Merge branch 'master' of git.ece.iastate.edu:danc/MicroCART_17-18

groundStation/.gitignore

@@ -42,3 +42,10 @@ logs
 BackEnd
 obj
 Cli
+
+#symlinks
+getpid
+monitor
+setpid
+setsetpoint
+getsetpoint

groundStation/Makefile

@@ -23,7 +23,7 @@ CLIBINARY=Cli
 CLISRCDIR=src/cli
 CLISOURCES := $(wildcard $(CLISRCDIR)/*.c)
 CLIOBJECTS = $(CLISOURCES:$(CLISRCDIR)/%.c=$(OBJDIR)/%.o)
-SYMLINKS=monitor setpid getpid setsetpoint
+SYMLINKS=monitor setpid getpid setsetpoint getsetpoint
 
 # Frontend-common stuff
 FESRCDIR=src/frontend

groundStation/src/backend/backend.c

@@ -195,7 +195,6 @@ int main(int argc, char **argv)
 		perror("Error creating log file...");
 		exit(1);
 	}
-	// writeStringToLog(logHeader);
 
 	// watch for input from stdin (fd 0) to see when it has input
 	safe_fd_set(fileno(stdin), &rfds_master, &max_fd);
@@ -328,8 +327,8 @@ void sendVrpnPacket(struct ucart_vrpn_TrackerData *info) {
 	memcpy(&packet[11], &(info->y), 4);
 	memcpy(&packet[15], &(info->x), 4);
 	memcpy(&packet[19], &(info->z), 4);
-	memcpy(&packet[23], &(info->pitch), 4);
-	memcpy(&packet[27], &(info->roll), 4);
+	memcpy(&packet[23], &(info->roll), 4);
+	memcpy(&packet[27], &(info->pitch), 4);
 	memcpy(&packet[31], &(info->yaw), 4);
 
 	char checksum = 0;
@@ -482,6 +481,9 @@ static ssize_t writeQuad(const char * buf, size_t count) {
 
 static ssize_t readQuad(char * buf, size_t count) {
 	ssize_t retval;
+	if (getenv(NOQUAD_ENV)) {
+		return count;
+	}
 	if (pthread_mutex_lock(&quadSocketMutex)) {
 		err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
 	}
@@ -626,7 +628,7 @@ static void client_recv(int fd) {
 				if (tracker == NULL) {
 					char * dummy = TD_MAGIC " 1.0 2.0 3.0 4.0 5.0 6.0\n";
 					write(fd, dummy, strlen(dummy));
-				}else if (ucart_vrpn_tracker_getData(tracker, &td)) {
+				} else if (ucart_vrpn_tracker_getData(tracker, &td)) {
 					write(fd, TD_MAGIC " ERROR\n", strlen(TD_MAGIC " ERROR\n"));
 				} else { 
 					/* more than sufficient buffer */
@@ -651,17 +653,19 @@ static void client_recv(int fd) {
 				}
 			}
 		} else {
-			if(clientAddPendResponses(fd, packet) == -1) {
-				warnx("Ran out of room! Consider increasing CLIENT_MAX_PENDING_RESPONSES!\n");
-			} else {	
-				int datalen = (packet[6] << 8) | (packet[5]);
-				printf("sending %lf '", getFloat(packet, 7));
-				for(int i = 0; i < datalen + 8; ++i) {
-					printf(" 0x%x", (signed) packet[i]);
+			if (packet[1] == 0x02) {
+				if (clientAddPendResponses(fd, packet) == -1) {
+					warnx("Ran out of room! Consider increasing CLIENT_MAX_PENDING_RESPONSES!\n");
 				}
-				printf("'\n");
-				writeQuad((char *) packet, datalen +8);
 			}
+
+			int datalen = (packet[6] << 8) | (packet[5]);
+			printf("sending %lf '", getFloat(packet, 7));
+			for(int i = 0; i < datalen + 8; ++i) {
+				printf(" 0x%.2x", (signed) packet[i]);
+			}
+			printf("'\n");
+			writeQuad((char *) packet, datalen +8);
 		}
 		
