From 4a42091df02c592d089a842b0ad21a0195cd5e58 Mon Sep 17 00:00:00 2001
From: burneykb <burneykb@iastate.edu>
Date: Tue, 21 Mar 2017 04:41:11 -0500
Subject: [PATCH] Changes made to backend & commands.* files. Ready to make
changes to CLI & FE
---
common/commands.c | 3 +-
common/controller.h | 34 --
groundStation/src/backend/backend.c | 121 +++---
.../src/backend}/bitwise.h | 0
groundStation/src/backend/callbacks.c | 377 +-----------------
groundStation/src/backend/callbacks.h | 2 -
groundStation/src/backend/cmHandler.c | 185 ---------
groundStation/src/backend/cmHandler.h | 48 ---
groundStation/src/backend/communication.c | 95 -----
groundStation/src/backend/communication.h | 16 -
groundStation/src/backend/getparam.c | 54 ---
groundStation/src/backend/getparam.h | 28 --
groundStation/src/backend/old_main.cold | 73 ----
groundStation/src/backend/output.c | 77 ++++
groundStation/src/backend/output.h | 28 ++
.../src/backend}/packet.c | 0
.../src/backend}/packet.h | 0
groundStation/src/backend/param.c | 126 ++++++
groundStation/src/backend/param.h | 36 ++
groundStation/src/backend/responseparam.c | 64 ---
groundStation/src/backend/responseparam.h | 28 --
groundStation/src/backend/setparam.c | 65 ---
groundStation/src/backend/setparam.h | 27 --
groundStation/src/backend/source.c | 114 ++++++
groundStation/src/backend/source.h | 35 ++
groundStation/src/backend/update.c | 2 +-
groundStation/src/backend/update.h | 2 +-
groundStation/src/cli/cli.h | 38 +-
groundStation/src/cli/cli_getimu.c | 8 -
groundStation/src/cli/cli_getimu.h | 8 -
30 files changed, 511 insertions(+), 1183 deletions(-)
delete mode 100644 common/controller.h
rename {common => groundStation/src/backend}/bitwise.h (100%)
delete mode 100644 groundStation/src/backend/cmHandler.c
delete mode 100644 groundStation/src/backend/cmHandler.h
delete mode 100644 groundStation/src/backend/communication.c
delete mode 100644 groundStation/src/backend/communication.h
delete mode 100644 groundStation/src/backend/getparam.c
delete mode 100644 groundStation/src/backend/getparam.h
delete mode 100644 groundStation/src/backend/old_main.cold
create mode 100644 groundStation/src/backend/output.c
create mode 100644 groundStation/src/backend/output.h
rename {common => groundStation/src/backend}/packet.c (100%)
rename {common => groundStation/src/backend}/packet.h (100%)
create mode 100644 groundStation/src/backend/param.c
create mode 100644 groundStation/src/backend/param.h
delete mode 100644 groundStation/src/backend/responseparam.c
delete mode 100644 groundStation/src/backend/responseparam.h
delete mode 100644 groundStation/src/backend/setparam.c
delete mode 100644 groundStation/src/backend/setparam.h
create mode 100644 groundStation/src/backend/source.c
create mode 100644 groundStation/src/backend/source.h
delete mode 100644 groundStation/src/cli/cli_getimu.c
delete mode 100644 groundStation/src/cli/cli_getimu.h
diff --git a/common/commands.c b/common/commands.c
index 0128b8f12..09f18bcae 100644
--- a/common/commands.c
+++ b/common/commands.c
@@ -248,14 +248,13 @@ struct MessageType MessageTypes[MAX_TYPE_ID] =
// Function pointer
&cb_logend
}
-
};
int findCommand(char * str)
{
int i;
for (i = 0; i < MAX_TYPE_ID; i++) {
- if (strcmp(str, MessageTypes[i].cmdText) == 0) {
+ if (strncmp(str, MessageTypes[i].cmdText, strlen(str)) == 0) {
return i;
}
}
diff --git a/common/controller.h b/common/controller.h
deleted file mode 100644
index 13d12353c..000000000
--- a/common/controller.h
+++ /dev/null
@@ -1,34 +0,0 @@
-#ifndef _controller_h
-#define _controller_h
-
-
-/* For now, the enums come from commands.h */
-#include "commands.h"
-#if 0
-enum ControllerID {
- ROLL_ID, // 00 - Roll PID
- PITCH_ID, // 01 - Pitch PID
- YAW_ID, // 02 - Yaw PID
- ROLL_RATE_ID, // 03 - Roll rate PID
- PITCH_RATE_ID, // 04 - Pitch rate PID
- YAW_RATE_ID, // 05 - Yaw rate PID
- LOCAL_X_ID, // 06 - Local X PID
- LOCAL_Y_ID, // 07 - Local Y PID
- ALT_ID, // 08 - Altitude PID
-};
-
-enum ControllerValueID{
- KP_ID, // 00 - P constant
- KI_ID, // 01 - I constant
- KD_ID, // 02 - D constant
- SP_ID, // 03 - Setpoint value
-};
-#endif
-
-struct controller_message {
- enum ControllerID id;
- enum ControlParamID value_id;
- float value;
-};
-
-#endif
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index ab4b67920..cdd0727a2 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -29,18 +29,16 @@
#include <netinet/tcp.h>
//user created includes
-#include "communication.h"
#include "../../../common/commands.h"
#include "vrpn_tracker.hpp"
#include "type_def.h"
-#include "../../../common/packet.h"
-#include "responseparam.h"
+#include "packet.h"
+#include "param.h"
#include "update.h"
#include "config.h"
-#include "cmHandler.h"
-#include "getparam.h"
-#include "setparam.h"
-#include "../../../common/bitwise.h"
+#include "source.h"
+#include "output.h"
+#include "bitwise.h"
#define QUAD_BT_ADDR "00:06:66:64:61:D6"
#define QUAD_BT_CHANNEL 0x01
@@ -82,7 +80,7 @@ static void quad_recv();
/* Checks to see if socket has disconnected. Returns 1 on disconnect, else returns 0 */
static int wasDisconnected(int fd);
/* handle controller responses from quad to frontend */
-static void handleResponseParam(struct metadata *m, uint8_t * data);
+static void handleResponse(struct metadata *m, uint8_t * data);
/* Thread-safe wrappers */
@@ -629,8 +627,18 @@ static void client_recv(int fd) {
buffer[newline] = '\0';
printf("Client(%d) : '%s'\n",fd, buffer);
- struct controller_message cm;
- if (stringToCm(buffer, &cm) == NULL) {
+ char * first_word;
+ char * tmp = strdup(buffer);
+ first_word = strtok(tmp, " ");
+ free(tmp);
+
+ ssize_t msg_type, i;
+ for (i = 0; i < MAX_TYPE_ID; ++i) {
+ if ((msg_type = findCommand(first_word)) != -1)
+ break;
+ }
+
+ if (msg_type == -1) {
/* buffer was not a quad command, handling internally to
* backend instead of forwarding to quad
*/
