From 22e11921bbbac2add400eb5124a04187305386bf Mon Sep 17 00:00:00 2001
From: Jake Drahos <j@kedrahos.com>
Date: Thu, 27 Oct 2016 12:57:10 -0500
Subject: [PATCH] Finished implementing backend socket.
Untested
---
groundStation/Makefile | 8 ++--
groundStation/src/communication.c | 8 ++--
groundStation/src/microcart_cli.c | 73 +++++++++++++++++++++++++++----
3 files changed, 72 insertions(+), 17 deletions(-)
diff --git a/groundStation/Makefile b/groundStation/Makefile
index f09d3d4d9..ec54cbcc2 100644
--- a/groundStation/Makefile
+++ b/groundStation/Makefile
@@ -1,8 +1,8 @@
# Declaration of variables
GCC=gcc
GXX=g++
-CFLAGS= -Wall -std=c99 -g
-CPPFLAGS= -Wall -std=c++11 -g
+CFLAGS= -Wall -Wpedantic -Wextra -Werror -std=c99 -g -Wno-unused-parameter -Wno-unused-variable -Wno-unused-function
+CXXFLAGS= -Wall -Wno-reorder -std=c++11 -g
INCLUDES = $(foreach dir, $(INCDIR), -I$(dir))
# Directories
@@ -29,13 +29,13 @@ vrpn: vrpn/build
# Main target
$(EXE): $(OBJECTS)
- $(GXX) $(CPPFLAGS) $^ -o $@ $(INCLUDES) $(LIBS)
+ $(GXX) $(CXXFLAGS) $^ -o $@ $(INCLUDES) $(LIBS)
$(COBJECTS) : %.o : %.c
$(GCC) $(CFLAGS) -c $< -o $@ $(INCLUDES) $(LIBS)
$(CPPOBJECTS) : %.o : %.cpp
- $(GCC) $(CPPFLAGS) -c $< -o $@ $(INCLUDES) $(LIBS)
+ $(GXX) $(CXXFLAGS) -c $< -o $@ $(INCLUDES) $(LIBS)
vrpn/build:
mkdir -p src/vrpn/build
diff --git a/groundStation/src/communication.c b/groundStation/src/communication.c
index 305a40598..f9d357928 100644
--- a/groundStation/src/communication.c
+++ b/groundStation/src/communication.c
@@ -59,7 +59,7 @@ int formatCommand(unsigned char *command, unsigned char **formattedCommand) {
float floatValue = 0.0;
int intValue = 0;
int valid;
- metadata_t metadata = {};
+ metadata_t metadata;
// ----------------------------------------------
if(tokens.numTokens > 1) {
@@ -78,7 +78,7 @@ int formatCommand(unsigned char *command, unsigned char **formattedCommand) {
printf("%f, %s\n", floatValue, tokens.tokens[1]);
- metadata.begin_char = BEGIN_CHAR;
+ metadata.begin_char = (char) BEGIN_CHAR;
metadata.msg_type = registeredCommands[cmdIndex].ID;
metadata.msg_subtype = registeredCommands[cmdIndex].subID;
metadata.msg_id = msgNum++;
@@ -95,7 +95,7 @@ int formatCommand(unsigned char *command, unsigned char **formattedCommand) {
return -1;
}
- metadata.begin_char = BEGIN_CHAR;
+ metadata.begin_char = (char) BEGIN_CHAR;
metadata.msg_type = registeredCommands[cmdIndex].ID;
metadata.msg_subtype = registeredCommands[cmdIndex].subID;
metadata.msg_id = msgNum++;
@@ -107,7 +107,7 @@ int formatCommand(unsigned char *command, unsigned char **formattedCommand) {
// Validate the string input (doesn't need to happen)
case stringType:
- metadata.begin_char = BEGIN_CHAR;
+ metadata.begin_char = (char) BEGIN_CHAR;
metadata.msg_type = registeredCommands[cmdIndex].ID;
metadata.msg_subtype = registeredCommands[cmdIndex].subID;
metadata.msg_id = msgNum++;
diff --git a/groundStation/src/microcart_cli.c b/groundStation/src/microcart_cli.c
index 4b1a66c47..db5d24e9e 100644
--- a/groundStation/src/microcart_cli.c
+++ b/groundStation/src/microcart_cli.c
@@ -2,6 +2,9 @@
*
* BlueTooth socket program for passing vrpn data to quad.