 		char * rest = &buffer[newline] + 1;
@@ -707,17 +711,23 @@ static void quad_recv() {
 		respBufLen = 0;
 		return;
 	}
-
+	
 	/* Get datalen */
 	size_t datalen = metadata.data_len;
+	if (respBufLen < datalen + 8) {
+		/* Packet not yet fully read */
+		return;
+	}
+
 	if (datalen > CMD_MAX_LENGTH - 8) {
 		/* Very invalid packet. Nuke that shit */
+		warnx("data len is over the maximum packet length. Try reducing the data in the packet sent to the groundstation.\n");
 		respBufLen = 0;
 		return;
 	}
-	
-	if (respBufLen < datalen + 8) {
-		/* Packet not yet fully read */
+
+	if(validPacket == -2) {
+		fprintf(stderr, "Checksums did not match (Parse Packet)\n");
 		return;
 	}
 
@@ -726,10 +736,18 @@ static void quad_recv() {
 		char * cmdText = MessageTypes[(int)metadata.msg_type].subtypes[(int)metadata.msg_subtype].cmdText;
 		float value = getFloat((unsigned char *)respBuf, 7);
 		//printf("Quad : %s, %lf\n", cmdText, value);
+
 		/* 
 		   Assuming the quad sends the correct info.. This hasn't been tested yet due to a lack of
 		   quad software. We can check how to format by the cmdText and pass to every client.
 		   */
+		if(strncmp(cmdText, "log", strlen(cmdText)) == 0) {
+			char log_text[datalen+1];
+			strncpy(log_text, (char *) data, datalen);
+			log_text[datalen] = '\0';
+			printf("log='%s'\n", log_text);
+		}
+
 		char buffer[1048];
 		sprintf(buffer, "%s %lf\n", cmdText, value);
 
@@ -738,8 +756,6 @@ static void quad_recv() {
 				write(fd, buffer, datalen + 8);
 			}
 		}
-	} else {
-		warnx("Checksum mismatch!");
 	}
 	memmove(respBuf, respBuf + datalen + 8, respBufLen - (datalen + 8));
 	respBufLen -= datalen + 8;

groundStation/src/backend/callbacks.h

-#ifndef __callbacks_h
-#define __callbacks_h
+#ifndef __CALLBACKS_H
+#define __CALLBACKS_H
 
 /* Grab some stupid stuff from legacy code */
 #include "type_def.h"
@@ -8,4 +8,4 @@
 typedef void (command_cb)(unsigned char *command, 
 		int dataLen, modular_structs_t *structs);
 
-#endif
+#endif /* __CALLBACKS_H */

groundStation/src/backend/cb_default.h

+#ifndef __CB_DEFAULT_H
+#define __CB_DEFAULT_H
+
 #include "commands.h"
 
 /* The cb_default used on the groundStation. This file MUST NOT BE INCLUDED
@@ -8,3 +11,5 @@ int cb_default(unsigned char * command, int dataLen, modular_structs_t *structs)
 {
 	    return 0;
 }
+
+#endif /* __CB_DEFAULT_H */
\ No newline at end of file

groundStation/src/backend/commands.h

-#ifndef _COMMANDS_H
-#define _COMMANDS_H
+#ifndef __COMMANDS_H
+#define __COMMANDS_H
 
 #include <stdio.h>
 #include <stdlib.h>
@@ -48,4 +48,4 @@ float getFloat(unsigned char* str, int pos);
 int getInt(unsigned char* str, int pos);
 /* end legacy crap */
 
-#endif
+#endif /* __COMMANDS_H */
\ No newline at end of file

groundStation/src/backend/communication.c

@@ -177,7 +177,7 @@ int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedComm
 	// Checksum
 	// receive data and calculate checksum
 	int i;
-	char data_checksum;
+	char data_checksum = 0;
 	for(i = 0; i < 7 + metadata->data_len; i++)
 	{
 		data_checksum ^= (*formattedCommand)[i];
@@ -230,14 +230,13 @@ int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * met
 
