From 691deb57b775f7fbf6e596b0ff90b50f28ee9d49 Mon Sep 17 00:00:00 2001
From: Jake Drahos <j@kedrahos.com>
Date: Sun, 30 Oct 2016 20:15:54 -0500
Subject: [PATCH] Added support for using WiFi
---
groundStation/Makefile | 2 +-
groundStation/src/config.h | 5 +++
groundStation/src/microcart_cli.c | 64 +++++++++++++++++++++++++------
3 files changed, 58 insertions(+), 13 deletions(-)
diff --git a/groundStation/Makefile b/groundStation/Makefile
index d62850d9b..91b61ceb4 100644
--- a/groundStation/Makefile
+++ b/groundStation/Makefile
@@ -2,7 +2,7 @@
GCC=gcc
GXX=g++
CFLAGS= -Wall -Wpedantic -Wextra -Werror -std=c99 -g -Wno-unused-parameter -Wno-unused-variable -Wno-unused-function -Wno-unused-but-set-variable
-CXXFLAGS= -Wall -Wno-reorder -std=c++11 -g
+CXXFLAGS= -Wall -Wno-reorder -std=c++0x -g
INCLUDES = $(foreach dir, $(INCDIR), -I$(dir))
# Directories
diff --git a/groundStation/src/config.h b/groundStation/src/config.h
index 0e2077cca..916058810 100644
--- a/groundStation/src/config.h
+++ b/groundStation/src/config.h
@@ -6,5 +6,10 @@
#define SOCKET_ENV "UCART_SOCKET"
#define NOQUAD_ENV "UCART_NO_QUAD"
+#define QUAD_WIFI_ENV "UCART_USE_WIFI"
+#define QUAD_IP_ENV "UCART_QUAD_IP"
+#define QUAD_IP_DEFAULT "192.168.4.1"
+#define QUAD_PORT_ENV "UCART_QUAD_PORT"
+#define QUAD_PORT_DEFAULT 8080
#endif
diff --git a/groundStation/src/microcart_cli.c b/groundStation/src/microcart_cli.c
index a439a897a..9ee3712b8 100644
--- a/groundStation/src/microcart_cli.c
+++ b/groundStation/src/microcart_cli.c
@@ -4,6 +4,7 @@
*/
#define _GNU_SOURCE
+#define _BSD_SOURCE
//system includes
#include <err.h>
@@ -13,6 +14,8 @@
#include <signal.h>
#include <sys/socket.h>
#include <sys/un.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
#include <sys/select.h>
#include <bluetooth/bluetooth.h>
#include <bluetooth/rfcomm.h>
@@ -366,25 +369,62 @@ void printVrpnData(struct ucart_vrpn_TrackerData * td) {
int connectToZybo() {
int sock;
- struct sockaddr_rc addr;
+ int status;
- // allocate a socket
- sock = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
+ /* Use bluetooth by default */
+ if (getenv(QUAD_WIFI_ENV) == NULL) {
+ struct sockaddr_rc addr;
- //set the connection params ie. who to connect to
- addr.rc_family = AF_BLUETOOTH;
- addr.rc_channel = (uint8_t) QUAD_BT_CHANNEL;
- str2ba( QUAD_BT_ADDR, &addr.rc_bdaddr );
-
- printf("Attempting to connect to zybo. Please be patient...\n");
- // blocking call to connect to socket sock ie. zybo board
- int status = connect(sock, (struct sockaddr *)&addr, sizeof(addr));
+ // allocate a socket
+ sock = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
+
+ //set the connection params ie. who to connect to
+ addr.rc_family = AF_BLUETOOTH;
+ addr.rc_channel = (uint8_t) QUAD_BT_CHANNEL;
+ str2ba( QUAD_BT_ADDR, &addr.rc_bdaddr );
+
+ printf("Attempting to connect to zybo. Please be patient...\n");
+ // blocking call to connect to socket sock ie. zybo board
+ status = connect(sock, (struct sockaddr *)&addr, sizeof(addr));
+ } else {
+ struct sockaddr_in addr;
+
+ addr.sin_family = AF_INET;
+
+ /* Quick and Dirty */
+ if (getenv(QUAD_IP_ENV)) {
+ if (!inet_aton(getenv(QUAD_IP_ENV), &addr.sin_addr)) {
+ fprintf(stderr, "Env var %s invalid IP %s\n",
+ QUAD_IP_ENV, getenv(QUAD_IP_ENV));
+ return -1;
+ }
+ } else {
+ if (!inet_aton(QUAD_IP_DEFAULT, &addr.sin_addr)) {
+ fprintf(stderr, "Default IP %s is invalid\n",
+ QUAD_IP_DEFAULT);
+ return -1;
+ }
+ }
+
+ if (getenv(QUAD_PORT_ENV)) {
+ /* Quick 'n dirty, oh yeah! */
+ addr.sin_family = atoi(getenv(QUAD_PORT_ENV));
+ } else {
+ addr.sin_family = QUAD_PORT_DEFAULT;
+ }
+
+ sock = socket(AF_INET, SOCK_STREAM, 0);
+ if (sock < 0) {
+ perror("socket");
+ return -1;
+ }
+ }
// connection failed
if(status < 0)
{
close(sock);
- printf("Connection failed!...\n");
+ perror("connect");
return -1;
}
else
--
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