diff --git a/groundStation/Makefile b/groundStation/Makefile
index f0d6737fbe1159f47ffd25a55f839f40cf2e6e04..d00c5d4ce7a8ac04c3f33a0eeded2e839140bea1 100644
--- a/groundStation/Makefile
+++ b/groundStation/Makefile
@@ -6,8 +6,8 @@ GXX=g++
CFLAGS= -Wall -pedantic -Wextra -Werror -std=gnu99 -g -Wno-unused-parameter -Wno-unused-variable -Wno-unused-function -Wno-unused-but-set-variable
CXXFLAGS= -Wall -pedantic -Wextra -Werror -Wno-reorder -Wno-unused-variable -std=c++0x -g
INCLUDES = $(foreach dir, $(INCDIR), -I$(dir))
-INCDIR=../quad/inc src/vrpn src/vrpn/quat src/vrpn/build $(BESRCDIR) $(CLISRCDIR) $(FESRCDIR)
-LIBS= -lpthread -lbluetooth -lvrpn -lquat -Lsrc/vrpn/build -Lsrc/vrpn/build/quat -lcomputation_graph -L../quad/lib -lcommands
+INCDIR= src/vrpn src/vrpn/quat src/vrpn/build $(BESRCDIR) $(CLISRCDIR) $(FESRCDIR) ../quad/inc
+LIBS= -lpthread -lbluetooth -lvrpn -lquat -Lsrc/vrpn/build -Lsrc/vrpn/build/quat -L../quad/lib -lquad_app -lcommands -lgraph_blocks -lcomputation_graph
OBJDIR=obj
# Backend Specific Variables
@@ -50,7 +50,6 @@ cli: $(CLIOBJECTS) $(FECOBJECTS)
$(CLIOBJECTS) : $(OBJDIR)/%.o : $(CLISRCDIR)/%.c
$(GCC) $(CFLAGS) -c $^ -o $@ $(INCLUDES) $(LIBS)
-
backend: $(BECPPOBJECTS) $(BECOBJECTS)
$(GXX) $(CXXFLAGS) $^ -o $(BEBINARY) $(INCLUDES) $(LIBS)
@@ -79,5 +78,4 @@ clean_logs:
clean:
rm -rf $(OBJDIR)/ $(BEBINARY) $(CLIBINARY) $(SYMLINKS)
-debug:
- @echo $(COMOBJECTS)
+debug:
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_nodes.c b/groundStation/src/cli/cli_nodes.c
index af51d9cb2c3c3d2954547dc102f88d682e5ff13c..341a8f05933369847150a9b97d6715a07e454ab9 100644
--- a/groundStation/src/cli/cli_nodes.c
+++ b/groundStation/src/cli/cli_nodes.c
@@ -6,6 +6,8 @@
#include "cli.h"
#include "cli_nodes.h"
#include "frontend_nodes.h"
+#include "graph_blocks.h"
+
int cli_getnodes(struct backend_conn * conn, int argc, char ** argv) {
size_t num_nodes = 0;
@@ -13,6 +15,9 @@ int cli_getnodes(struct backend_conn * conn, int argc, char ** argv) {
int needHelp = 0;
+ size_t i, n;
+
+
if ((needHelp = help_check(argc, argv))) {
printf("getnodes gets the number of nodes along with the block_id, type_id and name of each node\n");
printf("Usage Syntax : \n\t./Cli getnodes\n");
@@ -37,9 +42,35 @@ int cli_getnodes(struct backend_conn * conn, int argc, char ** argv) {
printf("------------------------------------------------\n");
printf("\tBLOCK\t\tTYPE\t\tNAME\n");
printf("------------------------------------------------\n");
- for(size_t i = 0; i < num_nodes; ++i) {
- printf("\t%3d\t\t%3d\t\t%s\n", node_data[i].block, node_data[i].type, node_data[i].name);
+ for(i = 0; i < num_nodes; ++i) {
+ printf("\t%3d\t\t%3d\t\t%s\t", node_data[i].block, node_data[i].type, node_data[i].name);
+
+ const struct graph_node_type * node_definition = blockDefs[node_data[i].type];
+ printf(" {");
+
+ for(n = 0; n < (size_t)node_definition->n_inputs; ++n) {
+ printf(" %-5s ", node_definition->input_names[n]);
+ }
+ printf("} ");
+
+ printf(" {");
+
+ for(n = 0; n < (size_t)node_definition->n_params; ++n) {
+ printf(" %s ", node_definition->param_names[n]);
+ }
+ printf("} ");
+
+ printf(" {");
+
+ for(n = 0; n < (size_t)node_definition->n_outputs; ++n) {
+ printf(" %s ", node_definition->output_names[n]);
+ }
+ printf("}\n");
+
+
+ free(node_data[i].name);
}
+
