diff --git a/.gitmodules b/.gitmodules
index 1d7f28ad9b1e45d495b9440664eac40bad1ac6cf..6821767e986fef35ecf107d7b79b6ae27c0834bb 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,4 @@
[submodule "groundStation/src/vrpn"]
path = groundStation/src/vrpn
url = https://github.com/vrpn/vrpn
+ ignore = dirty
diff --git a/ci-build.sh b/ci-build.sh
index f2ee59eb3b1ecf1ff64936b8e32e215800177266..5b7ac989fe13ff8797d142124bda419aea73d0d2 100644
--- a/ci-build.sh
+++ b/ci-build.sh
@@ -3,4 +3,5 @@
set -e
# Quad Libraries and Boot image
-cd quad && make boot
+(cd quad && make)
+(cd groundStation && make)
diff --git a/common/common.txt b/common/common.txt
deleted file mode 100644
index 3a20094073732be5f5bed0035644f2193a85cdbc..0000000000000000000000000000000000000000
--- a/common/common.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-The common files are:
- - setcontrol.h
- - setcontrol.c
diff --git a/common/examples_c b/common/examples_c
deleted file mode 100644
index 036ddeb3c0443a88d42568cbcce6250f7e20ca83..0000000000000000000000000000000000000000
--- a/common/examples_c
+++ /dev/null
@@ -1,77 +0,0 @@
-#include "packet.h"
-#include "setcontrol.h"
-#include "commands.h"
-
-#include <sys/types.h>
-
-
-/* This example is close to how the ground station will handle things. It
- * shouldn't be too hard to adapt it to work on the quad side.
- */
-
-static int next_msg_id = 0;
-
-int SendSetControl()
-{
- struct metadata m;
- struct controller_message cm;
-
- cm.id = ROLL_ID; /* Roll controller */
- cm.value_id = KI_ID; /* I coefficient */
- cm.value = 42.00f; /* An appropriate value */
-
- uint8_t data[64];
- m.msg_id = next_msg_id++;
- /* Fills in the rest of the metadata automatically */
- if (EncodeSetcontrol(&m, data, 64, &cm) < 0) {
- return -1;
- }
-
- uint8_t packet[128];
- ssize_t length;
- if ((length = EncodePacket(packet, 128, &m, data)) < 0) {
- return -1;
- }
-
- /* Now you can send the packet
- * sendThePacket(packet, length);
- */
-
- return 0;
-}
-
-
-/* Process incoming packets */
-int receive_packet(uint8_t * packet, size_t length)
-{
- struct metadata m;
- uint8_t data[128];
-
- /* Will fail if checksum is bad, etc */
- if (DecodePacket(&m, data, 128, packet, length) < 0) {
- return -1;
- }
-
- /* Let's pretend that the callbacks have signature
- * void cb(
- * const struct metadata * m,
- * const uint8_t * data);
- *
- * Call the callback.
- */
- (*MessageTypes[m.msg_type].functionPtr)(&m, data);
-
- return 0;
-}
-
-/* An example of a setcontrol callback. Arguments
- * aren't important, as long as we have access
- * to the packet bytes and the length
- */
-void cb_setcontrol(const struct metadata *m, const uint8_t *data)
-{
- struct controller_message cm;
- DecodeSetcontrol(&cm, m, data);
-
- /* cm now has populated controller ID, value ID, and value */
-}
diff --git a/controls/DataAnalysisTool/Tool/DataAnalysis.m b/controls/DataAnalysisTool/Tool/DataAnalysis.m
index 34834d0460e095c21808b0cc26c5d084546a9319..5cd77413d324f07efd498f48265e068b096ef1b3 100644
--- a/controls/DataAnalysisTool/Tool/DataAnalysis.m
+++ b/controls/DataAnalysisTool/Tool/DataAnalysis.m
@@ -8,14 +8,14 @@
% window.