@@ -668,14 +676,32 @@ static void client_recv(int fd) {
uint8_t packet[64];
struct metadata m;
uint8_t data[128];
- ssize_t result;
-
- if (strncmp(buffer, "set", 3) == 0) {
- result = EncodeSetparam(&m, data, 128, &cm);
- } else if (strncmp(buffer, "get", 3) == 0) {
- result = EncodeGetparam(&m, data, 128, &cm);
- } else {
- warnx("not implemented yet");
+ ssize_t result;
+ ssize_t psize;
+
+ switch (msg_type) {
+ case SETPARAM_ID:
+ result = EncodeSetParam(&m, data, 128, buffer);
+ break;
+ case GETPARAM_ID:
+ result = EncodeGetParam(&m, data, 128, buffer);
+ break;
+ case SETSOURCE_ID:
+ result = EncodeSetSource(&m, data, 128, buffer);
+ break;
+ case GETSOURCE_ID:
+ result = EncodeGetSource(&m, data, 128, buffer);
+ break;
+ case GETOUTPUT_ID:
+ result = EncodeGetOutput(&m, data, 128, buffer);
+ break;
+ case GETNODES_ID:
+ result = -1;
+ // result = EncodeGetnodes(&m, data, 128, buffer);
+ break;
+ default:
+ result = -1;
+ break;
}
if (result < 0) {
@@ -683,16 +709,15 @@ static void client_recv(int fd) {
return;
}
- ssize_t psize;
+ m.msg_id = currMessageID++;
+
if ((psize = EncodePacket(packet, 64, &m, data)) < 0) {
warnx("Big problems. client_recv. EncodePacket");
return;
}
- m.msg_id = currMessageID++;
-
/* Only add the client to the pending responses if it was a getparam command */
- if (m.msg_type == GETPARAM_ID) {
+ if (m.msg_type == GETPARAM_ID || m.msg_type == GETOUTPUT_ID || m.msg_type == GETSOURCE_ID) {
if (clientAddPendResponses(fd, BytesTo16(packet[ID_L], packet[ID_H])) == -1) {
warnx("Ran out of room! Consider increasing CLIENT_MAX_PENDING_RESPONSES!\n");
}
@@ -778,52 +803,52 @@ static void quad_recv() {
respBufLen -= packetlen;
switch (m.msg_type) {
- case DEBUG_ID :
- case PACKETLOG_ID :
- case GETPACKETLOGS_ID :
- case UPDATE_ID :
- case BEGINUPDATE_ID :
- printf("(Backend): Command '%s' ignored\n", MessageTypes[m.msg_type].cmdText);
- break;
case LOG_ID:
/* something like this */
printf("(Quad) : Log found\n");
fwrite((char *) data, sizeof(char), m.data_len, quadlog_file);
// fflush(quadlog_file);
break;
- case RESPONSE_ID:
- printf("(Backend): response id found\n");
- break;
- case SETPARAM_ID:
- case GETPARAM_ID:
- printf("(Backend): Command '%s' ignored\n", MessageTypes[m.msg_type].cmdText);
- break;
case RESPPARAM_ID:
- handleResponseParam(&m, data);
+ case RESPSOURCE_ID:
+ case RESPOUTPUT_ID:
+ handleResponse(&m, data);
break;
+ case RESPNODES_ID:
default:
- printf("(Backend): message type %d unrecognized\n", m.msg_type);
+ printf("(Backend): message type %d ignored from quad\n", m.msg_type);
}
}
}
-static void handleResponseParam(struct metadata *m, uint8_t * data)
+static void handleResponse(struct metadata *m, uint8_t * data)
{
- struct controller_message cm;
- if (DecodeResponseParam(&cm, m, data) < 0) {
- warnx("DecodeResponse error");
- return;
- }
+ ssize_t result;
char buffer[128];
- const char * message = cmToString(RESPPARAM_ID, &cm);
+ switch (m->msg_type) {
+ case RESPPARAM_ID:
+ result = DecodeResponseParam(buffer, m, data);
+ break;
+ case RESPSOURCE_ID:
+ result = DecodeResponseSource(buffer, m, data);
+ break;
+ case RESPOUTPUT_ID:
+ result = DecodeResponseOutput(buffer, m, data);
+ break;
+ default:
+ result = -1;
+ }
- size_t len = snprintf(buffer, 128, "%s %f\n", message, cm.value);
+ if (result < 0) {
+ warnx("DecodeResponse error");
+ return;
+ }
for(int fd = 0; fd <= max_fd; ++fd) {
- if (get_client_index(fd) > -1) {
+ if (get_client_index(fd) < 0) {
clientRemovePendResponses(fd, m->msg_id);
- write(fd, buffer, len);
+ write(fd, buffer, result);
}
}
}
diff --git a/common/bitwise.h b/groundStation/src/backend/bitwise.h
similarity index 100%
rename from common/bitwise.h
rename to groundStation/src/backend/bitwise.h
diff --git a/groundStation/src/backend/callbacks.c b/groundStation/src/backend/callbacks.c
index c5499fadb..875167b48 100644
--- a/groundStation/src/backend/callbacks.c
+++ b/groundStation/src/backend/callbacks.c
@@ -1,378 +1,3 @@
-#include "../../../common/commands.h"
+#include "commands.h"
/* New stuff - this is nice and clean */
-
-/* Override any callbacks here */
-
-
-/****** LEGACY CODE BE VERY AFRAID ********/
-
-// TAKE THESE OUT WHEN IMPLEMENTING ON THE QUAD SIDE
-float getFloat(unsigned char* str, int pos) {
- union {
- float f;
- int i;
- } x;
- x.i = ((str[pos+3] << 24) | (str[pos+2] << 16) | (str[pos+1] << 8) | (str[pos]));
- return x.f;
-}
-
-int getInt(unsigned char* str, int pos) {
- int i = ((str[pos+3] << 24) | (str[pos+2] << 16) | (str[pos+1] << 8) | (str[pos]));
- return i;
-}
-//------------------------------------------------
-
-int cb_debug(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- printf("function for debug\n");
- return 0;
-}
-
-int cb_update(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- unsigned char update[28];
- memcpy(update, ((float *)packet), 28);
-
- int packetId = getInt(update, 0);
- float y_pos = getFloat(update, 4);
- float x_pos = getFloat(update, 8);
- float alt_pos = getFloat(update, 12);
- float roll = getFloat(update, 16);
- float pitch = getFloat(update, 20);
- float yaw = getFloat(update, 24);
-
- structs->log_struct.currentQuadPosition.packetId = packetId;
- structs->log_struct.currentQuadPosition.y_pos = y_pos;
- structs->log_struct.currentQuadPosition.x_pos = x_pos;
- structs->log_struct.currentQuadPosition.alt_pos = alt_pos;
- structs->log_struct.currentQuadPosition.roll = roll;
- structs->log_struct.currentQuadPosition.pitch = pitch;
- structs->log_struct.currentQuadPosition.yaw = yaw;
-
- printf("QUAD: VRPN Packet:");
- printf("Packet ID: %d\n", packetId);
- printf("Y Position: %f\n", y_pos);
- printf("X Position: %f\n", x_pos);
- printf("Altitude Position: %f\n", alt_pos);
- printf("Roll: %f\n", roll);
- printf("Pitch: %f\n", pitch);
- printf("Yaw: %f\n", yaw);
-
- printf("function for update\n");
- return 0;
-}
-
-// Why is this here?
