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Commit 1308937f authored by burneykb's avatar burneykb
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Working on cli frontend to backend communication

parent 9fd96180
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with 322 additions and 117 deletions
groundStation/src/backend/backend.c
+ 1
− 24
View file @ 1308937f
...@@ -221,31 +221,7 @@ int main(int argc, char **argv) ...@@ -221,31 +221,7 @@ int main(int argc, char **argv)
} }
if (fd == fileno(stdin)) { if (fd == fileno(stdin)) {
// break;
// 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);
// // Write the command to the control_loop socket
// // int n = writeQuad(packet, ((packet[6] << 8) | packet[5]) + 8);
// // if(n < 0) {
// // printf("CLI: ERROR writing to socket\n");
// // }
// }
// printf("$microcart> ");
// memset(userCommand, 0, cmdLen);
} else if (fd == zyboSocket) { } else if (fd == zyboSocket) {
// Read the response from the control loop // Read the response from the control loop
int available; int available;
...@@ -281,6 +257,7 @@ int main(int argc, char **argv) ...@@ -281,6 +257,7 @@ int main(int argc, char **argv)
} }
} }
} else if (get_client_index(fd) > -1) { } else if (get_client_index(fd) > -1) {
printf("receiving from client\n");
client_recv(fd); client_recv(fd);
} }
} }
......
groundStation/src/backend/commands.c
+ 250
− 67
View file @ 1308937f
...@@ -55,7 +55,7 @@ struct MessageType MessageTypes[MAX_TYPE] = ...@@ -55,7 +55,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&yawset &setyaw
}, },
// yaw p constant subtype // yaw p constant subtype
{ {
...@@ -66,7 +66,7 @@ struct MessageType MessageTypes[MAX_TYPE] = ...@@ -66,7 +66,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&yawp &setyawp
}, },
// yaw d constant subtype // yaw d constant subtype
{ {
...@@ -77,7 +77,7 @@ struct MessageType MessageTypes[MAX_TYPE] = ...@@ -77,7 +77,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&yawd &setyawd
}, },
// roll setpoint subtype // roll setpoint subtype
{ {
...@@ -88,7 +88,7 @@ struct MessageType MessageTypes[MAX_TYPE] = ...@@ -88,7 +88,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&rollset &setroll
}, },
// roll p constant subtype // roll p constant subtype
{ {
...@@ -99,7 +99,7 @@ struct MessageType MessageTypes[MAX_TYPE] = ...@@ -99,7 +99,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&rollp &setrollp
}, },
// roll d constant subtype // roll d constant subtype
{ {
...@@ -110,7 +110,7 @@ struct MessageType MessageTypes[MAX_TYPE] = ...@@ -110,7 +110,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&rolld &setrolld
}, },
// pitch setpoint subtype // pitch setpoint subtype
{ {
...@@ -121,7 +121,7 @@ struct MessageType MessageTypes[MAX_TYPE] = ...@@ -121,7 +121,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&pitchset &setpitch
}, },
// pitch p constant subtype // pitch p constant subtype
{ {
...@@ -132,7 +132,7 @@ struct MessageType MessageTypes[MAX_TYPE] = ...@@ -132,7 +132,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&pitchp &setpitchp
}, },
// pitch d constant subtype // pitch d constant subtype
{ {
...@@ -143,7 +143,7 @@ struct MessageType MessageTypes[MAX_TYPE] = ...@@ -143,7 +143,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&pitchd &setpitchd
}, },
// throttle setpoint subtype // throttle setpoint subtype
{ {
...@@ -154,7 +154,7 @@ struct MessageType MessageTypes[MAX_TYPE] = ...@@ -154,7 +154,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&throttleset &setthrottle
}, },
// throttle p constant subtype // throttle p constant subtype
{ {
...@@ -165,7 +165,7 @@ struct MessageType MessageTypes[MAX_TYPE] = ...@@ -165,7 +165,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&throttlep &setthrottlep
}, },
// throttle i constant subtype // throttle i constant subtype
{ {
...@@ -176,7 +176,7 @@ struct MessageType MessageTypes[MAX_TYPE] = ...@@ -176,7 +176,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&throttlei &setthrottlei
}, },
// throttle d constant subtype // throttle d constant subtype
{ {
...@@ -187,7 +187,7 @@ struct MessageType MessageTypes[MAX_TYPE] = ...@@ -187,7 +187,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&throttled &getthrottled
} }
} }
}, },
...@@ -204,44 +204,187 @@ struct MessageType MessageTypes[MAX_TYPE] = ...@@ -204,44 +204,187 @@ struct MessageType MessageTypes[MAX_TYPE] =
// ID // ID
0x00, 0x00,
// Command text // Command text
"accelreq", "getaccel",
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&accelreq &getaccel