 	// calculate checksum
 	unsigned char calculated_checksum = 0;
-	for(i = 0; i < meta_data->data_len + 7; i++)
+	for(i = 0; i < meta_data->data_len + 7 - 1; 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 -2;
 	}
 

groundStation/src/backend/communication.h

-#ifndef _COMMUNICATION_H
-#define _COMMUNICATION_H
+#ifndef __COMMUNICATION_H
+#define __COMMUNICATION_H
 
 #include <stdio.h>
 #include <string.h>
@@ -16,4 +16,4 @@ int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * met
 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
+#endif /* __COMMUNICATION_H */
\ No newline at end of file

groundStation/src/backend/config.h

@@ -17,4 +17,4 @@
 #define QUAD_PORT_ENV "UCART_QUAD_PORT"
 #define QUAD_PORT_DEFAULT 8080
 
-#endif
+#endif /* __CONFIG_H */
\ No newline at end of file

groundStation/src/backend/logger.h

@@ -2,8 +2,8 @@
  *
  * Logger header file for holding info pertaining to loging to a file.
  */
-#ifndef _LOGGER_H
-#define _LOGGER_H
+#ifndef __LOGGER_H
+#define __LOGGER_H
 
 #include <fcntl.h>
 #include <time.h>
@@ -18,4 +18,4 @@ int updateLogFile(const struct ucart_vrpn_TrackerData* );
 void closeLogFile();
 
 
-#endif
+#endif /* __LOGGER_H */
\ No newline at end of file

groundStation/src/backend/type_def.h

@@ -5,8 +5,8 @@
  *      Author: ucart
  */
 
-#ifndef TYPE_DEF_H_
-#define TYPE_DEF_H_
+#ifndef __TYPE_DEF_H
+#define __TYPE_DEF_H
 
 /**
  * @brief
@@ -358,4 +358,4 @@ typedef struct {
 
 //////// END MAIN MODULAR STRUCTS
 
-#endif /* TYPE_DEF_H_ */
+#endif /* __TYPE_DEF_H */

groundStation/src/cli/cli.c

@@ -76,6 +76,8 @@ int main(int argc, char **argv)
 			needCommandHelp = 1;
 		}
 	}
+
+	printf("made it\n");
 	
 	/**
 	 * I the user has asked for help, and we have already found

groundStation/src/cli/cli.h

@@ -2,6 +2,7 @@
 #define __CLI_H
 
 #include "cli_setsetpoint.h"
+#include "cli_getsetpoint.h"
 #include "cli_monitor.h"
 #include "cli_setpid.h"
 #include "cli_getpid.h"
@@ -13,6 +14,7 @@ enum CommandNameIds{
 	CMD_SETPID,
 	CMD_GETIMU,
 	CMD_SETSETPOINT,
+	CMD_GETSETPOINT,
 	MAX_COMMANDS
 };
 
@@ -22,7 +24,8 @@ static cli_function_ptr cli_functions[] = {
 	&cli_getpid,
 	&cli_setpid,
 	&cli_getimu,
-	&cli_setsetpoint
+	&cli_setsetpoint,
+	&cli_getsetpoint
 };
 
 static char* commandNames[MAX_COMMANDS] = {
@@ -30,7 +33,8 @@ static char* commandNames[MAX_COMMANDS] = {
 	"getpid",
 	"setpid",
 	"getimu",
-	"setsetpoint"
+	"setsetpoint",
+	"getsetpoint"
 };
 
-#endif
+#endif /* __CLI_H */
\ No newline at end of file

groundStation/src/cli/cli_getimu.h

-#ifndef CLI_GETIMU_H
-#define CLI_GETIMU_H
+#ifndef __CLI_GETIMU_H
+#define __CLI_GETIMU_H
 
 #include "frontend_getimu.h"
 
 int cli_getimu(struct backend_conn * conn, int argc, char ** argv);
 