%
%fname = 'sampleLogFileWithMarker.txt';
-fname = 'testies_v2.txt';
+fname = '';
% PLOTTING SWITCHES - set them to 0 or 1 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%
plot = 1; % to choose plotting
separatePlot = 1; % to generate separatePlots
multiPlot = 1; % to generate multiPlot
-subPlot = 0; % to generate subPlots
+subPlot = 1; % to generate subPlots
clearFigs = 0; % to close all the plots (needed only by the GUI)
% DATA TO PLOT %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -25,27 +25,28 @@ clearFigs = 0; % to close all the plots (needed only by the GUI)
% seperatePlots. If this is empty but "plot" switch is 1, all the columns
% will be plotted using seperatePlots.
%
-separateData = {'PID_roll_vel'};
+separateData = {'X pos PID_Correction', 'Altitude PID_Correction'};
% MULTIDATA
% write names of the data headers that you want to plot using multiPlots.
% If this is empty but "plot" switch is 1, the data headers in separateData
% will be plotted using multiPlots.
%
-multiData = {};
+multiData = {'X pos PID_Correction', 'Altitude PID_Correction'};
% SUBDATA
% write names of the data headers that you want to plot using subPlots.
% If this is empty but "plot" switch is 1, the data headers in multiData
% will be plotted using subPlots.
%
-subData = {};
+subData = {'X pos PID_Correction', 'Altitude PID_Correction'};
+
% COLOR FOR PLOTTING %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%
color = 'r'; % one character for color of the plotting line
marker = ''; % one character for the marker of the plotting line
-style = ':'; % one character for the style of the plotting line
+style = '-'; % one character for the style of the plotting line
backgnd = [1 1 1]; % rgb array for background color of the plot
@@ -94,10 +95,9 @@ expData = parse_log(params.file.pathName, params);
% plot the data accoriding to the plotting parameters set
%
plot_data(expData, params.plotting);
-
%% creating the main structure to be stored in the workspace %%%%%%%%%%%%%
%
-main.params = params;
-main.expData = expData;
-clearvars -except main;
-save main main;
\ No newline at end of file
+% main.params = params;
+% main.expData = expData;
+% clearvars -except main;
+% save main main;
\ No newline at end of file
diff --git a/controls/DataAnalysisTool/Tool/main.mat b/controls/DataAnalysisTool/Tool/main.mat
deleted file mode 100644
index 2385f3363d899a77037979f39fda9055a9a94454..0000000000000000000000000000000000000000
Binary files a/controls/DataAnalysisTool/Tool/main.mat and /dev/null differ
diff --git a/controls/DataAnalysisTool/Tool/parse_log.m b/controls/DataAnalysisTool/Tool/parse_log.m
index f265c9c849b881ba8452362518bed7b4106f994d..acdf40e77d7f1294c58d8c2a26c39a741cf382a9 100644
--- a/controls/DataAnalysisTool/Tool/parse_log.m
+++ b/controls/DataAnalysisTool/Tool/parse_log.m
@@ -43,6 +43,7 @@ identifier = string(1);
if (regexp(identifier,'%'))
foundHeaders = 1;
% this is a line of headers; extract headers:
+ string = strrep(string,' ', '_');
headers = strsplit(string);
headers{1} = strrep(headers{1},'%', '');
numOfHeaders = length(headers);
@@ -126,17 +127,20 @@ if exist('params', 'var')
end
else
for i = 1:length(params.plotting.separateData)
+ params.plotting.separateData{i} = strrep(params.plotting.separateData{i},' ', '_');
eval(['loggedData.' params.plotting.separateData{i} '.params.plot = 1;']);
end
end
else
for i = 1:length(params.plotting.multiData)
+ params.plotting.multiData{i} = strrep(params.plotting.multiData{i},' ', '_');