}, },
// gyroscope subtype // gyroscope subtype
{ {
// ID // ID
0x01, 0x01,
// Command text // Command text
"gyroreq", "getgyro",
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&gyroreq &getgyro
}, },
// pitch angle subtype // pitch angle subtype
{ {
// ID // ID
0x02, 0x02,
// Command text // Command text
"reqpitchangle", "getpitchangle",
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&pitchanglereq &getpitchangle
}, },
// roll angle subtype // roll angle subtype
{ {
// ID // ID
0x03, 0x03,
// Command text // Command text
"reqrollangle", "getrollangle",
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&rollanglereq &getrollangle
},
// get yaw setpoint subtype
{
// ID
0x04,
// Command text
"getyaw",
// Type of the command data
floatType,
// Function pointer
&setyaw
},
// get yaw p constant subtype
{
// ID
0x05,
// Command text
"getyawp",
// Type of the command data
floatType,
// Function pointer
&getyawp
},
// get yaw d constant subtype
{
// ID
0x06,
// Command text
"getyawd",
// Type of the command data
floatType,
// Function pointer
&getyawd
},
// get roll setpoint subtype
{
// ID
0x07,
// Command text
"getroll",
// Type of the command data
floatType,
// Function pointer
&getroll
},
// get roll p constant subtype
{
// ID
0x08,
// Command text
"getrollp",
// Type of the command data
floatType,
// Function pointer
&getrollp
},
// getroll d constant subtype
{
// ID
0x09,
// Command text
"getrolld",
// Type of the command data
floatType,
// Function pointer
&getrolld
},
// get pitch setpoint subtype
{
// ID
0x0A,
// Command text
"getpitch",
// Type of the command data
floatType,
// Function pointer
&getpitch
},
// get pitch p constant subtype
{
// ID
0x0B,
// Command text
"getpitchp",
// Type of the command data
floatType,
// Function pointer
&getpitchp
},
// get pitch d constant subtype
{
// ID
0x0C,
// Command text
"getpitchd",
// Type of the command data
floatType,
// Function pointer
&getpitchd
},
// get throttle setpoint subtype
{
// ID
0x0D,
// Command text
"getthrottle",
// Type of the command data
floatType,
// Function pointer
&getthrottle
},
// get throttle p constant subtype
{
// ID
0x0E,
// Command text
"getthrottlep",
// Type of the command data
floatType,
// Function pointer
&getthrottlep
},
// get throttle i constant subtype
{
// ID
0x0F,
// Command text
"getthrottlei",
// Type of the command data
floatType,
// Function pointer
&getthrottlei
},
// get throttle d constant subtype
{
// ID
0x10,
// Command text
"getthrottled",
// Type of the command data
floatType,
// Function pointer
&getthrottled
} }
} }
}, },
...@@ -262,7 +405,7 @@ struct MessageType MessageTypes[MAX_TYPE] = ...@@ -262,7 +405,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&accelresp &respaccel
}, },
// gyroscope subtype // gyroscope subtype
{ {
...@@ -273,7 +416,7 @@ struct MessageType MessageTypes[MAX_TYPE] = ...@@ -273,7 +416,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&gyroresp &respgyro
}, },
// pitch angle subtype // pitch angle subtype
{ {
...@@ -284,7 +427,7 @@ struct MessageType MessageTypes[MAX_TYPE] = ...@@ -284,7 +427,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&pitchangleresp &resppitchangle
}, },
// roll angle subtype // roll angle subtype
{ {
...@@ -295,7 +438,7 @@ struct MessageType MessageTypes[MAX_TYPE] = ...@@ -295,7 +438,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data // Type of the command data
floatType, floatType,
// Function pointer // Function pointer
&rollangleresp &resprollangle
} }
} }
}, },
...@@ -412,7 +555,7 @@ int response(unsigned char *packet, int dataLen, modular_structs_t *structs) ...@@ -412,7 +555,7 @@ int response(unsigned char *packet, int dataLen, modular_structs_t *structs)
// ------------------------------------------------------------------ // ------------------------------------------------------------------
int yawset(unsigned char *packet, int dataLen, modular_structs_t *structs) int setyaw(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
float value; float value;
...@@ -422,203 +565,243 @@ int yawset(unsigned char *packet, int dataLen, modular_structs_t *structs) ...@@ -422,203 +565,243 @@ int yawset(unsigned char *packet, int dataLen, modular_structs_t *structs)
structs->setpoint_struct.desiredQuadPosition.yaw = value; structs->setpoint_struct.desiredQuadPosition.yaw = value;
printf("function for yawset: %f\n", structs->setpoint_struct.desiredQuadPosition.yaw); printf("function for setyaw: %f\n", structs->setpoint_struct.desiredQuadPosition.yaw);
return 0; return 0;