free(node_data);
return 0;
}
diff --git a/groundStation/src/cli/cli_param.c b/groundStation/src/cli/cli_param.c
index f509ed092e0ee50233c56291dea995d28db93d2d..4cc50b3f6b968181c56cc5ab6d36295e90b52273 100644
--- a/groundStation/src/cli/cli_param.c
+++ b/groundStation/src/cli/cli_param.c
@@ -4,12 +4,12 @@
#include "cli.h"
#include "cli_param.h"
-#include "frontend_param.h"
int cli_getparam(struct backend_conn * conn, int argc, char ** argv) {
int needHelp = 0;
struct frontend_param_data param_data;
-
+
+
if ((needHelp = help_check(argc, argv))) {
printf("getparam gets the param_val for a specified block_id and param_id\n");
printf("Usage Syntax : \n\t./Cli getparam block_id param_id\n");
@@ -22,8 +22,9 @@ int cli_getparam(struct backend_conn * conn, int argc, char ** argv) {
return 1;
}
- param_data.block = atoi(argv[1]);
- param_data.param = atoi(argv[2]);
+ if (convert_to_id(conn, argv, ¶m_data)) {
+ return 1;
+ }
if (frontend_getparam(conn, ¶m_data)) {
return 1;
@@ -53,8 +54,11 @@ int cli_setparam(struct backend_conn * conn, int argc, char ** argv) {
return 1;
}
- param_data.block = atoi(argv[1]);
- param_data.param = atoi(argv[2]);
+
+ if (convert_to_id(conn, argv, ¶m_data)) {
+ return 1;
+ }
+
param_data.value = atoi(argv[3]);
if (frontend_setparam(conn, ¶m_data)) {
diff --git a/groundStation/src/cli/cli_param.h b/groundStation/src/cli/cli_param.h
index 2ded347749c77d0f5d6d85e5c28a7371f2da46f5..f80b7829257c8ff9a3ea8517fa5a5f6227b604f5 100644
--- a/groundStation/src/cli/cli_param.h
+++ b/groundStation/src/cli/cli_param.h
@@ -1,7 +1,92 @@
#ifndef _CLI_PARAM_H
#define _CLI_PARAM_H
+#include <ctype.h>
+#include <string.h>
+
#include "frontend_param.h"
+#include "frontend_nodes.h"
+#include "graph_blocks.h"
+
+
+static int isNumber(char *number)
+{
+ int i = 0;
+ //checking for negative numbers
+ if (number[0] == '-')
+ i = 1;
+ for (; number[i] != 0; i++)
+ {
+ //if (number[i] > '9' || number[i] < '0')
+ if (!isdigit(number[i]))
+ return 0;
+ }
+ return 1;
+}
+
+static int convert_to_id(struct backend_conn * conn, char **argv, struct frontend_param_data * param_data) {
+ /* variables used to search for id values */
+ size_t num_nodes = 0, i;
+ struct frontend_node_data* search_data;
+ int search_for_block = 0, search_for_param = 0;
+ const struct graph_node_type * node_definition;
+
+
+ if (!isNumber(argv[1])) {
+ search_for_block = 1;
+ } else {
+ param_data->block = atoi(argv[1]);
+ }
+
+ if (!isNumber(argv[2])) {
+ search_for_param = 1;
+ } else {
+ param_data->param = atoi(argv[2]);
+ }
+
+ if (!search_for_block && !search_for_param) {
+ return 0;
+ }
+
+ search_data = malloc(sizeof((*search_data)) * num_nodes);
+
+ if (frontend_getnodes(conn, &search_data, &num_nodes)) {
+ return 1;
+ }
+
+ if (search_for_block) {
+ for (i = 0; i < num_nodes; ++i) {
+ if (strncmp(search_data[i].name, argv[1], strlen(search_data[i].name)) == 0) {
+ param_data->block = search_data[i].block;
+ node_definition = blockDefs[search_data[i].type];
+ break;
+ }
+ }
+ }
+
+ if (i == num_nodes)
+ return 1;
+
+ if (search_for_param) {
+ if (!search_for_block) {
+ node_definition = blockDefs[search_data[param_data->block].type];
+ }
+ for (i = 0; i < (size_t)node_definition->n_params; ++i) {
+ if (strncmp(node_definition->param_names[i],
+ argv[2],
