From 6519d941e35482d9b20cbabf21681b0d5e87df67 Mon Sep 17 00:00:00 2001
From: Jake Drahos <j@kedrahos.com>
Date: Mon, 28 Nov 2016 12:54:52 -0600
Subject: [PATCH] Monitor of trackerdata finally works
Added nanosleep to make rate work right, also
switched from -t for total time to -c for count
---
groundStation/src/backend/backend.c | 5 ++-
groundStation/src/cli/cli_monitor.c | 60 +++++++++++++++--------------
2 files changed, 36 insertions(+), 29 deletions(-)
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index 0803aa983..7bc7969ab 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -635,7 +635,10 @@ static void client_recv(int fd) {
if (strncmp(buffer, TD_MAGIC, strlen(TD_MAGIC)) == 0) {
/* Request for tracker data */
struct ucart_vrpn_TrackerData td;
- if (ucart_vrpn_tracker_getData(tracker, &td)) {
+ if (tracker == NULL) {
+ char * dummy = TD_MAGIC " 1.0 2.0 3.0 4.0 5.0 6.0\n";
+ write(fd, dummy, strlen(dummy));
+ }else if (ucart_vrpn_tracker_getData(tracker, &td)) {
write(fd, TD_MAGIC " ERROR\n", strlen(TD_MAGIC " ERROR\n"));
} else {
/* more than sufficient buffer */
diff --git a/groundStation/src/cli/cli_monitor.c b/groundStation/src/cli/cli_monitor.c
index aef07810b..ea5a7b8c7 100644
--- a/groundStation/src/cli/cli_monitor.c
+++ b/groundStation/src/cli/cli_monitor.c
@@ -14,20 +14,17 @@ static void timespec_diff(struct timespec *start, struct timespec *result);
int cli_monitor(struct backend_conn * conn, int argc, char **argv) {
int c, result;
- int timeFlag = 0;
+ int countFlag = 0;
- static struct timespec startTime;
- static struct timespec elapsedTime;
- static struct timespec lastChecked;
- static int nsecs, rate = 10;
- static int forever = 0;
+ int count, rate = 10;
+ int forever = 0;
- while ((c = getopt(argc, argv, "ft:r:")) != -1) {
+ while ((c = getopt(argc, argv, "fc:r:")) != -1) {
switch(c) {
- case 't' :
- nsecs = atoi(optarg);
- timeFlag = 1;
+ case 'c' :
+ count = atoi(optarg);
+ countFlag = 1;
break;
case 'r' :
rate = atoi(optarg) + 1;
@@ -42,23 +39,30 @@ int cli_monitor(struct backend_conn * conn, int argc, char **argv) {
if (forever) {
for (;;) {
+ struct timespec req;
+ if (rate == 1) {
+ req.tv_sec = 1;
+ req.tv_nsec = 0;
+ } else {
+ req.tv_sec = 0;
+ req.tv_nsec = 1000000000 / rate;
+ }
+ nanosleep(&req, NULL);
monitor(conn);
}
- } else if (timeFlag) {
- clock_gettime(CLOCK_REALTIME, &startTime);
- clock_gettime(CLOCK_REALTIME, &lastChecked);
- while((result = monitor(conn)) == 0) {
- timespec_diff(&startTime, &elapsedTime);
- if(elapsedTime.tv_sec > nsecs) {
- break;
- }
- while(1) {
- timespec_diff(&lastChecked, &elapsedTime);
- if(elapsedTime.tv_nsec >= (long) ((SECOND_IN_NANO * 2) / rate)) {
- clock_gettime(CLOCK_REALTIME, &lastChecked);
- break;
- }
+ } else if (countFlag) {
+ for (int i = 0; i < count; i++) {
+ result = monitor(conn);
+
+ struct timespec req;
+ if (rate == 1) {
+ req.tv_sec = 1;
+ req.tv_nsec = 0;
+ } else {
+ req.tv_sec = 0;
+ req.tv_nsec = 1000000000 / rate;
}
+ nanosleep(&req, NULL);
}
} else {
return monitor(conn);
@@ -81,14 +85,14 @@ int monitor(struct backend_conn * conn) {
printf("\033[2J");
printf("STATUS: NA\n");
printf("CTRLR :\tP\tR\tY\tP_V\tR_V\tY_V\tH\tLAT\tLON\n");
- printf(" P :\t%7lf\t%7lf\t%7lf\t%7lf\t%7lf\t%7lf\t%7lf\t%7lf\t%7lf\n",
+ printf(" P :\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\n",
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
- printf(" I :\t%7lf\t%7lf\t%7lf\t%7lf\t%7lf\t%7lf\t%7lf\t%7lf\t%7lf\n",
+ printf(" I :\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\n",
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
- printf(" D :\t%7lf\t%7lf\t%7lf\t%7lf\t%7lf\t%7lf\t%7lf\t%7lf\t%7lf\n",
+ printf(" D :\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\n",
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
printf("PosAtt:\tH\tLAT\tLON\tP\tR\tY\n");
- printf(" :\t%7lf\t%7lf\t%7lf\t%7lf\t%7lf\t%7lf\n",
+ printf(" :\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\n",
td.height, td.lateral, td.longitudinal,
td.pitch, td.roll, td.yaw);
--
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