} }
int yawp(unsigned char *packet, int dataLen, modular_structs_t *structs) int setyawp(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
float value; float value;
memcpy(&value, ((float *)packet), dataLen); memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.yaw_angle_pid.Kp = value; structs->parameter_struct.yaw_angle_pid.Kp = value;
printf("function for yawp: %f\n", structs->parameter_struct.yaw_angle_pid.Kp); printf("function for setyawp: %f\n", structs->parameter_struct.yaw_angle_pid.Kp);
return 0; return 0;
} }
int yawd(unsigned char *packet, int dataLen, modular_structs_t *structs) int setyawd(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
float value; float value;
memcpy(&value, ((float *)packet), dataLen); memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.yaw_angle_pid.Kd = value; structs->parameter_struct.yaw_angle_pid.Kd = value;
printf("function for yawd: %f\n", structs->parameter_struct.yaw_angle_pid.Kd); printf("function for setyawd: %f\n", structs->parameter_struct.yaw_angle_pid.Kd);
return 0; return 0;
} }
int rollset(unsigned char *packet, int dataLen, modular_structs_t *structs) int setroll(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
float value; float value;
memcpy(&value, ((float *)packet), dataLen); memcpy(&value, ((float *)packet), dataLen);
structs->setpoint_struct.desiredQuadPosition.roll = value; structs->setpoint_struct.desiredQuadPosition.roll = value;
printf("function for rollset: %f\n", structs->setpoint_struct.desiredQuadPosition.roll); printf("function for setroll: %f\n", structs->setpoint_struct.desiredQuadPosition.roll);
return 0; return 0;
} }
int rollp(unsigned char *packet, int dataLen, modular_structs_t *structs) int setrollp(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
float value; float value;
memcpy(&value, ((float *)packet), dataLen); memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.local_y_pid.Kp = value; structs->parameter_struct.local_y_pid.Kp = value;
printf("function for rollp: %f\n", structs->parameter_struct.local_y_pid.Kp); printf("function for setrollp: %f\n", structs->parameter_struct.local_y_pid.Kp);
return 0; return 0;
} }
int rolld(unsigned char *packet, int dataLen, modular_structs_t *structs) int setrolld(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
float value; float value;
memcpy(&value, ((float *)packet), dataLen); memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.local_y_pid.Kd = value; structs->parameter_struct.local_y_pid.Kd = value;
printf("function for rolld: %f\n", structs->parameter_struct.local_y_pid.Kd); printf("function for setrolld: %f\n", structs->parameter_struct.local_y_pid.Kd);
return 0; return 0;
} }
int pitchset(unsigned char *packet, int dataLen, modular_structs_t *structs) int setpitch(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
float value; float value;
memcpy(&value, ((float *)packet), dataLen); memcpy(&value, ((float *)packet), dataLen);
structs->setpoint_struct.desiredQuadPosition.pitch = value; structs->setpoint_struct.desiredQuadPosition.pitch = value;
printf("function for pitchset: %f\n", structs->setpoint_struct.desiredQuadPosition.pitch); printf("function for setpitch: %f\n", structs->setpoint_struct.desiredQuadPosition.pitch);
return 0; return 0;
} }
int pitchp(unsigned char *packet, int dataLen, modular_structs_t *structs) int setpitchp(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
float value; float value;
memcpy(&value, ((float *)packet), dataLen); memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.local_x_pid.Kp = value; structs->parameter_struct.local_x_pid.Kp = value;
printf("function for pitchp: %f\n", structs->parameter_struct.local_x_pid.Kp); printf("function for setpitchp: %f\n", structs->parameter_struct.local_x_pid.Kp);
return 0; return 0;
} }
int pitchd(unsigned char *packet, int dataLen, modular_structs_t *structs) int setpitchd(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
float value; float value;
memcpy(&value, ((float *)packet), dataLen); memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.local_x_pid.Kd = value; structs->parameter_struct.local_x_pid.Kd = value;
printf("function for pitchd: %f\n", structs->parameter_struct.local_x_pid.Kd); printf("function for setpitchd: %f\n", structs->parameter_struct.local_x_pid.Kd);
return 0; return 0;
} }
// ------------------------------------------------------------ // ------------------------------------------------------------
// These should be renamed to altitude! // These should be renamed to altitude!