eval(['loggedData.' params.plotting.multiData{i} '.params.plot = 1;']);
end
end
else
for i = 1:length(params.plotting.subData)
+ params.plotting.subData{i} = strrep(params.plotting.subData{i},' ', '_');
eval(['loggedData.' params.plotting.subData{i} '.params.plot = 1;']);
end
end
@@ -150,11 +154,13 @@ if exist('params', 'var')
end
else
for i = 1:length(params.plotting.separateData)
+ params.plotting.separateData{i} = strrep(params.plotting.separateData{i},' ', '_');
eval(['loggedData.' params.plotting.separateData{i} '.params.plot = 1;']);
end
end
else
for i = 1:length(params.plotting.multiData)
+ params.plotting.multiData{i} = strrep(params.plotting.multiData{i},' ', '_');
eval(['loggedData.' params.plotting.multiData{i} '.params.plot = 1;']);
end
end
@@ -167,6 +173,7 @@ if exist('params', 'var')
end
else
for i = 1:length(params.plotting.separateData)
+ params.plotting.separateData{i} = strrep(params.plotting.separateData{i},' ', '_');
eval(['loggedData.' params.plotting.separateData{i} '.params.plot = 1;']);
end
end
diff --git a/controls/DataAnalysisTool/Tool/plot_data.m b/controls/DataAnalysisTool/Tool/plot_data.m
index ea7fd3410c23971dde2515f85c6fb0e0821de0c7..31119a99856a6d0732138d7d2b6b8a1b3943dd8c 100644
--- a/controls/DataAnalysisTool/Tool/plot_data.m
+++ b/controls/DataAnalysisTool/Tool/plot_data.m
@@ -6,6 +6,8 @@ function plot_data(expData, plotParams)
% check plotting switch
if (~plotParams.plot)
disp('No plotting');
+elseif(~plotParams.multiPlot && ~plotParams.subPlot && ~plotParams.separatePlot)
+ disp('No plotting, select a plotting style');
else
%% check separate plotting switch
if(plotParams.separatePlot)
@@ -74,7 +76,7 @@ else
if(isempty(plotParams.subData)) % if none mentioned, use headers mentioned for multi plotting
if(isempty(plotParams.multiData)) % if no headers mentioned for multi plotting, use headers mentioned for separate plotting
if(isempty(plotParams.separateData)) % if no headers mentioned for separate plotting, use all of the headers
- headers = fieldNames(expData);
+ headers = fieldnames(expData);
else
headers = plotParams.separateData;
end
diff --git a/controls/DataAnalysisTool/Tool/plot_multi.m b/controls/DataAnalysisTool/Tool/plot_multi.m
index d63c9df36fddf81cefcee997e480e8ade2c3a38f..15bdcab7a569ffbd1849803bab754c20f73e9dc7 100644
--- a/controls/DataAnalysisTool/Tool/plot_multi.m
+++ b/controls/DataAnalysisTool/Tool/plot_multi.m
@@ -13,6 +13,7 @@ function plot_multi(expData, useMarker, varargin)
numOfHeaders = 0;
headers = {};
for i = 1:length(varargin)
+ varargin{i} = strrep(varargin{i},' ', '_');
if(~isPlotCharString(varargin{i}))
numOfHeaders = numOfHeaders + 1;
headers{numOfHeaders} = varargin{i};
@@ -144,13 +145,15 @@ for i = 1:numOfHeaders
end
end
-ylabel(yAxisLabel);
+ylabel(yAxisLabel,'Interpreter', 'none');
% constructing statement for inserting the legend
-legendString = ['legend('''];
+legendString = ['legend('];
for i = 1:numOfHeaders
if(i == numOfHeaders)
- legendString = strcat(legendString,headers{i},''',''Location'',''NorthWest'');');
+ legendString = strcat(legendString,headers{i},'''}',',''Interpreter'',''none'',''Location'',''NorthWest'');');
+ elseif(i == 1)
+ legendString = strcat(legendString,'{''',headers{i},''',''');
else
legendString = strcat(legendString,headers{i},''',''');
end
diff --git a/controls/DataAnalysisTool/Tool/plot_separate.m b/controls/DataAnalysisTool/Tool/plot_separate.m