-#endif
\ No newline at end of file
+#endif /* __CLI_GETIMU_H */
\ No newline at end of file

groundStation/src/cli/cli_getpid.c

@@ -62,62 +62,62 @@ int cli_getpid(struct backend_conn * conn,	int argc, char **argv) {
 	if(getAll) {
 		for(int i = 0; i < PID_NUM_PIDS; ++i) {
 			pid_data.controller = i;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 	} else {
 		if(getPitch) {
 			pid_data.controller = PID_PITCH;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 		if(getRoll) {
 			pid_data.controller = PID_ROLL;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 		if(getYaw) {
 			pid_data.controller = PID_YAW;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 		if(getPitchV) {
 			pid_data.controller = PID_PITCH_RATE;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 		if(getRollV) {
 			pid_data.controller = PID_ROLL_RATE;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 		if(getYawV) {
 			pid_data.controller = PID_YAW_RATE;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 		if(getHeight) {
 			pid_data.controller = PID_HEIGHT;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 		if(getLat) {
 			pid_data.controller = PID_LAT;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
 		if(getLong) {
 			pid_data.controller = PID_LONG;
-			if ((result = getValues(conn, &pid_data))) {
+			if ((result = getPidValues(conn, &pid_data))) {
 				return result;
 			}
 		}
@@ -127,7 +127,7 @@ int cli_getpid(struct backend_conn * conn,	int argc, char **argv) {
 	return 0;
 }
 
-int getValues(struct backend_conn * conn, struct frontend_pid_data * pid_data) {
+int getPidValues(struct backend_conn * conn, struct frontend_pid_data * pid_data) {
 	if(frontend_getpid(conn, pid_data)) {
 		return 1;
 	}

groundStation/src/cli/cli_getpid.h

-#ifndef CLI_GETPID_H
-#define CLI_GETPID_H
+#ifndef __CLI_GETPID_H
+#define __CLI_GETPID_H
 
 #include "frontend_getpid.h"
 
-int getValues(struct backend_conn *, struct frontend_pid_data *);
+int getPidValues(struct backend_conn *, struct frontend_pid_data *);
 int cli_getpid(struct backend_conn * conn, int argc, char ** argv);
 
-#endif
\ No newline at end of file
+#endif /* __CLI_GETPID_H */
\ No newline at end of file