int throttleset(unsigned char *packet, int dataLen, modular_structs_t *structs) int setthrottle(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
float value; float value;
memcpy(&value, ((float *)packet), dataLen); memcpy(&value, ((float *)packet), dataLen);
structs->setpoint_struct.desiredQuadPosition.alt_pos = value; structs->setpoint_struct.desiredQuadPosition.alt_pos = value;
printf("function for throttleset: %f\n", structs->setpoint_struct.desiredQuadPosition.alt_pos); printf("function for setthrottle: %f\n", structs->setpoint_struct.desiredQuadPosition.alt_pos);
return 0; return 0;
} }
int throttlep(unsigned char *packet, int dataLen, modular_structs_t *structs) int setthrottlep(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
float value; float value;
memcpy(&value, ((float *)packet), dataLen); memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.alt_pid.Kp = value; structs->parameter_struct.alt_pid.Kp = value;
printf("function for throttlep: %f\n", structs->parameter_struct.alt_pid.Kp); printf("function for setthrottlep: %f\n", structs->parameter_struct.alt_pid.Kp);
return 0; return 0;
} }
int throttlei(unsigned char *packet, int dataLen, modular_structs_t *structs) int setthrottlei(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
float value; float value;
memcpy(&value, ((float *)packet), dataLen); memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.alt_pid.Ki = value; structs->parameter_struct.alt_pid.Ki = value;
printf("function for throttlei: %f\n", structs->parameter_struct.alt_pid.Ki); printf("function for setthrottlei: %f\n", structs->parameter_struct.alt_pid.Ki);
return 0; return 0;
} }
int throttled(unsigned char *packet, int dataLen, modular_structs_t *structs) int setthrottled(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
float value; float value;
memcpy(&value, ((float *)packet), dataLen); memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.alt_pid.Kd = value; structs->parameter_struct.alt_pid.Kd = value;
printf("function for throttled: %f\n", structs->parameter_struct.alt_pid.Kd); printf("function for setthrottled: %f\n", structs->parameter_struct.alt_pid.Kd);
return 0; return 0;
} }
int getyaw(unsigned char *packet, int dataLen, modular_structs_t *structs){
return 0;
}
int getyawp(unsigned char *packet, int dataLen, modular_structs_t *structs){
return 0;
}
int getyawd(unsigned char *packet, int dataLen, modular_structs_t *structs) {
return 0;
}
int getroll(unsigned char *packet, int dataLen, modular_structs_t *structs){
return 0;
}
int getrollp(unsigned char *packet, int dataLen, modular_structs_t *structs){
return 0;
}
int getrolld(unsigned char *packet, int dataLen, modular_structs_t *structs){
return 0;
}
int getpitch(unsigned char *packet, int dataLen, modular_structs_t *structs){
return 0;
}
int getpitchp(unsigned char *packet, int dataLen, modular_structs_t *structs){
return 0;
}
int getpitchd(unsigned char *packet, int dataLen, modular_structs_t *structs){
return 0;
}
int getthrottle(unsigned char *packet, int dataLen, modular_structs_t *structs){
return 0;
}
int getthrottlep(unsigned char *packet, int dataLen, modular_structs_t *structs){
return 0;
}
int getthrottlei(unsigned char *packet, int dataLen, modular_structs_t *structs){
return 0;
}
int getthrottled(unsigned char *packet, int dataLen, modular_structs_t *structs){
return 0;
}
// These should be renamed to altitude! // These should be renamed to altitude!