index 21258d6dacefad42184b8a649f738b7d9a5ee11a..c429b4ff17362bc559876c67cfb79bf3e2e27ab0 100644
--- a/controls/DataAnalysisTool/Tool/plot_separate.m
+++ b/controls/DataAnalysisTool/Tool/plot_separate.m
@@ -25,6 +25,7 @@ end
% bulding the plot statement that will be executed
for i = 1:length(varargin)
+ varargin{i} = strrep(varargin{i},' ', '_');
dataHeader = varargin{i};
% continue to next iteration if current argument is a plotting character string
@@ -49,19 +50,19 @@ for i = 1:length(varargin)
plotCharString = buildPlotCharString(eval(['expData.' dataHeader '.params']));
plotString = strcat(plotString,',''', plotCharString, ''');');
end
-
+
% plotting data and making it look good
figure;
whitebg(gcf,eval(['expData.' dataHeader '.params.backgnd'])); % setting background
eval(plotString); % plotting
- title(dataHeader); % setting title
+ title(dataHeader, 'Interpreter', 'none'); % setting title
xlabel(['Time (' time.unit ')']); % setting the x-axis label
if(eval(['isempty(expData.' dataHeader '.unit)']))
yAxisLabel = dataHeader;
else
yAxisLabel = [dataHeader ' (' eval(['expData.' dataHeader '.unit']) ')'];
end
- ylabel(yAxisLabel); % setting y-axis label
+ ylabel(yAxisLabel,'Interpreter', 'none'); % setting y-axis label
xlim([0, time.data(end)]); % setting x-axis limits
grid ON; % setting grid lines on the graph
% adding markers
diff --git a/controls/DataAnalysisTool/Tool/plot_sub.m b/controls/DataAnalysisTool/Tool/plot_sub.m
index f91b59e2ff472dc38a39ed3575176a7a6c291f00..e088eb2c4724994f7369281e749a62710c894b76 100644
--- a/controls/DataAnalysisTool/Tool/plot_sub.m
+++ b/controls/DataAnalysisTool/Tool/plot_sub.m
@@ -41,6 +41,8 @@ for i = 1:length(varargin)
continue;
end
+ varargin{i} = strrep(varargin{i},' ', '_');
+
% keeping track of the number of headers
currHeaderIndex = currHeaderIndex + 1;
@@ -75,14 +77,14 @@ for i = 1:length(varargin)
%% plotting data and making it look pretty
eval(plotString);
- title(varargin{i});
+ title(varargin{i},'Interpreter','none');
xlabel(['Time (' time.unit ')']);
if(eval(['isempty(expData.' varargin{i} '.unit)']))
yAxisLabel = varargin{i};
else
yAxisLabel = [varargin{i} ' (' eval(['expData.' varargin{i} '.unit']) ')'];
end
- ylabel(yAxisLabel);
+ ylabel(yAxisLabel,'Interpreter','none');
xlim([0,time.data(end)]);
grid ON;
set(gca,'Color',eval(['expData.' varargin{i} '.params.backgnd']));
diff --git a/controls/model/.gitignore b/controls/model/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..fdd0385d7c2df2b890075dc24d1f80bb1e671391
--- /dev/null
+++ b/controls/model/.gitignore
@@ -0,0 +1,3 @@
+slprj/
+test_model_grt_rtw/
+test_model_sfun.mexw64
\ No newline at end of file
diff --git a/controls/model/c_controller.c b/controls/model/c_controller.c
index 6bcee0997d9c72199d6983b738bac881478fdbe6..aff3ffbc6aad17c2751048c88c508d7834d74399 100644
--- a/controls/model/c_controller.c
+++ b/controls/model/c_controller.c
@@ -1,6 +1,6 @@
#include "c_controller.h"
-#include "quad_files/control_algorithm.c"
-#include "quad_files/computation_graph.c"
+#include "control_algorithm.c"
+#include "computation_graph.c"
double c_controller(int vrpn_id, double vrpn_ts, double set_x, double set_y, double set_z, double set_yaw,
double cur_x, double cur_y, double cur_z,
double cur_phi, double cur_theta, double cur_psi,
diff --git a/controls/model/c_controller.h b/controls/model/c_controller.h
index e53b1a508409d70211a99fe6ba6de76e092ae7a5..4cf3a88f751129dd1777898ae599358964d012e5 100644
--- a/controls/model/c_controller.h