-// This should be on the ground station side
-int logdata(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- printf("Logging: %s\n", packet);
- return 0;
-}
-
-int response(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- printf("This is the response: %s\n", packet);
-
- return 0;
-}
-
-// ------------------------------------------------------------------
-
-int setyaw(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- float value;
-
- memcpy(&value, ((float *)packet), dataLen);
-
- printf("%f\n", value);
-
- structs->setpoint_struct.desiredQuadPosition.yaw = value;
-
- printf("function for setyaw: %f\n", structs->setpoint_struct.desiredQuadPosition.yaw);
-
- return 0;
-}
-
-int setyawp(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- float value;
-
- memcpy(&value, ((float *)packet), dataLen);
- structs->parameter_struct.yaw_angle_pid.Kp = value;
-
- printf("function for setyawp: %f\n", structs->parameter_struct.yaw_angle_pid.Kp);
-
- return 0;
-}
-
-int setyawd(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- float value;
-
- memcpy(&value, ((float *)packet), dataLen);
- structs->parameter_struct.yaw_angle_pid.Kd = value;
-
- printf("function for setyawd: %f\n", structs->parameter_struct.yaw_angle_pid.Kd);
-
- return 0;
-}
-
-int setroll(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- float value;
-
- memcpy(&value, ((float *)packet), dataLen);
- structs->setpoint_struct.desiredQuadPosition.roll = value;
-
- printf("function for setroll: %f\n", structs->setpoint_struct.desiredQuadPosition.roll);
-
- return 0;
-}
-
-int setrollp(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- float value;
-
- memcpy(&value, ((float *)packet), dataLen);
- structs->parameter_struct.local_y_pid.Kp = value;
-
- printf("function for setrollp: %f\n", structs->parameter_struct.local_y_pid.Kp);
-
- return 0;
-}
-
-int setrolld(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- float value;
-
- memcpy(&value, ((float *)packet), dataLen);
- structs->parameter_struct.local_y_pid.Kd = value;
-
- printf("function for setrolld: %f\n", structs->parameter_struct.local_y_pid.Kd);
-
- return 0;
-}
-
-int setpitch(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- float value;
-
- memcpy(&value, ((float *)packet), dataLen);
- structs->setpoint_struct.desiredQuadPosition.pitch = value;
-
- printf("function for setpitch: %f\n", structs->setpoint_struct.desiredQuadPosition.pitch);
-
- return 0;
-}
-
-int setpitchp(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- float value;
-
- memcpy(&value, ((float *)packet), dataLen);
- structs->parameter_struct.local_x_pid.Kp = value;
-
- printf("function for setpitchp: %f\n", structs->parameter_struct.local_x_pid.Kp);
-
- return 0;
-}
-
-int setpitchd(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- float value;
-
- memcpy(&value, ((float *)packet), dataLen);
- structs->parameter_struct.local_x_pid.Kd = value;
-
- printf("function for setpitchd: %f\n", structs->parameter_struct.local_x_pid.Kd);
-
- return 0;
-}
-
-// ------------------------------------------------------------
-// These should be renamed to altitude!
-int setthrottle(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- float value;
-
- memcpy(&value, ((float *)packet), dataLen);
- structs->setpoint_struct.desiredQuadPosition.alt_pos = value;
-
- printf("function for setthrottle: %f\n", structs->setpoint_struct.desiredQuadPosition.alt_pos);
-
- return 0;
-}
-
-int setthrottlep(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- float value;
-
- memcpy(&value, ((float *)packet), dataLen);
- structs->parameter_struct.alt_pid.Kp = value;
-
- printf("function for setthrottlep: %f\n", structs->parameter_struct.alt_pid.Kp);
-
- return 0;
-}
-
-int setthrottlei(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- float value;
-
- memcpy(&value, ((float *)packet), dataLen);
- structs->parameter_struct.alt_pid.Ki = value;
-
- printf("function for setthrottlei: %f\n", structs->parameter_struct.alt_pid.Ki);
-
- return 0;
-}
-
-int setthrottled(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- float value;
-
- memcpy(&value, ((float *)packet), dataLen);
- structs->parameter_struct.alt_pid.Kd = value;
-
- printf("function for setthrottled: %f\n", structs->parameter_struct.alt_pid.Kd);
-
- return 0;
-}
-int getyaw(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int getyawp(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int getyawd(unsigned char *packet, int dataLen, modular_structs_t *structs) {
- return 0;
-}
-int getroll(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int getrollp(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int getrolld(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int getpitch(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int getpitchp(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int getpitchd(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int getthrottle(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int getthrottlep(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int getthrottlei(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int getthrottled(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-
-// These should be renamed to altitude!
-// ------------------------------------------------------------
-
-
-
-
-int getgyro(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- printf("function for getgyro\n");
- return 0;
-}
-
-int getpitchangle(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- printf("function for getpitchangle\n");
- return 0;
-}
-
-int getrollangle(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- printf("function for getrollangle\n");
- return 0;
-}
-
-
-int getaccel(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- printf("function for getaccel\n");
- return 0;
-}
-
-
-int respgyro(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- printf("function for respgyro\n");
- return 0;
-}
-
-int resppitchangle(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- printf("function for resppitchangle\n");
- return 0;
-}
-
-int resprollangle(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- printf("function for resprollangle\n");
- return 0;
-}
-
-
-int respaccel(unsigned char *packet, int dataLen, modular_structs_t *structs)
-{
- printf("function for respaccel\n");
- return 0;
-}
-
-int respyaw(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int respyawp(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int respyawd(unsigned char *packet, int dataLen, modular_structs_t *structs) {
- return 0;
-}
-int resproll(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int resprollp(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int resprolld(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int resppitch(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int resppitchp(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int resppitchd(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int respthrottle(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int respthrottlep(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int respthrottlei(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
-int respthrottled(unsigned char *packet, int dataLen, modular_structs_t *structs){
- return 0;
-}
diff --git a/groundStation/src/backend/callbacks.h b/groundStation/src/backend/callbacks.h
index 69510e0a8..cc5fd8cab 100644
--- a/groundStation/src/backend/callbacks.h
+++ b/groundStation/src/backend/callbacks.h
@@ -7,6 +7,4 @@
/* Make commands.c happy */
typedef void (command_cb)(void);
-float getFloat(unsigned char * str, int pos);
-
#endif /* __CALLBACKS_H */
diff --git a/groundStation/src/backend/cmHandler.c b/groundStation/src/backend/cmHandler.c
deleted file mode 100644
index a1159c183..000000000
--- a/groundStation/src/backend/cmHandler.c
+++ /dev/null
@@ -1,185 +0,0 @@
-#include <stdlib.h>
-
-#include "cmHandler.h"
-
-const char * respParamStrings[MAX_PARAM_COMMANDS] = {
- "getrollp",
- "getrolli",
- "getrolld",
- "getpitchp",
- "getpitchi",
- "getpitchd",
- "getyawp",
- "getyawi",
- "getyawd",
- "getrollratep",
- "getrollratei",
- "getrollrated",
- "getpitchratep",
- "getpitchratei",
- "getpitchrated",
- "getyawratep",
- "getyawratei",
- "getyawrated",
- "getlatp",
- "getlati",
