From 3d03ba5a85131d4eb158efc4901448f04858fa90 Mon Sep 17 00:00:00 2001
From: Jake <j@kedrahos.com>
Date: Sun, 29 Jan 2017 16:48:04 -0600
Subject: [PATCH] Compiling, but format is wrong
See todos in format_command and parse_packet.
---
groundStation/src/backend/backend.c | 17 ++-
groundStation/src/backend/callbacks.h | 2 +
groundStation/src/backend/communication.c | 172 +++++++++++-----------
groundStation/src/backend/type_def.h | 3 +-
4 files changed, 97 insertions(+), 97 deletions(-)
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index 7efcbc855..ca3e9b8be 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -277,15 +277,14 @@ void sendStartPacket() {
metadata_t metadata =
{
(char) BEGIN_CHAR,
- 0x04,
- 0x01,
- 0x01,
+ BEGINUPDATE_ID,
+ 1,
0
};
packet[0] = metadata.begin_char; // BEGIN //PACKET_START_BYTE;
- packet[1] = metadata.msg_type; // UPDATE //'U'; // U for vrpn camera update, C for command
- packet[2] = metadata.msg_subtype; // BEGIN UPDATE
+ packet[1] = metadata.msg_type & 0xff; // UPDATE //'U'; // U for vrpn camera update, C for command
+ packet[2] = (metadata.msg_type >> 8) & 0xff; // BEGIN UPDATE
packet[3] = (currMessageID & 0x000000ff); // MSG ID(1)
packet[4] = ((currMessageID >> 8) & 0x000000ff); // MSG ID(2)
packet[5] = 0; // DATALEN(1)
@@ -733,7 +732,13 @@ static void quad_recv() {
if (validPacket == 0) {
/* At least enough data read to check checksum, and it was good!*/
- char * cmdText = MessageTypes[(int)metadata.msg_type].subtypes[(int)metadata.msg_subtype].cmdText;
+ char * cmdText = MessageTypes[(int)metadata.msg_type].cmdText;
+
+ /* TODO: Parse data correctly
+ * - Switch on msg_type
+ * - Parse data appropriately and format into a string
+ * - Send append data string to cmdText and send to clients
+ */
float value = getFloat((unsigned char *)respBuf, 7);
//printf("Quad : %s, %lf\n", cmdText, value);
diff --git a/groundStation/src/backend/callbacks.h b/groundStation/src/backend/callbacks.h
index d04d4fda5..fff664df6 100644
--- a/groundStation/src/backend/callbacks.h
+++ b/groundStation/src/backend/callbacks.h
@@ -8,4 +8,6 @@
typedef void (command_cb)(unsigned char *command,
int dataLen, modular_structs_t *structs);
+float getFloat(unsigned char * str, int pos);
+
#endif /* __CALLBACKS_H */
diff --git a/groundStation/src/backend/communication.c b/groundStation/src/backend/communication.c
index ca4e82632..8e328dd7e 100644
--- a/groundStation/src/backend/communication.c
+++ b/groundStation/src/backend/communication.c
@@ -63,77 +63,79 @@ int formatCommand(char *command, unsigned char **formattedCommand) {
int intValue = 0;
int valid;
metadata_t metadata;
-
+
// ----------------------------------------------
if(tokens.numTokens > 0) {
- for(int type = 0; type < MAX_TYPE; type++)
+ for(int type = 0; type < MAX_TYPE_ID; type++)
{
- for(int subtype = 0; subtype < MAX_SUBTYPE; subtype++)
+ if(strcmp(tokens.tokens[0], MessageTypes[type].cmdText) == 0)
{
- if(strcmp(tokens.tokens[0], MessageTypes[type].subtypes[subtype].cmdText) == 0)
+ printf("Sending\n\ttype: %d, \n\tcommand: %s\n", type, MessageTypes[type].cmdText);
+ /* TODO: Format data correctly
+ * - Switch on Type instead of cmdDataType
+ * - Implement a case for every type
+ * - Format the tokens as appropriate for the type,
+ * based on the quad's callbacks.c.