+ strlen(node_definition->param_names[i])) == 0) {
+ param_data->param = i;
+ search_for_param = 0;
+ break;
+ }
+ }
+ }
+ for(i = 0; i < num_nodes; ++i) {
+ free(search_data[i].name);
+ }
+ free(search_data);
+ return search_for_param;
+}
int cli_getparam(struct backend_conn * conn, int argc, char ** argv);
int cli_setparam(struct backend_conn * conn, int argc, char ** argv);
diff --git a/groundStation/src/frontend/frontend_common.h b/groundStation/src/frontend/frontend_common.h
index f4ed6b740fd63017615484fb1e85f1f79a37b551..9b2bbdeaf5b81a6621c6ba1c98930e3145e99b88 100644
--- a/groundStation/src/frontend/frontend_common.h
+++ b/groundStation/src/frontend/frontend_common.h
@@ -41,7 +41,7 @@ struct frontend_source_data {
struct frontend_node_data {
int16_t block;
int16_t type;
- char name[512]; /* This should be more than enough room for a node name */
+ char *name;
};
#endif /* __FRONTEND_COMMON_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_nodes.c b/groundStation/src/frontend/frontend_nodes.c
index 26a45c60a609df3e4725a834f26061b898385949..6f2ef72e9c6bedda79d88be8ce9f997730fa35e8 100644
--- a/groundStation/src/frontend/frontend_nodes.c
+++ b/groundStation/src/frontend/frontend_nodes.c
@@ -10,6 +10,10 @@
* all of the nodes in the current comp_graph.
*
* Returns 0 on success, 1 on error
+ *
+ *
+ * Note : node_data may be resized inside this function.
+ * That is why you must pass in a strcut ... **
*/
int frontend_getnodes(
struct backend_conn * conn,
@@ -68,11 +72,13 @@ int frontend_getnodes(
}
for (size_t i = 0; i < *num_nodes; ++i) {
- sscanf(response, " '%[^\t\n']' %n", (char *)&arr[i].name, (int *)&offset);
+ char tmp_name[512];
+ sscanf(response, " '%[^\t\n']' %n", (char *)&tmp_name, (int *)&offset);
+ arr[i].name = malloc(sizeof(*arr[i].name) * strlen(tmp_name) + 1);
+ strcpy((char*)arr[i].name, tmp_name);
// printf("found name '%s'\n", arr[i].name);
response += offset;
}
-
pendingResponses--;
}
diff --git a/groundStation/src/frontend/frontend_nodes.h b/groundStation/src/frontend/frontend_nodes.h
index 538a7cad6b132f42083f13fd6129a3b061c34b76..8410d12decb915d23e77e9c71263065177ecb58b 100644
--- a/groundStation/src/frontend/frontend_nodes.h
+++ b/groundStation/src/frontend/frontend_nodes.h
@@ -7,6 +7,9 @@
* all of the nodes in the current comp_graph.
*
* Returns 0 on success, 1 on error
+ *
+ * Note : node_data may be resized inside this function.
+ * That is why you must pass in a strcut ... **
*/
int frontend_getnodes(
struct backend_conn * conn,
diff --git a/quad/src/graph_blocks/graph_blocks.h b/quad/src/graph_blocks/graph_blocks.h
index 12382fda407c98694a7c799170feba12e824ddb6..812e2a844a15ed0afba19d7fd3f2b78b8a5ea997 100644
--- a/quad/src/graph_blocks/graph_blocks.h
+++ b/quad/src/graph_blocks/graph_blocks.h
@@ -22,7 +22,6 @@
*/
-
/*
* Enumerates all the types of different block types.
* Must match blockDefs
diff --git a/quad/src/quad_app/Makefile b/quad/src/quad_app/Makefile
index ffe41ddcba74e67aad0dacc4b28ff9788d1034d2..02cc8d007386acd8b03e61623248cd1e75059829 100644
--- a/quad/src/quad_app/Makefile
+++ b/quad/src/quad_app/Makefile
@@ -2,6 +2,5 @@ TOP=../..
NAME = quad_app
REQLIBS = -ltest -lcomputation_graph -lm -lqueue -lgraph_blocks -lcommands
-REQLIBS = -ltest -lcomputation_graph -lm -lqueue -lcommands
include $(TOP)/library.mk