- "getlatd",
- "getlongp",
- "getlongi",
- "getlongd",
- "getheightp",
- "getheighti",
- "getheightd",
- "getlat",
- "getlong",
- "getheight"
-};
-
-const char * setParamStrings[MAX_PARAM_COMMANDS] = {
- "setrollp",
- "setrolli",
- "setrolld",
- "setpitchp",
- "setpitchi",
- "setpitchd",
- "setyawp",
- "setyawi",
- "setyawd",
- "setrollratep",
- "setrollratei",
- "setrollrated",
- "setpitchratep",
- "setpitchratei",
- "setpitchrated",
- "setyawratep",
- "setyawratei",
- "setyawrated",
- "setlatp",
- "setlati",
- "setlatd",
- "setlongp",
- "setlongi",
- "setlongd",
- "setheightp",
- "setheighti",
- "setheightd",
- "setlat",
- "setlong",
- "setheight",
-};
-
-const char * cmToString(int msgType, const struct controller_message *cm)
-{
- size_t index;
- if (cm->id == X_SETPOINT_ID) {
- index = PARAM_LOCAL_X; // This will change when we make node structure changes
- } else if (cm->id == X_SETPOINT_ID) {
- index = PARAM_LOCAL_Y; // This will change when we make node structure changes
- } else if (cm->id == X_SETPOINT_ID) {
- index = PARAM_ALT; // This will change when we make node structure changes
- } else {
- index = (cm->id * MAX_CONTROL_PARAM_ID) + cm->value_id;
- }
- switch (msgType) {
- case DEBUG_ID :
- case PACKETLOG_ID :
- case GETPACKETLOGS_ID :
- case UPDATE_ID :
- case BEGINUPDATE_ID :
- case LOG_ID:
- case SETPARAM_ID:
- return setParamStrings[index];
- case GETPARAM_ID:
- return NULL;
- break;
- case RESPONSE_ID:
- return NULL;
- case RESPPARAM_ID:
- return respParamStrings[index];
- default:
- return NULL;
- break;
- }
-}
-
-struct controller_message * stringToCm(const char * string, struct controller_message *cm)
-{
- int result;
- size_t i;
- char cmdString[strlen(string)];
- strncpy(cmdString, string, strlen(string));
-
- float cmdValue;
- for (i = 0; i < strlen(string) + 1; ++i) {
- if (string[i] == ' ' || string[i] == '\n' || string[i] == '\0') {
- cmdString[i] = '\0';
- break;
- }
- }
-
- int index = -1;
-
- for(i = 0; i < MAX_PARAM_COMMANDS; ++i) {
-
- if((result = strncmp(cmdString, respParamStrings[i], strlen(respParamStrings[i]))) == 0 &&
- strlen(cmdString) == strlen(respParamStrings[i])) {
- index = i;
- break;
- } else if ((result = strncmp(cmdString, setParamStrings[i], strlen(setParamStrings[i]))) == 0 &&
- strlen(cmdString) == strlen(setParamStrings[i])) {
- cm->value = strtof(&string[strlen(cmdString)],NULL);
- index = i;
- break;
- }
- }
- // printf("index = %d\n", index);
-
- /* Error, nothing found */
- if (index == -1) {
- return NULL;
- } else {
- cm->value_id = i % MAX_CONTROL_PARAM_ID; // Default assuming not a setpoint command
- if (i <= PARAM_ROLL_D) {
-
- cm->id = ROLL_ID;
- } else if (i <= PARAM_PITCH_D) {
-
- cm->id = PITCH_ID;
- } else if (i <= PARAM_YAW_D) {
-
- cm->id = YAW_ID;
- } else if (i <= PARAM_ROLL_RATE_D) {
-
- cm->id = ROLL_RATE_ID;
- } else if (i <= PARAM_PITCH_RATE_D) {
-
- cm->id = PITCH_RATE_ID;
- } else if (i <= PARAM_YAW_RATE_D) {
-
- cm->id = YAW_RATE_ID;
- } else if (i <= PARAM_LOCAL_X_D) {
-
- cm->id = LOCAL_X_ID;
- } else if (i <= PARAM_LOCAL_Y_D) {
-
- cm->id = LOCAL_Y_ID;
- } else if (i <= PARAM_ALT_D) {
-
- cm->id = ALT_ID;
- } else if ( i == PARAM_LOCAL_X) {
-
- cm->id = X_SETPOINT_ID;
- cm->value_id = 0;
- } else if ( i == PARAM_LOCAL_Y) {
-
- cm->id = Y_SETPOINT_ID;
- cm->value_id = 0;
- } else if ( i == PARAM_ALT) {
-
- cm->id = ALT_SETPOINT_ID;
- cm->value_id = 0;
- }
- }
- // printf("cm->id = %d\ncm->value_id = %d\n", cm->id, cm->value_id);
- return cm;
-}
\ No newline at end of file
diff --git a/groundStation/src/backend/cmHandler.h b/groundStation/src/backend/cmHandler.h
deleted file mode 100644
index de513f303..000000000
--- a/groundStation/src/backend/cmHandler.h
+++ /dev/null
@@ -1,48 +0,0 @@
-#ifndef _CMHANDLER_H
-#define _CMHANDLER_H
-
-#include "../../../common/controller.h"
-
-enum paramIndices {
- PARAM_ROLL_P ,
- PARAM_ROLL_I ,
- PARAM_ROLL_D ,
- PARAM_PITCH_P ,
- PARAM_PITCH_I ,
- PARAM_PITCH_D ,
- PARAM_YAW_P ,
- PARAM_YAW_I ,
- PARAM_YAW_D ,
- PARAM_ROLL_RATE_P,
- PARAM_ROLL_RATE_I,
- PARAM_ROLL_RATE_D,
- PARAM_PITCH_RATE_P,
- PARAM_PITCH_RATE_I,
- PARAM_PITCH_RATE_D,
- PARAM_YAW_RATE_P,
- PARAM_YAW_RATE_I,
- PARAM_YAW_RATE_D,
- PARAM_LOCAL_X_P ,
- PARAM_LOCAL_X_I ,
- PARAM_LOCAL_X_D ,
- PARAM_LOCAL_Y_P ,
- PARAM_LOCAL_Y_I ,
- PARAM_LOCAL_Y_D ,
- PARAM_ALT_P,
- PARAM_ALT_I,
- PARAM_ALT_D,
- PARAM_LOCAL_X ,
- PARAM_LOCAL_Y ,
- PARAM_ALT ,
- MAX_PARAM_COMMANDS
-};
-
-extern const char * respParamStrings[MAX_PARAM_COMMANDS];
-
-extern const char * setParamStrings[MAX_PARAM_COMMANDS];
-
-const char * cmToString(int msgType, const struct controller_message *cm);
-
-struct controller_message * stringToCm(const char * string, struct controller_message *cm);
-
-#endif /* _CMHANDLER_H */
diff --git a/groundStation/src/backend/communication.c b/groundStation/src/backend/communication.c
deleted file mode 100644
index d0aa5c19a..000000000
--- a/groundStation/src/backend/communication.c
+++ /dev/null
@@ -1,95 +0,0 @@
-#include "communication.h"
-#include "../../../common/commands.h"
-#include <string.h>
-#include <ctype.h>
-
-static int msgNum = 0;
-//--------------------------------
-// Ground Station
-//--------------------------------
-
-// Formatting commands from ground station CLI
-int formatCommand(char *command, unsigned char *formattedCommand) {
- // fprintf(stderr, "length = %li , received '%s'\n", strlen(command), command);
- char cmd[512];
- strncpy(cmd, command, 512);
-
- char * cmdText = strtok(cmd, " ");
-
- return -1;
-}
-
-// returns the length of the data in bytes (datalen from packet) and fills data
-// and metadata with the packet information
-// use as follows:
-//
-// packet is the entire packet message (formatted)
-// data is an unallocated (char *) (pass it to this function as &data)
-// meta_data is a pointer to an instance of metadata_t
-//
-int parse_packet(unsigned char * packet, unsigned char * data, metadata_t * meta_data)
-{
- //----------------------------------------------------------------------------------------------
- // index|| 0 | 1 | 2 | 3 & 4 | 5 & 6 | 7+ | end |
- //---------------------------------------------------------------------------------------------|
- // 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[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
- for(i = 0; i < meta_data->data_len; i++)
- {
- data[i] = packet[7+i];
- }
-
- // calculate checksum
- unsigned char calculated_checksum = 0;
- for(i = 0; i < meta_data->data_len + 7 - 1; i++)
- {
- calculated_checksum ^= packet[i];
- }
-
- // compare checksum
- if(packet_checksum != calculated_checksum) {
- return -2;
- }
-
- return 0;
-}
-
-// Process the command received
-int processCommand(unsigned char *packet, modular_structs_t *structs) {
- int validPacket;
- unsigned char data[256];
- 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) {
- (* (MessageTypes[(unsigned char)metadata.msg_type].functionPtr))();
-
- return 0;
- }
-
- // Only gets here if there is an error
- return -1;
-}
diff --git a/groundStation/src/backend/communication.h b/groundStation/src/backend/communication.h
deleted file mode 100644
index f3439f266..000000000
--- a/groundStation/src/backend/communication.h
+++ /dev/null
@@ -1,16 +0,0 @@
-#ifndef __COMMUNICATION_H
-#define __COMMUNICATION_H
-
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-#include <limits.h>
-#include "type_def.h"
-
-int formatCommand(char *command, unsigned char *formattedCommand);
-int formatPacket(metadata_t *metadata, void *data, unsigned char *formattedCommand);
-int parse_packet(unsigned char * packet, unsigned char * data, metadata_t * meta_data);
-int processCommand(unsigned char *command, modular_structs_t *structs);
-int logData(unsigned char *log_msg, unsigned char *formattedCommand);
-
-#endif /* __COMMUNICATION_H */
diff --git a/groundStation/src/backend/getparam.c b/groundStation/src/backend/getparam.c
deleted file mode 100644
index 16dc0c0a0..000000000
--- a/groundStation/src/backend/getparam.c
+++ /dev/null
@@ -1,54 +0,0 @@
-#include "getparam.h"
-#include "../../../common/commands.h"
-#include "../../../common/bitwise.h"
-
-#include <sys/types.h>
-
-enum GetparamData {
- CTRL_ID,
- CTRLVAL_ID,
- GP_DATA_SIZE
-};
-
-/* Creates data and metadata for a respcontrol packet
- * Returns data size.