groundStation/src/cli/cli_getsetpoint.c

+#include <stdio.h>
+#include <unistd.h>
+#include <getopt.h>
+
+#include "cli_getsetpoint.h"
+
+int cli_getsetpoint(struct backend_conn * conn,	int argc, char **argv) {
+	int c;
+	static int getheight = 0, getlat = 0, getlong = 0;
+	static int getpitch = 0, getroll = 0, getyaw = 0;
+	struct frontend_setpoint_data setpoint_data;
+	static int needHelp = 0;
+	static int mask;
+	static struct option long_options[] = {
+ 		/* These options don’t set a flag. We distinguish them by their indices. */
+ 		{"help",	no_argument,	&needHelp,	1},
+ 		{"height",  no_argument,	&getheight, 1},
+ 		{"long",	no_argument,	&getlong,	1},
+ 		{"lat",		no_argument, 	&getlat,	1},
+ 		{"pitch",   no_argument,	&getpitch,  1},
+ 		{"roll",	no_argument,	&getroll,	1},
+ 		{"yaw",		no_argument, 	&getyaw,	1},
+ 		{0, 0, 0, 0}
+ 	};
+
+ 	while (1)
+	{
+		/* getopt_long stores the option index here. */
+		int option_index = 0;
+
+		c = getopt_long(argc, argv, "a", long_options, &option_index);
+
+		/* Detect the end of the options. */
+		if (c == -1)
+			break;
+
+		if (c == 'a') {
+			getheight = 1;
+			getlat = 1;
+			getlong = 1;
+			getpitch = 1;
+			getroll = 1;
+			getyaw = 1;
+		}
+	}
+
+	if (needHelp) {
+		printf("Getsetpoint gets the height, lat, long, pitch, roll and yaw set point values for the quad.\n");
+		printf("Usage Syntax : \n\t./Cli getsetpoint [options...]\n");
+		printf("Symlink Usage Syntax : \n\t./getsetpoint [options...]\n\n");
+		printf("Available options include the following\n");
+		printf("\t[-a] 		 : Gets all of the following setpoints\n");
+		printf("\t[--height] : Gets the height setpoint\n");
+		printf("\t[--lat]    : Gets the latitude setpoint\n");
+		printf("\t[--long]   : Gets the longitude setpoint\n");
+		printf("\t[--pitch]  : Gets the pitch setpoint\n");
+		printf("\t[--roll]   : Gets the roll setpoint\n");
+		printf("\t[--yaw]    : Gets the yaw setpoint\n");
+		return 0;
+	}
+
+	if (argc < 2) {
+		printf("Incorrect Usage, run './cli getsetpoint --help' for correct usage.\n");
+		return 1;
+	}
+	int result;
+	if(getheight) {
+		if ((result = getSetPointValues(conn, &setpoint_data, HEIGHT))) {
+			return result;
+		}
+	}
+	if(getlat) {
+		if ((result = getSetPointValues(conn, &setpoint_data, LAT))) {
+			return result;
+		}
+	}
+	if(getlong) {
+		if ((result = getSetPointValues(conn, &setpoint_data, LONGG))) {
+			return result;
+		}
+	}
+	if(getpitch) {
+		if ((result = getSetPointValues(conn, &setpoint_data, PITCH))) {
+			return result;
+		}
+	}
+	if(getroll) {
+		if ((result = getSetPointValues(conn, &setpoint_data, ROLL))) {
+			return result;
+		}
+	}
+	if(getyaw) {
+		if ((result = getSetPointValues(conn, &setpoint_data, YAW))) {
+			return result;
+		}
+	}
+
+	return 0;
+}
+
+int getSetPointValues(struct backend_conn * conn, struct frontend_setpoint_data * setpoint_data, int type) {
+	if(frontend_getsetpoint(conn, setpoint_data, type)) {
+		return 1;
+	}
+
+	switch(type) {
+		case HEIGHT :
+			printf("Height: %f\n",
+				setpoint_data->height);
+			break;
+		case LAT :
+			printf("Latitude: %f\n",
+				setpoint_data->lat);
+		case LONGG :
+			printf("Longitude: %f\n",
+				setpoint_data->longg);
+		case PITCH :
+			printf("Pitch: %f\n",
+				setpoint_data->pitch);
+			break;
+		case ROLL :
+			printf("Roll: %f\n",
+				setpoint_data->roll);
+		case YAW :
+			printf("Yaw: %f\n",
+				setpoint_data->yaw);
+		default :
+			break;
+	}
+	return 0;
+}

groundStation/src/cli/cli_getsetpoint.h

+#ifndef __CLI_GETSETPOINT_H
+#define __CLI_GETSETPOINT_H
+
+#include "frontend_getsetpoint.h"
+
+enum {
+	HEIGHT,
+	LAT,
+	LONGG,
+	PITCH,
+	ROLL,
+	YAW
+};
+
+int getSetPointValues(struct backend_conn *, struct frontend_setpoint_data *, int type);
+int cli_getsetpoint(struct backend_conn * conn, int argc, char ** argv);
+
+#endif /* __CLI_GETSETPOINT_H */
\ No newline at end of file

groundStation/src/cli/cli_monitor.h

-#ifndef CLI_MONITOR_H
-#define CLI_MONITOR_H
+#ifndef __CLI_MONITOR_H
+#define __CLI_MONITOR_H
 
 #include <time.h>
 
@@ -11,4 +11,4 @@ int cli_monitor(struct backend_conn * conn,	int argc, char **argv);
 
 // Return 0 on success and 1 otherwise
 int monitor(struct backend_conn * conn);
-#endif
\ No newline at end of file
+#endif /* __CLI_MONITOR_H */
\ No newline at end of file

groundStation/src/cli/cli_setpid.h

-#ifndef CLI_SETPID_H
-#define CLI_SETPID_H
+#ifndef __CLI_SETPID_H
+#define __CLI_SETPID_H
 
 #include "frontend_setpid.h"
 
 int cli_setpid(struct backend_conn * conn, int argc, char ** argv);
 
-#endif
+#endif /* __CLI_SETPID_H */
\ No newline at end of file