From 21aa3f2235c772d13c975ae8c2d6c70ca39540d2 Mon Sep 17 00:00:00 2001
From: "ucart@co3050-12" <dawehr@iastate.edu>
Date: Sat, 28 Jan 2017 15:40:52 -0600
Subject: [PATCH] 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 | 7 ++++
quad/sw/modular_quad_pid/src/callbacks.c | 53 +++++++++++++++++++-----
quad/sw/modular_quad_pid/src/log_data.c | 4 +-
3 files changed, 51 insertions(+), 13 deletions(-)
diff --git a/groundStation/src/backend/commands.h b/groundStation/src/backend/commands.h
index 89b006705..24d61f0a2 100644
--- a/groundStation/src/backend/commands.h
+++ b/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;
diff --git a/quad/sw/modular_quad_pid/src/callbacks.c b/quad/sw/modular_quad_pid/src/callbacks.c
index fd3dbf2f4..b1519926a 100644
--- a/quad/sw/modular_quad_pid/src/callbacks.c
+++ b/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;
}
diff --git a/quad/sw/modular_quad_pid/src/log_data.c b/quad/sw/modular_quad_pid/src/log_data.c
index 5d8d1b5d3..9bbf7cd18 100644
--- a/quad/sw/modular_quad_pid/src/log_data.c
+++ b/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);
}
}
--
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