- */
-ssize_t EncodeGetparam(
- struct metadata * m, /* data_len and msg_type will be populated*/
- uint8_t * data, /* Output buffer */
- size_t data_size, /* Max buffer size */
- const struct controller_message * cm) /* Message to encode */
-{
- m->msg_type = GETPARAM_ID;
- m->data_len = GP_DATA_SIZE;
-
- if (data_size < GP_DATA_SIZE) {
- return -1;
- }
-
- data[CTRL_ID] = cm->id;
- data[CTRLVAL_ID] = cm->value_id;
-
- return GP_DATA_SIZE;
-}
-
-/* Decode a metadata and data to populate a controller.
- * Returns 0 on success, -1 on failure.
- */
-int DecodeGetparam(
- struct controller_message * cm, /* Decoded controller message */
- const struct metadata * m, /* Metadata to aid in decoding */
- const uint8_t * data) /* Data to decode */
-{
- if (m->data_len < GP_DATA_SIZE) {
- return -1;
- }
- if (m->msg_type != GETPARAM_ID) {
- return -1;
- }
-
- cm->id = data[CTRL_ID];
- cm->value_id = data[CTRLVAL_ID];
-
- return 0;
-}
diff --git a/groundStation/src/backend/getparam.h b/groundStation/src/backend/getparam.h
deleted file mode 100644
index 7e068f167..000000000
--- a/groundStation/src/backend/getparam.h
+++ /dev/null
@@ -1,28 +0,0 @@
-#ifndef _getparam_h
-#define _getparam_h
-
-#include "../../../common/packet.h"
-#include "../../../common/controller.h"
-
-#include <sys/types.h>
-
-
-/* Creates data and metadata for a getcontrol packet.
- * Returns data size.
- */
-ssize_t EncodeGetparam(
- struct metadata *m, /* Out */
- uint8_t *data, /* Out */
- size_t data_size, /* Data buffer max size */
- const struct controller_message *cm); /* Value is not used; only IDs */
-
-/* Decode a metadata and data to populate a message
- * Returns 0 on success, -1 on failure
- */
-int DecodeGetparam(
- struct controller_message *cm, /* Out. Value is undefined */
- const struct metadata *m, /* In */
- const uint8_t * data); /* In */
-
-
-#endif
diff --git a/groundStation/src/backend/old_main.cold b/groundStation/src/backend/old_main.cold
deleted file mode 100644
index 5234bcc56..000000000
--- a/groundStation/src/backend/old_main.cold
+++ /dev/null
@@ -1,73 +0,0 @@
-#include <libcli.h>
-#include <stdlib.h>
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <string.h>
-#include <strings.h>
-#include <signal.h>
-#include <unistd.h>
-#include <arpa/inet.h>
-
-
-#define CLITEST_PORT 8000
-
-int fn_help(struct cli_def *cli, const char *command, char *argv[], int argc);
-
-struct cli_def * cli;
-int on = 1;
-
-int main(int argc, char **argv)
-{
- int s, x;
- struct sockaddr_in addr;
-
- if ((s = socket(AF_INET, SOCK_STREAM, 0)) < 0)
- {
- perror("socket");
- return 1;
- }
- setsockopt(s, SOL_SOCKET, SO_REUSEADDR, &on, sizeof(on));
-
- memset(&addr, 0, sizeof(addr));
- addr.sin_family = AF_INET;
- addr.sin_addr.s_addr = htonl(INADDR_ANY);
- addr.sin_port = htons(CLITEST_PORT);
-
- if (bind(s, (struct sockaddr *) &addr, sizeof(addr)) < 0)
- {
- perror("bind");
- return 1;
- }
-
- if (listen(s, 50) < 0)
- {
- perror("listen");
- return 1;
- }
-
- printf("Listening on port %d\n", CLITEST_PORT);
-
- cli = cli_init();
- cli_set_banner(cli, "Welcome to my test cli");
-
- cli_register_command(cli, NULL, "helpme", fn_help, PRIVILEGE_UNPRIVILEGED, MODE_EXEC, "displays help info for a command");
-
-
-
-
- while((x = accept(s, NULL, NULL)))
- {
- cli_loop(cli, x);
- close(x);
- }
-
-
- cli_done(cli);
-}
-
-
-int fn_help(struct cli_def *cli, const char *command, char *argv[], int argc) {
- printf("you ran the help function!!\n");
- return 0;
-}
-
diff --git a/groundStation/src/backend/output.c b/groundStation/src/backend/output.c
new file mode 100644
index 000000000..0c3195c95
--- /dev/null
+++ b/groundStation/src/backend/output.c
@@ -0,0 +1,77 @@
+#include <sys/types.h>
+
+#include "output.h"
+#include "../../../common/commands.h"
+#include "bitwise.h"
+
+
+enum GetoutputData {
+ GO_BLOCK_ID_L,
+ GO_BLOCK_ID_H,
+ GO_OUTPUT_ID_L,
+ GO_OUTPUT_ID_H,
+ GO_DATA_SIZE
+};
+
+/* Creates data and metadata for a setcontrol packet
+ * Returns data size.
+ */
+ssize_t EncodeGetOutput(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const char * msg) /* Message to encode */
+{
+ m->msg_type = GETOUTPUT_ID;
+ m->data_len = GO_DATA_SIZE;
+
+ if (data_size < GO_DATA_SIZE) {
+ return -1;
+ }
+
+ uint16_t block, output;
+
+ sscanf(msg, "getoutput %hu %hu", &block, &output);
+
+ data[GO_BLOCK_ID_L] = LSByte16(block);
+ data[GO_BLOCK_ID_H] = MSByte16(block);
+ data[GO_OUTPUT_ID_L] = LSByte16(output);
+ data[GO_OUTPUT_ID_H] = MSByte16(output);
+
+ return GO_DATA_SIZE;
+}
+
+enum ResponseData {
+ RESP_BLOCK_ID_L,
+ RESP_BLOCK_ID_H,
+ RESP_OUTPUT_ID_L,
+ RESP_OUTPUT_ID_H,
+ RESP_VAL_1,
+ RESP_VAL_2,
+ RESP_VAL_3,
+ RESP_VAL_4,
+ RESP_DATA_SIZE
+};
+
+/* Decode a metadata and data to populate a controller.
+ * Returns bytes written to msg, -1 on failure.
