Added some comments in commands.c/h, callbacks.c/h

- Added a comment saying that we may not need the ID parameter on the MessageType Struct anymore.
- Removed calls of the nature: "MessageTypes[TYPE_ID].ID" and replaced them with "TYPE_ID" because it is the same thing..
- Added function comments in callbacks.c
- Simplified the callbacks.c by having a more generic setval, getval, respval callback function instead of a billion of them for each PID value.

groundStation/src/backend/commands.h

@@ -76,6 +76,13 @@ enum PIDType{
  * pointers located in commands.c
  */
 struct MessageType{
+	/* TODO The ID may not even be needed since it already an enumerated value
+	 * I found some instances of this being used like the following:
+	 * "MessageTypes[LOG_TYPE_ID].ID" which makes no sense since the ID member
+	 * in the MessageType is already set to be equal to the enumeration value
+	 * instead they could have just done "LOG_TYPE_ID" directly since
+	 * MessageTypes[LOG_TYPE_ID].ID always == LOG_TYPE_ID
+	 */
 	char ID;
 	char cmdText[MAX_CMD_TEXT_LENGTH];
 	char cmdDataType;

quad/sw/modular_quad_pid/src/callbacks.c

@@ -3,31 +3,49 @@
 #include "type_def.h"
 #include "uart.h"
 
+/*
+ * Static variables used to keep track of packet counts
+ */
+static int n_msg_received = 0;
+static size_t total_payload_received = 0;
+
+
+/* Misc. callbacks */
+
+/**
+  * Currently does nothing.
+  */
 int debug(modular_structs_t *structs)
 {
 	return 0;
 }
 
-static int n_msg_received = 0;
-static size_t total_payload_received = 0;
-
+/**
+  * counts the number of packet logs.
+  */
 int cb_packetlog(modular_structs_t* structs) {
 	n_msg_received += 1;
 	total_payload_received += uart_buff_data_length();
 	return 0;
 }
 
+/**
+  * Handles a get packet logs request and sends a response
+  * with the packet log data.
+  */
 int cb_getpacketlogs(modular_structs_t* structs) {
 	char buf[255];
 
 	// Message logging number of messages received and size of payload received
 	int length = snprintf(buf, sizeof buf, "%d,%d", n_msg_received, total_payload_received);
 
-	send_data(MessageTypes[LOG_TYPE_ID].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	send_data(LOG_TYPE_ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
 	return 0;
 }
 
-/* Handles receiving new location updates */
+/*
+ * Handles receiving new location updates.
+ */
 int cb_update(modular_structs_t *structs)
 {
 	//processUpdate(packet, &(structs->raw_sensor_struct.currentQuadPosition));
@@ -63,10 +81,9 @@ int cb_update(modular_structs_t *structs)
 	return 0;
 }
 
-
-/* Misc. callbacks */
-
-// This is called on the ground station to begin sending VRPN to the quad
+/**
+  * This is called on the ground station to begin sending VRPN to the quad.
+  */
 int cb_beginupdate(modular_structs_t *structs) {
 	structs->user_input_struct.receivedBeginUpdate = 1;
 	return 0;
@@ -75,19 +92,33 @@ int cb_beginupdate(modular_structs_t *structs) {
 
 /* Callbacks for configuration */
 
+/**
+  * Handles a command to set a value on the quad.
+  *
+  * This function handles setting things like:
+  * - PID constants
+  * - set points
+  * - other things in the future, etc.
+  */
 int cb_setval(modular_structs_t *structs)
 {
-
 	//structs->parameter_struct.roll_angle_pid.Kp = uart_buff_data_get_float(0);
 	return 0;
 }
 
+/**
+  * Handles a command to get a value from the quad.
+  *
+  * Used to get basically anything that setval can set.
+  * NOTE: This function sends a response command with the desired data
+  * back to the ground station.
+  */
 int cb_getval(modular_structs_t* structs) {
 	char buf[255];
 
 	// Message logging number of messages received and size of payload received
 	int length = snprintf(buf, sizeof buf, "%f", structs->parameter_struct.yaw_angle_pid.Kp);
 
-	send_data(MessageTypes[GETVAL_TYPE_ID].ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
+	send_data(GETVAL_TYPE_ID, 0, buf, length >= sizeof(buf) ? 255 : length + 1);
 	return 0;
 }

quad/sw/modular_quad_pid/src/log_data.c

@@ -147,7 +147,7 @@ void printLogging(){
 	strcat(buf,header);
 	strcat(buf,units);
 
-	send_data(MessageTypes[LOG_TYPE_ID].ID, 0, buf, strlen(buf) + 1);
+	send_data(LOG_TYPE_ID, 0, buf, strlen(buf) + 1);
 	//uart0_sendBytes(buf, strlen(buf));
 	//usleep(100000);
 
@@ -155,7 +155,7 @@ void printLogging(){
 	/* print & send log data */
 	for(i = 0; i < arrayIndex; i++){
 		char* logLine = format(logArray[i]);
-		send_data(MessageTypes[LOG_TYPE_ID].ID, 0, logLine, strlen(logLine) + 1);
+		send_data(LOG_TYPE_ID, 0, logLine, strlen(logLine) + 1);
 		free(logLine);
 	}
 }