_add.c
+++ /dev/null
@@ -1,25 +0,0 @@
-#include "node_add.h"
-#include <stdlib.h>
-
-static void add_nodes(void *state, const double* params, const double *inputs, double *outputs) {
- outputs[ADD_SUM] = inputs[ADD_SUMMAND1] + inputs[ADD_SUMMAND2];
-}
-static void reset(void *state) {}
-
-static const char* const in_names[2] = {"Summand 1", "Summand 2"};
-static const char* const out_names[1] = {"Sum"};
-static const char* const param_names[0] = {};
-const struct graph_node_type node_add_type = {
- .input_names = in_names,
- .output_names = out_names,
- .param_names = param_names,
- .n_inputs = 2,
- .n_outputs = 1,
- .n_params = 0,
- .execute = add_nodes,
- .reset = reset
-};
-
-int graph_add_node_add(struct computation_graph *graph, const char* name) {
- return graph_add_node(graph, name, &node_add_type, NULL);
-}
diff --git a/quad/computation_graph/src/node_add.h b/quad/computation_graph/src/node_add.h
deleted file mode 100644
index ac518505f..000000000
--- a/quad/computation_graph/src/node_add.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#ifndef __NODE_ADD_H__
-#define __NODE_ADD_H__
-#include "computation_graph.h"
-
-int graph_add_node_add(struct computation_graph *graph, const char* name);
-
-extern const struct graph_node_type node_add_type;
-
-enum graph_node_add_inputs {
- ADD_SUMMAND1,
- ADD_SUMMAND2,
-};
-
-enum graph_node_add_outputs {
- ADD_SUM
-};
-#endif // __NODE_ADD_H__
\ No newline at end of file
diff --git a/quad/computation_graph/src/node_constant.c b/quad/computation_graph/src/node_constant.c
deleted file mode 100644
index 47ab571d5..000000000
--- a/quad/computation_graph/src/node_constant.c
+++ /dev/null
@@ -1,25 +0,0 @@
-#include "node_constant.h"
-#include <stdlib.h>
-
-static void output_const(void *state, const double *params, const double *inputs, double *outputs) {
- outputs[CONST_VAL] = params[CONST_SET];
-}
-static void reset(void *state) {}
-
-static const char* const in_names[0] = {};
-static const char* const out_names[1] = {"Constant"};
-static const char* const param_names[1] = {"Constant"};
-const struct graph_node_type node_const_type = {
- .input_names = in_names,
- .output_names = out_names,
- .param_names = param_names,
- .n_inputs = 0,
- .n_outputs = 1,
- .n_params = 1,
- .execute = output_const,
- .reset = reset
-};
-
-int graph_add_node_const(struct computation_graph *graph, const char* name) {
- return graph_add_node(graph, name, &node_const_type, NULL);
-}
diff --git a/quad/computation_graph/src/node_constant.h b/quad/computation_graph/src/node_constant.h
deleted file mode 100644
index 42463a5c5..000000000
--- a/quad/computation_graph/src/node_constant.h
+++ /dev/null
@@ -1,16 +0,0 @@
-#ifndef __NODE_CONSTANT_H__
-#define __NODE_CONSTANT_H__
-#include "computation_graph.h"
-
-int graph_add_node_const(struct computation_graph *graph, const char* name);
-
-extern const struct graph_node_type node_const_type;
-
-enum graph_node_const_params {
- CONST_SET
-};
-
-enum graph_node_const_outputs {
- CONST_VAL
-};
-#endif //__NODE_CONSTANT_H__
\ No newline at end of file
diff --git a/quad/computation_graph/src/node_gain.c b/quad/computation_graph/src/node_gain.c
deleted file mode 100644
index f89c6f9cb..000000000
--- a/quad/computation_graph/src/node_gain.c
+++ /dev/null
@@ -1,25 +0,0 @@
-#include "node_gain.h"
-#include <stdlib.h>
-
-static void scale_nodes(void *state, const double* params, const double *inputs, double *outputs) {
- outputs[GAIN_RESULT] = inputs[GAIN_INPUT] * params[GAIN_GAIN];
-}
-static void reset(void *state) {}
-
-static const char* const in_names[1] = {"Input"};
-static const char* const out_names[1] = {"Amplified"};
-static const char* const param_names[1] = {"Gain"};
-const struct graph_node_type node_gain_type = {
- .input_names = in_names,
- .output_names = out_names,
- .param_names = param_names,
- .n_inputs = 1,
- .n_outputs = 1,
- .n_params = 1,
- .execute = scale_nodes,
- .reset = reset
-};
-
-int graph_add_node_gain(struct computation_graph *graph, const char* name) {
- return graph_add_node(graph, name, &node_gain_type, NULL);
-}
diff --git a/quad/computation_graph/src/node_gain.h b/quad/computation_graph/src/node_gain.h
deleted file mode 100644
index e20b9a018..000000000
--- a/quad/computation_graph/src/node_gain.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#ifndef __NODE_GAIN_H__
-#define __NODE_GAIN_H__
-#include "computation_graph.h"
-
-int graph_add_node_gain(struct computation_graph *graph, const char* name);
-
-extern const struct graph_node_type node_gain_type;
-
-enum graph_node_pow_inputs {
- GAIN_INPUT
-};
-
-enum graph_node_pow_params {
