Added type_id to node types. Linked graph_blocks to virtual quad. Fixed issues with commands array

quad/src/graph_blocks/node_pow.c

@@ -19,7 +19,7 @@ const struct graph_node_type node_pow_type = {
         .n_params = 1,
         .execute = pow_nodes,
         .reset = reset,
-        .state_size = 0
+        .state_size = 0,
 };
 
 int graph_add_node_pow(struct computation_graph *graph, const char* name) {

quad/src/virt_quad/Makefile

 TOP=../..
 
 NAME = virt_quad
-REQLIBS = -lquad_app -lcomputation_graph -lm -lcommands
+REQLIBS = -lquad_app -lcomputation_graph -lm -lcommands -lgraph_blocks
 
 include $(TOP)/executable.mk

quad/test_logging/Makefile

+CC=gcc
+test: test.c
+	$(CC) -o test_log -I. -I../src/quad_app -I../src/computation_graph test.c ../src/quad_app/*.c ../src/computation_graph/*.c -lm

quad/test_logging/log.txt

+# MicroCART On-board Quad Log
+# Sample size: 3
+time	accel_x	accel_y	accel_z	gyro_x	gyro_y	gyro_z	Altitude PID_Correction	X pos PID_Correction	Y pos PID_Correction	Pitch PID_Correction	Roll PID_Correction	Yaw PID_Correction	Pitch Rate PID_Correction	Roll Rate PID_Correction	Yaw Rate PID_Correction	Pitch_Constant	Roll_Constant	Yaw_Constant	VRPN X_Constant	VRPN Y_Constant	VRPN Alt_Constant	VRPN Pitch_Constant	VRPN Roll_Constant	X Setpoint_Constant	Y Setpoint_Constant	Alt Setpoint_Constant	Yaw Setpoint_Constant	Signal Mixer_PWM 0	Signal Mixer_PWM 1	Signal Mixer_PWM 2	Signal Mixer_PWM 3
+s	G	G	G	rad/s	rad/s	rad/s	10ns_dutycycle	rad	rad	rad/s	rad/s	rad/s	10ns_dutycycle	10ns_dutycycle	10ns_dutycycle	rad	rad	rad	m	m	m	rad	rad	m	m	m	rad	10ns_dutycycle	10ns_dutycycle	10ns_dutycycle	10ns_dutycycle
+0.000000	0.000000	0.000000	0.000000	0.000000	4722366482869645213696.000000	-nan	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000
+0.000000	0.000000	0.000000	0.000000	0.000000	4722366482869645213696.000000	-nan	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000
+0.000000	0.000000	0.000000	0.000000	0.000000	4722366482869645213696.000000	-nan	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000

quad/test_logging/test.c

+#include <stddef.h>
+#include "type_def.h"
+#include "log_data.h"
+#include "control_algorithm.h"
+
+int zybo_uart_write(struct UARTDriver *self, unsigned char c) {
+    printf("%c", c);
+    return 0;
+}
+
+
+int main() {
+    modular_structs_t structs;
+    structs.hardware_struct.uart.write = zybo_uart_write;
+    control_algorithm_init(&(structs.parameter_struct));
+	initialize_logging(&structs.log_struct, &structs.parameter_struct);
+    log_data(&(structs.log_struct), &(structs.parameter_struct));
+    log_data(&(structs.log_struct), &(structs.parameter_struct));
+    log_data(&(structs.log_struct), &(structs.parameter_struct));
+    printLogging(&structs.hardware_struct, &(structs.log_struct), &(structs.parameter_struct));
+    return 0;
+}