+ */
+int DecodeResponseOutput(
+ char * msg, /* Decoded controller message */
+ const struct metadata * m, /* Metadata to aid in decoding */
+ const uint8_t * data) /* Data to decode */
+{
+ if (m->data_len < RESP_DATA_SIZE) {
+ return -1;
+ }
+ if (m->msg_type != RESPOUTPUT_ID) {
+ return -1;
+ }
+
+ return sprintf(msg, "getoutput %hu %hu %f\n",
+ BytesTo16(data[RESP_BLOCK_ID_L], data[RESP_BLOCK_ID_H]),
+ BytesTo16(data[RESP_OUTPUT_ID_L], data[RESP_OUTPUT_ID_H]),
+ BytesToFloat(data[RESP_VAL_1], data[RESP_VAL_2],
+ data[RESP_VAL_3], data[RESP_VAL_4]));
+}
+
diff --git a/groundStation/src/backend/output.h b/groundStation/src/backend/output.h
new file mode 100644
index 000000000..034d6ec15
--- /dev/null
+++ b/groundStation/src/backend/output.h
@@ -0,0 +1,28 @@
+#ifndef _getoutput_h
+#define _getoutput_h
+
+#include "packet.h"
+
+#include <sys/types.h>
+
+
+/* Creates data and metadata for a getcontrol packet.
+ * Returns data size.
+ */
+ssize_t EncodeGetOutput(
+ struct metadata *m, /* Out */
+ uint8_t *data, /* Out */
+ size_t data_size, /* Data buffer max size */
+ const char * msg); /* Value is not used; only IDs */
+
+
+/* Decode a metadata and data to populate a controller.
+ * Returns bytes written to msg, -1 on failure.
+ */
+int DecodeResponseOutput(
+ char * msg, /* Out */
+ const struct metadata *m, /* In */
+ const uint8_t * data); /* In */
+
+
+#endif
diff --git a/common/packet.c b/groundStation/src/backend/packet.c
similarity index 100%
rename from common/packet.c
rename to groundStation/src/backend/packet.c
diff --git a/common/packet.h b/groundStation/src/backend/packet.h
similarity index 100%
rename from common/packet.h
rename to groundStation/src/backend/packet.h
diff --git a/groundStation/src/backend/param.c b/groundStation/src/backend/param.c
new file mode 100644
index 000000000..749960fe4
--- /dev/null
+++ b/groundStation/src/backend/param.c
@@ -0,0 +1,126 @@
+#include <sys/types.h>
+
+#include "param.h"
+#include "../../../common/commands.h"
+#include "bitwise.h"
+
+enum GetparamData {
+ GP_BLOCK_ID_L,
+ GP_BLOCK_ID_H,
+ GP_PARAM_ID_L,
+ GP_PARAM_ID_H,
+ GP_DATA_SIZE
+};
+
+/* Creates data and metadata for a respcontrol packet
+ * Returns data size.
+ */
+ssize_t EncodeGetParam(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const char * msg) /* Message to encode */
+{
+ m->msg_type = GETPARAM_ID;
+ m->data_len = GP_DATA_SIZE;
+
+ if (data_size < GP_DATA_SIZE) {
+ return -1;
+ }
+
+ uint16_t block, param;
+ sscanf(msg, "getparam %hu %hu", &block, ¶m);
+
+
+ data[GP_BLOCK_ID_L] = LSByte16(block);
+ data[GP_BLOCK_ID_H] = MSByte16(block);
+
+ data[GP_PARAM_ID_L] = LSByte16(param);
+ data[GP_PARAM_ID_H] = MSByte16(param);
+
+ return GP_DATA_SIZE;
+}
+
+enum SetparamData {
+ SP_BLOCK_ID_L,
+ SP_BLOCK_ID_H,
+ SP_PARAM_ID_L,
+ SP_PARAM_ID_H,
+ SP_VAL_1,
+ SP_VAL_2,
+ SP_VAL_3,
+ SP_VAL_4,
+ SP_DATA_SIZE
+};
+
+/* Creates data and metadata for a setcontrol packet
+ * Returns data size.
+ */
+ssize_t EncodeSetParam(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const char * msg) /* Message to encode */
+{
+ m->msg_type = SETPARAM_ID;
+ m->data_len = SP_DATA_SIZE;
+
+ if (data_size < SP_DATA_SIZE) {
+ return -1;
+ }
+
+ uint16_t block, param;
+ float val;
+
+ sscanf(msg, "setparam %hu %hu %f", &block, ¶m, &val);
+
+ data[SP_BLOCK_ID_L] = LSByte16(block);
+ data[SP_BLOCK_ID_H] = MSByte16(block);
+
+ data[SP_PARAM_ID_L] = LSByte16(param);
+ data[SP_PARAM_ID_H] = MSByte16(param);
+
+
+ data[SP_VAL_1] = FloatByte1(val);
+ data[SP_VAL_2] = FloatByte2(val);
+ data[SP_VAL_3] = FloatByte3(val);
+ data[SP_VAL_4] = FloatByte4(val);
+
+ return SP_DATA_SIZE;
+}
+
+
+
+enum ResponseData {
+ RESP_BLOCK_ID_L,
+ RESP_BLOCK_ID_H,
+ RESP_PARAM_ID_L,
+ RESP_PARAM_ID_H,
+ RESP_VAL_1,
+ RESP_VAL_2,
+ RESP_VAL_3,
+ RESP_VAL_4,
+ RESP_DATA_SIZE
+};
+
+/* Decode a metadata and data to populate a controller.
+ * Returns bytes written to msg, -1 on failure.
+ */
+int DecodeResponseParam(
+ char * msg, /* Decoded controller message */
+ const struct metadata * m, /* Metadata to aid in decoding */
+ const uint8_t * data) /* Data to decode */
+{
+ if (m->data_len < RESP_DATA_SIZE) {
+ return -1;
+ }
+ if (m->msg_type != RESPPARAM_ID) {
+ return -1;
+ }
+
+ return sprintf(msg, "getparam %hu %hu %f\n",
+ BytesTo16(data[RESP_BLOCK_ID_L], data[RESP_BLOCK_ID_H]),
+ BytesTo16(data[RESP_PARAM_ID_L], data[RESP_PARAM_ID_H]),
+ BytesToFloat(data[RESP_VAL_1], data[RESP_VAL_2],
+ data[RESP_VAL_3], data[RESP_VAL_4]));
+}
diff --git a/groundStation/src/backend/param.h b/groundStation/src/backend/param.h
new file mode 100644
index 000000000..96ecc6332
--- /dev/null
+++ b/groundStation/src/backend/param.h
@@ -0,0 +1,36 @@
+#ifndef _param_h
+#define _param_h
+
+#include "packet.h"
+
+#include <sys/types.h>
+
+
+/* Creates data and metadata for a getcontrol packet.
+ * Returns data size.
+ */
+ssize_t EncodeGetParam(
+ struct metadata *m, /* Out */
+ uint8_t *data, /* Out */
+ size_t data_size, /* Data buffer max size */
+ const char * msg); /* Value is not used; only IDs */
+
+/* Creates data and metadata for a setcontrol packet
+ * Returns data size.
+ */
+ssize_t EncodeSetParam(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const char * msg); /* Message to encode */
+
+/* Decode a metadata and data to populate a controller.
+ * Returns bytes written to msg, -1 on failure.