*/
+
+#define _GNU_SOURCE
+
//system includes
#include <err.h>
#include <stdio.h>
@@ -53,6 +56,8 @@ static ssize_t get_client_index(int fd);
static char * get_client_buffer(int fd);
/* Returns -1 on error */
static int remove_client(int fd);
+/* Receive data from client */
+static void client_recv(int fd);
/* Thread-safe wrappers */
pthread_mutex_t quadSocketMutex;
@@ -76,7 +81,7 @@ unsigned char *respBuf, *commandBuf;
int newQuadResponse = 0, newCliInput = 0;
// Structures to be used throughout
-modular_structs_t structs = {};
+modular_structs_t structs;
// Callback to be ran whenever the tracker receives data.
// Currently doing much more than it should. It will be slimmed down
@@ -207,7 +212,7 @@ int main(int argc, char **argv)
for(int fd = 0; fd <= max_fd; ++fd) {
if (FD_ISSET(fd, &rfds)) {
if (fd == fileno(stdin)) {
- unsigned char userCommand[CMD_MAX_LENGTH] = {};
+ 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
@@ -246,6 +251,8 @@ int main(int argc, char **argv)
safe_fd_set(fd, &rfds, &max_fd);
}
}
+ } else if (get_client_index(fd) > -1) {
+ client_recv(fd);
}
}
}
@@ -281,7 +288,7 @@ void sendStartPacket() {
metadata_t metadata =
{
- BEGIN_CHAR,
+ (char) BEGIN_CHAR,
0x04,
0x01,
0x01,
@@ -316,7 +323,7 @@ void sendStartPacket() {
void sendVrpnPacket(struct ucart_vrpn_TrackerData *info) {
int pSize = sizeof(info) + 8;
int n;
- char packet[pSize];
+ unsigned char packet[pSize];
packet[0] = 0xBE; // BEGIN //PACKET_START_BYTE;
packet[1] = 0x04; // UPDATE //'U'; // U for vrpn camera update, C for command
packet[2] = 0x00; // N/A
@@ -334,7 +341,7 @@ void sendVrpnPacket(struct ucart_vrpn_TrackerData *info) {
packet[pSize - 1] = checksum; //PACKET_END_BYTE;
- n = writeQuad(packet, pSize);
+ n = writeQuad((char *) packet, pSize);
if(n < 0) {
perror("vrpnhandler: ERROR writing to socket");
keepRunning = 0;
@@ -357,7 +364,7 @@ void printVrpnData(struct ucart_vrpn_TrackerData * td) {
int connectToZybo() {
int sock;
- struct sockaddr_rc addr = { -1 };
+ struct sockaddr_rc addr;
// allocate a socket
sock = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
@@ -388,8 +395,9 @@ int connectToZybo() {
void performCommand(char *cmdName, char * command) {
for(int i = 0; i < NUM_COMMANDS; ++i)
{
- if(startsWith(registeredCommands[i].commandText, command));
+ if(startsWith(registeredCommands[i].commandText, command)) {
fprintf(stdout, "\r\n You used cmd '%s'\n",registeredCommands[i].commandText);
+ }
}
}
@@ -482,7 +490,7 @@ static int remove_client(int fd) {
char *clientBuffer = get_client_buffer(fd);
if(clientBuffer == NULL)
return -1;
- clientBuffer = '\0';
+ clientBuffer[0] = '\0';
client_fds[slot] = -1;
return 0;
}
@@ -495,4 +503,51 @@ static void safe_close_fd(int fd, pthread_mutex_t *mutexLock) {
if (pthread_mutex_unlock(mutexLock)) {
err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
}
-}
\ No newline at end of file
+}
+
+static void client_recv(int fd)
+{
+ char * buffer;
+ ssize_t len_pre;
+ buffer = get_client_buffer(fd);
+ len_pre = strlen(buffer);
+
+ char * cursor;
+ cursor = buffer + len_pre;
+
+ ssize_t r;
+ r = read(fd, cursor, CLIENT_BUFFER_SIZE - len_pre - 1);
+ if (r < 0) {
+ warn("read (fd: %d)", fd);
+ }
+ buffer[len_pre + r] = '\0';
+
+
+ /* Parse buffer and handle commands */
+ while (1) {
+ /* not using strtok because reasons */
+ size_t len = strlen(buffer);
+ ssize_t newline = -1;
+ for (size_t i = 0; i < len; i++) {
+ if (buffer[i] == '\n') {
+ newline = i;
+ break;
+ }
+ }
+
+ /* No newline found. End parsing */
+ if (newline == -1) {
+ break;
+ }
+
+ buffer[newline] = '\0';
+ unsigned char * packet;
+ formatCommand((unsigned char *) buffer, &packet);
+ writeQuad((char *) packet, packet[6] << 8);
+ free(packet);
+
+ char * rest = &buffer[newline] + 1;
+ /* Delete parsed data and move the rest to the left */
+ memmove(buffer, rest, strlen(rest));
+ }
+}
--
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