// ------------------------------------------------------------ // ------------------------------------------------------------
int accelreq(unsigned char *packet, int dataLen, modular_structs_t *structs) int getaccel(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
printf("function for accelreq\n"); printf("function for getaccel\n");
return 0; return 0;
} }
int gyroresp(unsigned char *packet, int dataLen, modular_structs_t *structs) int respgyro(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
printf("function for accelreq\n"); printf("function for respgyro\n");
return 0; return 0;
} }
int pitchangleresp(unsigned char *packet, int dataLen, modular_structs_t *structs) int resppitchangle(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
printf("function for accelreq\n"); printf("function for resppitchangle\n");
return 0; return 0;
} }
int rollangleresp(unsigned char *packet, int dataLen, modular_structs_t *structs) int resprollangle(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
printf("function for accelreq\n"); printf("function for resprollangle\n");
return 0; return 0;
} }
int gyroreq(unsigned char *packet, int dataLen, modular_structs_t *structs) int getgyro(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
printf("function for accelreq\n"); printf("function for getgyro\n");
return 0; return 0;
} }
int pitchanglereq(unsigned char *packet, int dataLen, modular_structs_t *structs) int getpitchangle(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
printf("function for accelreq\n"); printf("function for getpitchangle\n");
return 0; return 0;
} }
int rollanglereq(unsigned char *packet, int dataLen, modular_structs_t *structs) int getrollangle(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
printf("function for accelreq\n"); printf("function for getrollangle\n");
return 0; return 0;
} }
int accelresp(unsigned char *packet, int dataLen, modular_structs_t *structs) int respaccel(unsigned char *packet, int dataLen, modular_structs_t *structs)
{ {
printf("function for accelreq\n"); printf("function for respaccel\n");
return 0; return 0;
} }
\ No newline at end of file
groundStation/src/backend/commands.h
+ 34
− 21
View file @ 1308937f
...@@ -44,27 +44,40 @@ int debug(unsigned char *c, int dataLen, modular_structs_t *structs); ...@@ -44,27 +44,40 @@ int debug(unsigned char *c, int dataLen, modular_structs_t *structs);
int update(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 logdata(unsigned char *c, int dataLen, modular_structs_t *structs);
int response(unsigned char *packet, int dataLen, modular_structs_t *structs); int response(unsigned char *packet, int dataLen, modular_structs_t *structs);
int yawset(unsigned char *c, int dataLen, modular_structs_t *structs); int setyaw(unsigned char *c, int dataLen, modular_structs_t *structs);
int yawp(unsigned char *c, int dataLen, modular_structs_t *structs); int setyawp(unsigned char *c, int dataLen, modular_structs_t *structs);
int yawd(unsigned char *c, int dataLen, modular_structs_t *structs); int setyawd(unsigned char *c, int dataLen, modular_structs_t *structs);
int rollset(unsigned char *c, int dataLen, modular_structs_t *structs); int setroll(unsigned char *c, int dataLen, modular_structs_t *structs);
int rollp(unsigned char *c, int dataLen, modular_structs_t *structs); int setrollp(unsigned char *c, int dataLen, modular_structs_t *structs);
int rolld(unsigned char *c, int dataLen, modular_structs_t *structs); int setrolld(unsigned char *c, int dataLen, modular_structs_t *structs);
int pitchset(unsigned char *c, int dataLen, modular_structs_t *structs); int setpitch(unsigned char *c, int dataLen, modular_structs_t *structs);
int pitchp(unsigned char *c, int dataLen, modular_structs_t *structs); int setpitchp(unsigned char *c, int dataLen, modular_structs_t *structs);
int pitchd(unsigned char *c, int dataLen, modular_structs_t *structs); int setpitchd(unsigned char *c, int dataLen, modular_structs_t *structs);
int throttleset(unsigned char *c, int dataLen, modular_structs_t *structs); int setthrottle(unsigned char *c, int dataLen, modular_structs_t *structs);
int throttlep(unsigned char *c, int dataLen, modular_structs_t *structs); int setthrottlep(unsigned char *c, int dataLen, modular_structs_t *structs);
int throttlei(unsigned char *c, int dataLen, modular_structs_t *structs); int setthrottlei(unsigned char *c, int dataLen, modular_structs_t *structs);
int throttled(unsigned char *c, int dataLen, modular_structs_t *structs); int setthrottled(unsigned char *c, int dataLen, modular_structs_t *structs);
int accelreq(unsigned char *c, int dataLen, modular_structs_t *structs); int getyaw(unsigned char *c, int dataLen, modular_structs_t *structs);
int gyroresp(unsigned char *c, int dataLen, modular_structs_t *structs); int getyawp(unsigned char *c, int dataLen, modular_structs_t *structs);
int pitchangleresp(unsigned char *c, int dataLen, modular_structs_t *structs); int getyawd(unsigned char *c, int dataLen, modular_structs_t *structs);
int rollangleresp(unsigned char *c, int dataLen, modular_structs_t *structs); int getroll(unsigned char *c, int dataLen, modular_structs_t *structs);
int gyroreq(unsigned char *c, int dataLen, modular_structs_t *structs); int getrollp(unsigned char *c, int dataLen, modular_structs_t *structs);
int pitchanglereq(unsigned char *c, int dataLen, modular_structs_t *structs); int getrolld(unsigned char *c, int dataLen, modular_structs_t *structs);
int rollanglereq(unsigned char *c, int dataLen, modular_structs_t *structs); int getpitch(unsigned char *c, int dataLen, modular_structs_t *structs);
int accelresp(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 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 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);
float getFloat(unsigned char* str, int pos); float getFloat(unsigned char* str, int pos);
int getInt(unsigned char* str, int pos); int getInt(unsigned char* str, int pos);
......