+ */
+int DecodeResponseParam(
+ char * msg, /* Out */
+ const struct metadata *m, /* In */
+ const uint8_t * data); /* In */
+
+
+#endif
diff --git a/groundStation/src/backend/responseparam.c b/groundStation/src/backend/responseparam.c
deleted file mode 100644
index e2f188c29..000000000
--- a/groundStation/src/backend/responseparam.c
+++ /dev/null
@@ -1,64 +0,0 @@
-#include "responseparam.h"
-#include "../../../common/commands.h"
-#include "../../../common/bitwise.h"
-
-#include <sys/types.h>
-
-enum ResponseData {
- CTRL_ID,
- CTRLVAL_ID,
- VAL_1,
- VAL_2,
- VAL_3,
- VAL_4,
- RESP_DATA_SIZE
-};
-
-/* Creates data and metadata for a respparam packet
- * Returns data size.
- */
-ssize_t EncodeResponseParam(
- struct metadata * m, /* data_len and msg_type will be populated*/
- uint8_t * data, /* Output buffer */
- size_t data_size, /* Max buffer size */
- const struct controller_message * cm) /* Message to encode */
-{
- m->msg_type = RESPPARAM_ID;
- m->data_len = RESP_DATA_SIZE;
-
- if (data_size < RESP_DATA_SIZE) {
- return -1;
- }
-
- data[CTRL_ID] = cm->id;
- data[CTRLVAL_ID] = cm->value_id;
- data[VAL_1] = FloatByte1(cm->value);
- data[VAL_2] = FloatByte2(cm->value);
- data[VAL_3] = FloatByte3(cm->value);
- data[VAL_4] = FloatByte4(cm->value);
-
- return RESP_DATA_SIZE;
-}
-
-/* Decode a metadata and data to populate a controller.
- * Returns 0 on success, -1 on failure.
- */
-int DecodeResponseParam(
- struct controller_message * cm, /* Decoded controller message */
- const struct metadata * m, /* Metadata to aid in decoding */
- const uint8_t * data) /* Data to decode */
-{
- if (m->data_len < RESP_DATA_SIZE) {
- return -1;
- }
- if (m->msg_type != RESPPARAM_ID) {
- return -1;
- }
-
- cm->id = data[CTRL_ID];
- cm->value_id = data[CTRLVAL_ID];
- cm->value = BytesToFloat(data[VAL_1], data[VAL_2],
- data[VAL_3], data[VAL_4]);
-
- return 0;
-}
diff --git a/groundStation/src/backend/responseparam.h b/groundStation/src/backend/responseparam.h
deleted file mode 100644
index 4daa8c3ed..000000000
--- a/groundStation/src/backend/responseparam.h
+++ /dev/null
@@ -1,28 +0,0 @@
-#ifndef _responseparam_h
-#define _responseparam_h
-
-#include "../../../common/packet.h"
-#include "../../../common/controller.h"
-
-#include <sys/types.h>
-
-
-/* Creates data and metadata for a respcontrol packet.
- * Returns data size.
- */
-ssize_t EncodeResponseParam(
- struct metadata *m, /* Out */
- uint8_t *data, /* Out */
- size_t data_size, /* Data buffer max size */
- const struct controller_message *cm); /* In */
-
-/* Decode a metadata and data to populate a message
- * Returns 0 on success, -1 on failure
- */
-int DecodeResponseParam(
- struct controller_message *cm, /* Out */
- const struct metadata *m, /* In */
- const uint8_t * data); /* In */
-
-
-#endif
diff --git a/groundStation/src/backend/setparam.c b/groundStation/src/backend/setparam.c
deleted file mode 100644
index 6aaa71b08..000000000
--- a/groundStation/src/backend/setparam.c
+++ /dev/null
@@ -1,65 +0,0 @@
-#include "setparam.h"
-#include "../../../common/commands.h"
-#include "../../../common/bitwise.h"
-
-#include <sys/types.h>
-
-enum SetparamData {
- CTRL_ID,
- CTRLVAL_ID,
- VAL_1,
- VAL_2,
- VAL_3,
- VAL_4,
- SP_DATA_SIZE
-};
-
-/* Creates data and metadata for a setcontrol packet
- * Returns data size.
- */
-ssize_t EncodeSetparam(
- struct metadata * m, /* data_len and msg_type will be populated*/
- uint8_t * data, /* Output buffer */
- size_t data_size, /* Max buffer size */
- const struct controller_message * cm) /* Message to encode */
-{
- m->msg_type = SETPARAM_ID;
- m->data_len = SP_DATA_SIZE;
-
- if (data_size < SP_DATA_SIZE) {
- return -1;
- }
-
- data[CTRL_ID] = cm->id;
- data[CTRLVAL_ID] = cm->value_id;
- data[VAL_1] = FloatByte1(cm->value);
- data[VAL_2] = FloatByte2(cm->value);
- data[VAL_3] = FloatByte3(cm->value);
- data[VAL_4] = FloatByte4(cm->value);
-
- return SP_DATA_SIZE;
-}
-
-/* Decode a metadata and data to populate a controller.
- * Returns 0 on success, -1 on failure.
- */
-int DecodeSetparam(
- struct controller_message * cm, /* Decoded controller message */
- const struct metadata * m, /* Metadata to aid in decoding */
- const uint8_t * data) /* Data to decode */
-{
- if (m->data_len < SP_DATA_SIZE) {
- return -1;
- }
- if (m->msg_type != SETPARAM_ID) {
- return -1;
- }
-
-
- cm->id = data[CTRL_ID];
- cm->value_id = data[CTRLVAL_ID];
- cm->value = BytesToFloat(data[VAL_1], data[VAL_2],
- data[VAL_3], data[VAL_4]);
-
- return 0;
-}
diff --git a/groundStation/src/backend/setparam.h b/groundStation/src/backend/setparam.h
deleted file mode 100644
index d3d251a2e..000000000
--- a/groundStation/src/backend/setparam.h
+++ /dev/null
@@ -1,27 +0,0 @@
-#ifndef _setparam_h
-#define _setparam_h
-
-#include "../../../common/packet.h"
-#include "../../../common/controller.h"
-
-#include <sys/types.h>
-
-/* Creates data and metadata for a setcontrol packet
- * Returns data size.
- */
-ssize_t EncodeSetparam(
- struct metadata * m, /* data_len and msg_type will be populated*/
- uint8_t * data, /* Output buffer */
- size_t data_size, /* Max buffer size */
- const struct controller_message * cm); /* Message to encode */
-
-/* Decode a metadata and data to populate a controller.
- * Returns 0 on success, -1 on failure.
- */
-int DecodeSetparam(
- struct controller_message * cm, /* Decoded controller message */
- const struct metadata * m, /* Metadata to aid in decoding */
- const uint8_t * data); /* Data to decode */
-
-
-#endif
diff --git a/groundStation/src/backend/source.c b/groundStation/src/backend/source.c
new file mode 100644
index 000000000..dac52612d
--- /dev/null
+++ b/groundStation/src/backend/source.c
@@ -0,0 +1,114 @@
+#include <sys/types.h>
+
+#include "source.h"
+#include "../../../common/commands.h"
+#include "bitwise.h"
+
+
+enum GetsourceData {
+ GS_BLOCK_ID_L,
+ GS_BLOCK_ID_H,
+ GS_INPUT_ID_L,
+ GS_INPUT_ID_H,
+ GS_DATA_SIZE
+};
+
+/* Creates data and metadata for a setcontrol packet
+ * Returns data size.