- GAIN_GAIN
-};
-
-enum graph_node_gain_outputs {
- GAIN_RESULT
-};
-#endif // __NODE_GAIN_H__
\ No newline at end of file
diff --git a/quad/computation_graph/src/node_mult.c b/quad/computation_graph/src/node_mult.c
deleted file mode 100644
index 2696719fd..000000000
--- a/quad/computation_graph/src/node_mult.c
+++ /dev/null
@@ -1,25 +0,0 @@
-#include "node_mult.h"
-#include <stdlib.h>
-
-static void mult_nodes(void *state, const double* params, const double *inputs, double *outputs) {
- outputs[MULT_PRODUCT] = inputs[MULT_MULTIPLICAND1] * inputs[MULT_MULTIPLICAND2];
-}
-static void reset(void *state) {}
-
-static const char* const in_names[2] = {"Multiplicand 1", "Multiplicand 2"};
-static const char* const out_names[1] = {"Product"};
-static const char* const param_names[0] = {};
-const struct graph_node_type node_mult_type = {
- .input_names = in_names,
- .output_names = out_names,
- .param_names = param_names,
- .n_inputs = 2,
- .n_outputs = 1,
- .n_params = 0,
- .execute = mult_nodes,
- .reset = reset
-};
-
-int graph_add_node_mult(struct computation_graph *graph, const char* name) {
- return graph_add_node(graph, name, &node_mult_type, NULL);
-}
diff --git a/quad/computation_graph/src/node_mult.h b/quad/computation_graph/src/node_mult.h
deleted file mode 100644
index 49194353c..000000000
--- a/quad/computation_graph/src/node_mult.h
+++ /dev/null
@@ -1,18 +0,0 @@
-#ifndef __NODE_MULT_H__
-#define __NODE_MULT_H__
-#include "computation_graph.h"
-
-int graph_add_node_mult(struct computation_graph *graph, const char* name);
-
-extern const struct graph_node_type node_mult_type;
-
-enum graph_node_mult_inputs {
- MULT_MULTIPLICAND1,
- MULT_MULTIPLICAND2,
-};
-
-enum graph_node_mult_outputs {
- MULT_PRODUCT
-};
-
-#endif // __NODE_MULT_H__
\ No newline at end of file
diff --git a/quad/computation_graph/src/node_pow.c b/quad/computation_graph/src/node_pow.c
deleted file mode 100644
index dbbc1d707..000000000
--- a/quad/computation_graph/src/node_pow.c
+++ /dev/null
@@ -1,26 +0,0 @@
-#include "node_pow.h"
-#include <stdlib.h>
-#include <math.h>
-
-static void pow_nodes(void *state, const double* params, const double *inputs, double *outputs) {
- outputs[POW_RESULT] = pow(inputs[POW_BASE], params[POW_EXP]);
-}
-static void reset(void *state) {}
-
-static const char* const in_names[1] = {"Base"};
-static const char* const out_names[1] = {"Result"};
-static const char* const param_names[1] = {"Exponent"};
-const struct graph_node_type node_pow_type = {
- .input_names = in_names,
- .output_names = out_names,
- .param_names = param_names,
- .n_inputs = 1,
- .n_outputs = 1,
- .n_params = 1,
- .execute = pow_nodes,
- .reset = reset
-};
-
-int graph_add_node_pow(struct computation_graph *graph, const char* name) {
- return graph_add_node(graph, name, &node_pow_type, NULL);
-}
diff --git a/quad/computation_graph/src/node_pow.h b/quad/computation_graph/src/node_pow.h
deleted file mode 100644
index e817defef..000000000
--- a/quad/computation_graph/src/node_pow.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#ifndef __NODE_POW_H__
-#define __NODE_POW_H__
-#include "computation_graph.h"
-
-int graph_add_node_pow(struct computation_graph *graph, const char* name);
-
-extern const struct graph_node_type node_pow_type;
-
-enum graph_node_pow_inputs {
- POW_BASE
-};
-
-enum graph_node_pow_params {
- POW_EXP
-};
-
-enum graph_node_pow_outputs {
- POW_RESULT
-};
-#endif // __NODE_POW_H__
\ No newline at end of file
diff --git a/quad/sw/modular_quad_pid/src/main.c b/quad/sw/modular_quad_pid/src/main.c
index 8ef38990d..cfc3076a8 100644
--- a/quad/sw/modular_quad_pid/src/main.c
+++ b/quad/sw/modular_quad_pid/src/main.c
@@ -78,10 +78,10 @@ int main()
// Run the control algorithm
control_algorithm(&(structs.log_struct), &(structs.user_input_struct), &(structs.sensor_struct), &(structs.setpoint_struct),
- &(structs.parameter_struct), &(structs.user_defined_struct), &(structs.raw_actuator_struct), &structs);
+ &(structs.parameter_struct), &(structs.user_defined_struct), &(structs.actuator_command_struct), &structs);
// Process the commands going to the actuators
- actuator_command_processing(&(structs.log_struct), &(structs.user_input_struct), &(structs.raw_actuator_struct), &(structs.actuator_command_struct));
+ //actuator_command_processing(&(structs.log_struct), &(structs.user_input_struct), &(structs.raw_actuator_struct), &(structs.actuator_command_struct));
// send the actuator commands
send_actuator_commands(&(structs.log_struct), &(structs.actuator_command_struct));
--
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