groundStation/src/cli/cli.c
+ 2
− 0
View file @ 1308937f
#include <stdio.h> #include <stdio.h>
#include <string.h> #include <string.h>
#include <err.h> #include <err.h>
#include <unistd.h>
#include "cli.h" #include "cli.h"
...@@ -46,6 +47,7 @@ int main(int argc, char **argv) ...@@ -46,6 +47,7 @@ int main(int argc, char **argv)
}else { }else {
(*cli_functions[0]) (conn, argc-1, &argv[1]); (*cli_functions[0]) (conn, argc-1, &argv[1]);
} }
sleep(1);
ucart_backendDisconnect(conn); ucart_backendDisconnect(conn);
return 0; return 0;
......
groundStation/src/frontend/frontend_common.c
+ 1
− 3
View file @ 1308937f
...@@ -43,14 +43,12 @@ struct backend_conn * ucart_backendConnect() ...@@ -43,14 +43,12 @@ struct backend_conn * ucart_backendConnect()
goto fail_final; goto fail_final;
} }
conn = malloc(sizeof(struct backend_conn)); conn = malloc(sizeof(struct backend_conn));
if (conn == NULL) { if (conn == NULL) {
perror("malloc"); perror("malloc");
goto fail_sock; goto fail_sock;
} }
conn->len = 0; conn->len = 0;
conn->buf = NULL; conn->buf = NULL;
conn->socket = fdopen(s, "rw"); conn->socket = fdopen(s, "rw");
...@@ -86,7 +84,7 @@ char * ucart_backendGetline(struct backend_conn *conn) ...@@ -86,7 +84,7 @@ char * ucart_backendGetline(struct backend_conn *conn)
return conn->buf; return conn->buf;
} }
size_t ucart_backendWrite(struct backend_conn *conn, const char * line) int ucart_backendWrite(struct backend_conn *conn, const char * line)
{ {
return fputs(line, conn->socket); return fputs(line, conn->socket);
} }
groundStation/src/frontend/frontend_common.h
+ 1
− 1
View file @ 1308937f
...@@ -17,6 +17,6 @@ void ucart_backendDisconnect(struct backend_conn * conn); ...@@ -17,6 +17,6 @@ void ucart_backendDisconnect(struct backend_conn * conn);
char * ucart_backendGetline(struct backend_conn * conn); char * ucart_backendGetline(struct backend_conn * conn);
/* Write a line to the backend */ /* Write a line to the backend */
size_t ucart_backendWrite(struct backend_conn * backend, const char * line); int ucart_backendWrite(struct backend_conn * backend, const char * line);
#endif #endif
groundStation/src/frontend/frontend_getpid.c
+ 33
− 1
View file @ 1308937f
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include "frontend_getpid.h" #include "frontend_getpid.h"
#include "pid_common.h"
/* Get a specified PID. /* Get a specified PID.
* *
...@@ -16,5 +21,32 @@ ...@@ -16,5 +21,32 @@
*/ */
int frontend_getpid( int frontend_getpid(
struct backend_conn * conn, struct frontend_pid_data * pid_data) { struct backend_conn * conn, struct frontend_pid_data * pid_data) {
char line[10] = "getpid \0";
char pid_option[2];
switch (pid_data->pid) {
case PITCH :
strncpy(pid_option, "p\0", 2);
break;
case ROLL :
strncpy(pid_option, "i\0", 2);
break;
case YAW :
strncpy(pid_option, "d\0", 2);
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; return 0;
} }
\ No newline at end of file \ No newline at end of file
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