+ * - Pass the formatted tokens and metadata into
+ * formatPacket
+ * - Purge cmdDataType from existence
+ */
+ // Make sure the second token is the right type
+ switch (MessageTypes[type].cmdDataType)
{
- printf("Sending\n\ttype: %d, \n\tsubtype: %d\n\tcommand: %s\n", type, subtype, MessageTypes[type].subtypes[subtype].cmdText);
-
- // Make sure the second token is the right type
- switch (MessageTypes[type].subtypes[subtype].cmdDataType)
- {
- // Validate the float input
- case floatType:
- metadata.begin_char = (char) BEGIN_CHAR;
- metadata.msg_type = MessageTypes[type].ID;
- metadata.msg_subtype = MessageTypes[type].subtypes[subtype].ID;
-
- if(MessageTypes[type].ID == 0x01) {
- valid = checkFloat(tokens.tokens[1], &floatValue);
- if(!valid) {
- return -1;
- }
- metadata.data_len = sizeof(floatValue);
- } else {
- metadata.data_len = 0;
+ // Validate the float input
+ case floatType:
+ metadata.begin_char = (char) BEGIN_CHAR;
+ metadata.msg_type = type;
+
+ if(type == 0x01) {
+ valid = checkFloat(tokens.tokens[1], &floatValue);
+ if(!valid) {
+ return -1;
}
-
- metadata.msg_id = msgNum++;
- formatPacket(&metadata, &floatValue, formattedCommand);
- break;
-
+ metadata.data_len = sizeof(floatValue);
+ } else {
+ metadata.data_len = 0;
+ }
+
+ metadata.msg_id = msgNum++;
+ formatPacket(&metadata, &floatValue, formattedCommand);
+ break;
+
// Validate the integer input
- case intType:
- metadata.begin_char = (char) BEGIN_CHAR;
- metadata.msg_type = MessageTypes[type].ID;
- metadata.msg_subtype = MessageTypes[type].subtypes[subtype].ID;
-
- if(MessageTypes[type].ID == 0x01) {
- valid = checkInt(tokens.tokens[1], &intValue);
- if(!valid) {
- return -1;
- }
- metadata.data_len = sizeof(intValue);
- } else {
- metadata.data_len = 0;
+ case intType:
+ metadata.begin_char = (char) BEGIN_CHAR;
+ metadata.msg_type = type;
+
+ if(type == 0x01) {
+ valid = checkInt(tokens.tokens[1], &intValue);
+ if(!valid) {
+ return -1;
}
-
- metadata.msg_id = msgNum++;
- formatPacket(&metadata, &intValue, formattedCommand);
-
- break;
-
+ metadata.data_len = sizeof(intValue);
+ } else {
+ metadata.data_len = 0;
+ }
+
+ metadata.msg_id = msgNum++;
+ formatPacket(&metadata, &intValue, formattedCommand);
+
+ break;
+
// Validate the string input (doesn't need to happen)
- case stringType:
- metadata.begin_char = (char) BEGIN_CHAR;
- metadata.msg_type = MessageTypes[type].ID;
- metadata.msg_subtype = MessageTypes[type].subtypes[subtype].ID;
- metadata.msg_id = msgNum++;
- metadata.data_len = strlen(tokens.tokens[1]);
-
- formatPacket(&metadata, &tokens.tokens[1], formattedCommand);
-
- break;
- default:
- return -1;
- }
- return 0;
+ case stringType:
+ metadata.begin_char = (char) BEGIN_CHAR;
+ metadata.msg_type = type;
+ metadata.msg_id = msgNum++;
+ metadata.data_len = strlen(tokens.tokens[1]);
+
+ formatPacket(&metadata, &tokens.tokens[1], formattedCommand);
+
+ break;
+ default:
+ return -1;
}
+ return 0;
}
}
}
@@ -150,30 +152,28 @@ int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedComm
//----------------------------------------------------------------------------------------------
// index|| 0 | 1 | 2 | 3 & 4 | 5 & 6 | 7+ | end |
//---------------------------------------------------------------------------------------------|
- // msg param|| beg char | msg type | msg subtype | msg id | data len (bytes) | data | checksum |
+ // msg param|| beg char | msg type | msg id | data len (bytes) | data | checksum |
//-------------------------------------------------------------------------------------------- |
// bytes|| 1 | 1 | 1 | 2 | 2 | var | 1 |
//----------------------------------------------------------------------------------------------
-
+
// Begin Char:
(*formattedCommand)[0] = metadata->begin_char;
// Msg type:
(*formattedCommand)[1] = metadata->msg_type;
-
- // Msg subtype
- (*formattedCommand)[2] = metadata->msg_subtype;
-
+ (*formattedCommand)[2] = ((metadata->msg_type >> 8) & 0x000000ff);
+
//Msg id (msgNum is 2 bytes)
(*formattedCommand)[3] = (metadata->msg_id & 0x000000ff);
(*formattedCommand)[4] = ((metadata->msg_id >> 8) & 0x000000ff);
-
+
// Data length and data - bytes 5&6 for len, 7+ for data
(*formattedCommand)[5] = metadata->data_len & 0x000000ff;
(*formattedCommand)[6] = (metadata->data_len >> 8) & 0x000000ff;
-
+
memcpy(&((*formattedCommand)[7]), data, metadata->data_len);
-
+
// Checksum
// receive data and calculate checksum
int i;
@@ -182,9 +182,9 @@ int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedComm
{
data_checksum ^= (*formattedCommand)[i];
}
-
+
(*formattedCommand)[7 + metadata->data_len] = data_checksum;
-
+
return 0;
}
@@ -201,26 +201,25 @@ int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * met
//----------------------------------------------------------------------------------------------
// index|| 0 | 1 | 2 | 3 & 4 | 5 & 6 | 7+ | end |
//---------------------------------------------------------------------------------------------|
- // msg param|| beg char | msg type | msg subtype | msg id | data len (bytes) | data | checksum |
+ // msg param|| beg char | msg type | msg id | data len (bytes) | data | checksum |
//-------------------------------------------------------------------------------------------- |
// bytes|| 1 | 1 | 1 | 2 | 2 | var | 1 |
//----------------------------------------------------------------------------------------------
-
+
// first byte must be the begin char
if(packet[0] != 0xBE)
return -1;
// receive metadata
meta_data->begin_char = packet[0];
- meta_data->msg_type = packet[1];
- meta_data->msg_subtype = packet[2];
+ meta_data->msg_type = packet[2] << 8 | packet[1];
meta_data->msg_id = (packet[4] << 8) | (packet[3]);
meta_data->data_len = (packet[6] << 8) | (packet[5]);
unsigned char packet_checksum = packet[7+meta_data->data_len];
//fprintf(stderr, "datalen: %d\n", meta_data->data_len);
-
+
int i;
-
+
// receive data
*data = malloc(meta_data->data_len);
for(i = 0; i < meta_data->data_len; i++)
@@ -243,30 +242,25 @@ int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * met
return 0;
}
-// QUAD & Ground Station
// Process the command received
int processCommand(unsigned char *packet, modular_structs_t *structs) {
int validPacket;
unsigned char *data;
metadata_t metadata;
-
+
// Validate the message is correctly formatted
validPacket = parse_packet(packet, &data, &metadata);
if(validPacket != 0) {
return -1;
}
-
+
if(metadata.data_len >= 0) {
- /* Null check*/
- if (MessageTypes[(unsigned char)metadata.msg_type].subtypes[
- (unsigned char) metadata.msg_subtype].functionPtr) {
- // Call the appropriate subtype function
- (* (MessageTypes[(unsigned char)metadata.msg_type].subtypes[(unsigned char)metadata.msg_subtype].functionPtr))(data, metadata.data_len, structs);
- }
-
+ (* (MessageTypes[(unsigned char)metadata.msg_type].functionPtr))(
+ data, metadata.data_len, structs);
+
return 0;
}
-
+
// Only gets here if there is an error
return -1;
}
diff --git a/groundStation/src/backend/type_def.h b/groundStation/src/backend/type_def.h
index 2a2b8249a..27b5d192e 100644
--- a/groundStation/src/backend/type_def.h
+++ b/groundStation/src/backend/type_def.h
@@ -27,8 +27,7 @@ enum flight_mode{
//----------------------------------------------------------------------------------------------
typedef struct {
char begin_char;
- char msg_type;
- char msg_subtype;
+ int msg_type;
int msg_id;
int data_len;
} metadata_t;
--
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