+++ b/controls/model/c_controller.h
@@ -1,12 +1,12 @@
#ifndef C_CONTROLLER_H
#define C_CONTROLLER_H
-#include "quad_files/computation_graph.h"
-#include "quad_files/graph_blocks/node_pid.h"
-#include "quad_files/graph_blocks/node_bounds.h"
-#include "quad_files/graph_blocks/node_constant.h"
-#include "quad_files/graph_blocks/node_mixer.h"
-#include "quad_files/PID.h"
-#include "quad_files/control_algorithm.h"
+#include "computation_graph.h"
+#include "node_pid.h"
+#include "node_bounds.h"
+#include "node_constant.h"
+#include "node_mixer.h"
+#include "PID.h"
+#include "control_algorithm.h"
double c_controller(int vrpn_id, double vrpn_ts, double set_x, double set_y, double set_z, double set_yaw,
double cur_x, double cur_y, double cur_z,
diff --git a/controls/model/loggingAnalysis/logAnalysis.m b/controls/model/loggingAnalysis/logAnalysis.m
index ae48f90734c220bf920b8367ca5fca88411d84c7..e1ba18ae230e9a3641771d0879861cb59a09f734 100644
--- a/controls/model/loggingAnalysis/logAnalysis.m
+++ b/controls/model/loggingAnalysis/logAnalysis.m
@@ -32,10 +32,10 @@ yaw_command_model_data = yaw_command_model.signals.values(indices_40ms);
yaw_value_model_data = yaw_value_model.signals.values(indices_40ms);
% Pull duty cycle commands from model
-PWM0_model = motorCommands.signals.values(indices_40ms, 1);
-PWM1_model = motorCommands.signals.values(indices_40ms, 2);
-PWM2_model = motorCommands.signals.values(indices_40ms, 3);
-PWM3_model = motorCommands.signals.values(indices_40ms, 4);
+PWM0_model = motorCommands.signals.values(indices_5ms, 1);
+PWM1_model = motorCommands.signals.values(indices_5ms, 2);
+PWM2_model = motorCommands.signals.values(indices_5ms, 3);
+PWM3_model = motorCommands.signals.values(indices_5ms, 4);
%% Plot x control structure
@@ -165,7 +165,7 @@ legend('Log', 'Model', 'location', 'northwest');
%% Plot PWM Commands
figure(5); subplot(2, 2, 1);
stairs(time, PWM0,'.-'); hold on; grid minor;
-stairs(time_model_40ms, PWM0_model, '.-'); hold off;
+stairs(time_model_5ms, PWM0_model, '.-'); hold off;
title('PWM0 Value');
xlabel('Time (s)');
ylabel('PWM0 Command');
@@ -173,7 +173,7 @@ legend('Log', 'Model', 'location', 'northwest');
subplot(2, 2, 2);
stairs(time, PWM1,'.-'); hold on; grid minor;
-stairs(time_model_40ms, PWM1_model, '.-'); hold off;
+stairs(time_model_5ms, PWM1_model, '.-'); hold off;
title('PWM1 Value');
xlabel('Time (s)');
ylabel('PWM1 Command');
@@ -181,7 +181,7 @@ legend('Log', 'Model', 'location', 'northwest');
subplot(2, 2, 3);
stairs(time, PWM2,'.-'); hold on; grid minor;
-stairs(time_model_40ms, PWM2_model, '.-'); hold off;
+stairs(time_model_5ms, PWM2_model, '.-'); hold off;
title('PWM2 Value');
xlabel('Time (s)');
ylabel('PWM2 Command');
@@ -189,7 +189,7 @@ legend('Log', 'Model', 'location', 'northwest');
subplot(2, 2, 4);
stairs(time, PWM3,'.-'); hold on; grid minor;
-stairs(time_model_40ms, PWM3_model, '.-'); hold off;
+stairs(time_model_5ms, PWM3_model, '.-'); hold off;
title('PWM3 Value');
xlabel('Time (s)');
ylabel('PWM3 Command');
diff --git a/controls/model/modelParameters.m b/controls/model/modelParameters.m
index 97115a7c498158b6e5d7765cb3de075772fee193..bda6e93514a28d95838ee3a62e6ded80d694facf 100644
--- a/controls/model/modelParameters.m
+++ b/controls/model/modelParameters.m
@@ -1,4 +1,4 @@
-temp = 0;
+temp = 1;
% Log Analysis Toggle
logAnalysisToggle = 1; % 1 for log analysis, 0 for normal operation
@@ -181,7 +181,7 @@ elseif logAnalysisToggle == 1 && temp == 1
% window.
