From 4adf95a6528378a3acfd4e11f42b8fdc1ef95879 Mon Sep 17 00:00:00 2001
From: burneykb <burneykb@iastate.edu>
Date: Mon, 13 Feb 2017 09:20:44 -0600
Subject: [PATCH] data dumping after auto. flight works correctly
---
groundStation/src/backend/backend.c | 37 +++++++++++++++++++++--------
groundStation/src/backend/config.h | 4 ++--
2 files changed, 29 insertions(+), 12 deletions(-)
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index db4ec5d73..d206bb5b2 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -44,7 +44,7 @@
#define QUAD_BT_ADDR "00:06:66:64:61:D6"
#define QUAD_BT_CHANNEL 0x01
-#define CMD_MAX_LENGTH 1024
+#define CMD_MAX_LENGTH 4096
#define MAX_HASH_SIZE 50
/* Backend-internal command magics */
@@ -269,7 +269,6 @@ int main(int argc, char **argv)
* Ignore stdin from the backend
*/
} else if (fd == zyboSocket) {
- printf("recieving from quad\n");
quad_recv();
} else if (fd == backendSocket) {
int new_fd = 0;
@@ -714,11 +713,11 @@ static void client_recv(int fd) {
}
static void quad_recv() {
- static unsigned char respBuf[4096];
+ static unsigned char respBuf[CMD_MAX_LENGTH];
static size_t respBufLen;
struct metadata m;
- uint8_t data[4096];
+ uint8_t data[CMD_MAX_LENGTH];
size_t respLen;
ssize_t datalen;
size_t packetlen;
@@ -727,31 +726,48 @@ static void quad_recv() {
CMD_MAX_LENGTH - respBufLen);
if (respLen <= 0) {
perror("ERROR reading from quad...\n");
+ respBufLen = 0;
return;
}
respBufLen += respLen;
// printf("packet = '");
// for(int i = 0; i < (int)respBufLen; ++i) {
- // printf(" %.2x ", respBuf[i]);
+ // printf(" 0x%.2x ", respBuf[i]);
// }
// printf("'\n");
while(respBufLen){
- datalen = DecodePacket(&m, data, 2048, respBuf, respBufLen);
-
+ datalen = DecodePacket(&m, data, CMD_MAX_LENGTH, respBuf, respBufLen);
if (datalen == -1) {
- warnx("No start Byte!\n");
+ warnx("No start Byte");
+ for (size_t i = 0; i < respBufLen; ++i) {
+ if (respBuf[i] == BEGIN_CHAR) {
+ memmove(respBuf, respBuf + i, respBufLen - i);
+ respBufLen -=i;
+ return;
+ }
+
+ }
respBufLen = 0;
return;
}
if (datalen == -5) {
- warnx("Chechsum mismatch!\n");
+ warnx("Chechsum mismatch");
+ for (size_t i = 0; i < respBufLen; ++i) {
+ if (respBuf[i] == BEGIN_CHAR) {
+ memmove(respBuf, respBuf + i, respBufLen - i);
+ respBufLen -=i;
+ return;
+ }
+
+ }
respBufLen = 0;
return;
}
if (datalen < 0){
/* Not enough data yet. We need to wait for more */
+ // printf("not enough\n");
return;
}
@@ -769,8 +785,9 @@ static void quad_recv() {
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);
+ // fflush(quadlog_file);
break;
case RESPONSE_ID:
printf("(Backend): response id found\n");
diff --git a/groundStation/src/backend/config.h b/groundStation/src/backend/config.h
index 64691610d..9bb8e0983 100644
--- a/groundStation/src/backend/config.h
+++ b/groundStation/src/backend/config.h
@@ -13,8 +13,8 @@
// backend with sudo elevation and with the --preserve-env flag or -E
#define QUAD_WIFI_ENV "UCART_USE_WIFI"
#define QUAD_IP_ENV "UCART_QUAD_IP"
-#define QUAD_IP_DEFAULT "192.168.4.1"
+#define QUAD_IP_DEFAULT "192.168.1.1"
#define QUAD_PORT_ENV "UCART_QUAD_PORT"
#define QUAD_PORT_DEFAULT 8080
-#endif /* __CONFIG_H */
\ No newline at end of file
+#endif /* __CONFIG_H */
--
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