+ */
+ssize_t EncodeGetSource(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const char * msg) /* Message to encode */
+{
+ m->msg_type = GETSOURCE_ID;
+ m->data_len = GS_DATA_SIZE;
+
+ if (data_size < GS_DATA_SIZE) {
+ return -1;
+ }
+ uint16_t block, input;
+
+ sscanf(msg, "getsource %hu %hu", &block, &input);
+
+ data[GS_BLOCK_ID_L] = LSByte16(block);
+ data[GS_BLOCK_ID_H] = MSByte16(block);
+ data[GS_INPUT_ID_L] = LSByte16(input);
+ data[GS_INPUT_ID_H] = MSByte16(input);
+
+ return GS_DATA_SIZE;
+}
+
+enum SetsourceData {
+ SS_DST_BLOCK_ID_L,
+ SS_DST_BLOCK_ID_H,
+ SS_DST_INPUT_ID_L,
+ SS_DST_INPUT_ID_H,
+ SS_SRC_BLOCK_ID_L,
+ SS_SRC_BLOCK_ID_H,
+ SS_SRC_OUTPUT_ID_L,
+ SS_SRC_OUTPUT_ID_H,
+ SS_DATA_SIZE
+};
+
+/* Creates data and metadata for a setcontrol packet
+ * Returns data size.
+ */
+ssize_t EncodeSetSource(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const char * msg) /* Message to encode */
+{
+ m->msg_type = SETSOURCE_ID;
+ m->data_len = SS_DATA_SIZE;
+
+ if (data_size < SS_DATA_SIZE) {
+ return -1;
+ }
+
+ uint16_t dst_block, dst_input;
+ uint16_t src_block, src_output;
+
+ sscanf(msg, "setsource %hu %hu %hu %hu", &dst_block, &dst_input, &src_block, &src_output);
+
+ data[SS_DST_BLOCK_ID_L] = LSByte16(dst_block);
+ data[SS_DST_BLOCK_ID_H] = MSByte16(dst_block);
+ data[SS_DST_INPUT_ID_L] = LSByte16(dst_input);
+ data[SS_DST_INPUT_ID_H] = MSByte16(dst_input);
+
+ data[SS_SRC_BLOCK_ID_L] = LSByte16(src_block);
+ data[SS_SRC_BLOCK_ID_H] = MSByte16(src_block);
+ data[SS_SRC_OUTPUT_ID_L] = LSByte16(src_output);
+ data[SS_SRC_OUTPUT_ID_H] = MSByte16(src_output);
+
+ return SS_DATA_SIZE;
+}
+
+
+enum ResponseData {
+ RESP_DST_BLOCK_ID,
+ RESP_DST_INPUT_ID,
+ RESP_SRC_BLOCK_ID,
+ RESP_SRC_OUTPUT_ID,
+ RESP_DATA_SIZE
+};
+
+/* Decode a metadata and data to populate a controller.
+ * Returns bytes written to msg, -1 on failure.
+ */
+int DecodeResponseSource(
+ char * msg, /* Decoded controller message */
+ const struct metadata * m, /* Metadata to aid in decoding */
+ const uint8_t * data) /* Data to decode */
+{
+ if (m->data_len < RESP_DATA_SIZE) {
+ return -1;
+ }
+ if (m->msg_type != RESPSOURCE_ID) {
+ return -1;
+ }
+
+ return sprintf(msg, "getsource %d %d\n", data[RESP_SRC_BLOCK_ID], data[RESP_SRC_OUTPUT_ID]);
+}
diff --git a/groundStation/src/backend/source.h b/groundStation/src/backend/source.h
new file mode 100644
index 000000000..577f27717
--- /dev/null
+++ b/groundStation/src/backend/source.h
@@ -0,0 +1,35 @@
+#ifndef _source_h
+#define _source_h
+
+#include "packet.h"
+
+#include <sys/types.h>
+
+
+/* Creates data and metadata for a getcontrol packet.
+ * Returns data size.
+ */
+ssize_t EncodeGetSource(
+ struct metadata *m, /* Out */
+ uint8_t *data, /* Out */
+ size_t data_size, /* Data buffer max size */
+ const char * msg); /* Value is not used; only IDs */
+
+/* Creates data and metadata for a setcontrol packet
+ * Returns data size.
+ */
+ssize_t EncodeSetSource(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const char * msg); /* Message to encode */
+
+/* Decode a metadata and data to populate a controller.
+ * Returns bytes written to msg, -1 on failure.
+ */
+int DecodeResponseSource(
+ char * msg, /* Out */
+ const struct metadata *m, /* In */
+ const uint8_t * data); /* In */
+
+#endif
diff --git a/groundStation/src/backend/update.c b/groundStation/src/backend/update.c
index c7553575f..1f51f0be7 100644
--- a/groundStation/src/backend/update.c
+++ b/groundStation/src/backend/update.c
@@ -1,6 +1,6 @@
#include "update.h"
#include "../../../common/commands.h"
-#include "../../../common/bitwise.h"
+#include "bitwise.h"
#include <sys/types.h>
diff --git a/groundStation/src/backend/update.h b/groundStation/src/backend/update.h
index 6491823d7..783a861ca 100644
--- a/groundStation/src/backend/update.h
+++ b/groundStation/src/backend/update.h
@@ -1,7 +1,7 @@
#ifndef _update_h
#define _update_h
-#include "../../../common/packet.h"
+#include "packet.h"
#include <sys/types.h>
diff --git a/groundStation/src/cli/cli.h b/groundStation/src/cli/cli.h
index e82bd5cda..707d16836 100644
--- a/groundStation/src/cli/cli.h
+++ b/groundStation/src/cli/cli.h
@@ -1,40 +1,38 @@
#ifndef __CLI_H
#define __CLI_H
-#include "cli_setsetpoint.h"
-#include "cli_getsetpoint.h"
#include "cli_monitor.h"
-#include "cli_setpid.h"
-#include "cli_getpid.h"
-#include "cli_getimu.h"
+#include "cli_source.h"
+#include "cli_param.h"
+#include "cli_output.h"
enum CommandNameIds{
CMD_MONITOR,
- CMD_GETPID,
- CMD_SETPID,
- CMD_GETIMU,
- CMD_SETSETPOINT,
- CMD_GETSETPOINT,
+ CMD_GETSOURCE,
+ CMD_SETSOURCE,
+ CMD_GETPARAM,
+ CMD_SETPARAM,
+ CMD_GETOUTPUT,
MAX_COMMANDS
};
typedef int (*cli_function_ptr)(struct backend_conn *, int, char **);
static cli_function_ptr cli_functions[] = {
&cli_monitor,
- &cli_getpid,
- &cli_setpid,
- &cli_getimu,
- &cli_setsetpoint,
- &cli_getsetpoint
+ &cli_getsource,
+ &cli_setsource,
+ &cli_getparam,
+ &cli_setparam,
+ &cli_getoutput,
};
static char* commandNames[MAX_COMMANDS] = {
"monitor",
- "getpid",
- "setpid",
- "getimu",
- "setsetpoint",
- "getsetpoint"
+ "getsource",
+ "setsource",
+ "getparam",
+ "setparam",
+ "getoutput"
};
#endif /* __CLI_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_getimu.c b/groundStation/src/cli/cli_getimu.c
deleted file mode 100644
index 5825140af..000000000
--- a/groundStation/src/cli/cli_getimu.c
+++ /dev/null
@@ -1,8 +0,0 @@
-#include <stdio.h>
-
-#include "cli_getimu.h"
-
-int cli_getimu(struct backend_conn * conn, int argc, char ** argv) {
- printf("This functionality has not been added yet\n");
- return 0;
-}
diff --git a/groundStation/src/cli/cli_getimu.h b/groundStation/src/cli/cli_getimu.h
deleted file mode 100644
index 2535f1ae8..000000000
--- a/groundStation/src/cli/cli_getimu.h
+++ /dev/null
@@ -1,8 +0,0 @@
-#ifndef __CLI_GETIMU_H
-#define __CLI_GETIMU_H
-
-#include "frontend_getimu.h"
-
-int cli_getimu(struct backend_conn * conn, int argc, char ** argv);
-
-#endif /* __CLI_GETIMU_H */
\ No newline at end of file
--
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