%
%fname = 'sampleLogFile.txt';
- fname = 'sampleLogFile.txt';
+ fname = '';
fpath = '';
if(isempty(fname))
@@ -208,8 +208,8 @@ elseif logAnalysisToggle == 1 && temp == 1
y_error = timeseries(y_setpoint - y_position, time);
% Determine z position error
- z_setpoint = dataStruct.Z_Setpoint_Constant.data;
- z_position = dataStruct.VRPN_Z_Constant.data;
+ z_setpoint = dataStruct.Alt_Setpoint_Constant.data;
+ z_position = dataStruct.VRPN_Alt_Constant.data;
z_error = timeseries(z_setpoint - z_position, time);
% Determine pitch error
@@ -243,10 +243,10 @@ elseif logAnalysisToggle == 1 && temp == 1
yawrate_error = timeseries(yawrate_setpoint - yawrate_value, time);
% Pull motor commands from log
- x_command = dataStruct.Pitch_Rate_PID_Correction;
- y_command = dataStruct.Roll_Rate_PID_Correction;
- z_command = dataStruct.Altitude_PID_Correction;
- yaw_command = dataStruct.Yaw_Rate_PID_Correction;
+ x_command = dataStruct.Pitch_Rate_PID_Correction.data;
+ y_command = dataStruct.Roll_Rate_PID_Correction.data;
+ z_command = dataStruct.Altitude_PID_Correction.data;
+ yaw_command = dataStruct.Yaw_Rate_PID_Correction.data;
% Determine signal mix PWM values
PWM0 = dataStruct.Signal_Mixer_PWM_0.data;
diff --git a/controls/model/parse_log_model.m b/controls/model/parse_log_model.m
index 9fba92fa6d0d3d670370b06a035fd9ee802698d2..59aef835bd0d5077e9619b7c02880a8390d95643 100644
--- a/controls/model/parse_log_model.m
+++ b/controls/model/parse_log_model.m
@@ -43,6 +43,7 @@ identifier = string(1);
if (regexp(identifier,'%'))
foundHeaders = 1;
% this is a line of headers; extract headers:
+ string = strrep(string,' ', '_');
headers = strsplit(string);
headers{1} = strrep(headers{1},'%', '');
numOfHeaders = length(headers);
@@ -106,6 +107,5 @@ for i = 1:numOfHeaders
end
-
end
diff --git a/controls/model/quad_files/.gitignore b/controls/model/quad_files/.gitignore
deleted file mode 100644
index 1c4bc674e912af84e9c6bed639cd5780a68b7846..0000000000000000000000000000000000000000
--- a/controls/model/quad_files/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-# Don't track the copied files here
-*.h
-*.c
\ No newline at end of file
diff --git a/controls/model/quad_files/copy_files.bat b/controls/model/quad_files/copy_files.bat
deleted file mode 100644
index bd5f65861b103ddaf3b761a47c9bc584bb35b50b..0000000000000000000000000000000000000000
--- a/controls/model/quad_files/copy_files.bat
+++ /dev/null
@@ -1,27 +0,0 @@
-copy ..\..\..\quad\computation_graph\src\computation_graph.c computation_graph.c
-copy ..\..\..\quad\computation_graph\src\computation_graph.h computation_graph.h
-
-copy ..\..\..\quad\sw\modular_quad_pid\src\control_algorithm.h control_algorithm.h
-copy ..\..\..\quad\sw\modular_quad_pid\src\control_algorithm.c control_algorithm.c
-
-copy ..\..\..\quad\sw\modular_quad_pid\src\PID.h PID.h
-copy ..\..\..\quad\sw\modular_quad_pid\src\type_def.h type_def.h
-copy ..\..\..\quad\sw\modular_quad_pid\src\sensor_processing.h sensor_processing.h
-copy ..\..\..\quad\sw\modular_quad_pid\src\log_data.h log_data.h
-copy ..\..\..\quad\sw\modular_quad_pid\src\quadposition.h quadposition.h
-copy ..\..\..\quad\sw\modular_quad_pid\src\util.h util.h
-copy ..\..\..\quad\sw\modular_quad_pid\src\timer.h timer.h
-copy ..\..\..\groundStation\src\backend\commands.h commands.h
-copy ..\..\..\groundStation\src\backend\callbacks.h callbacks.h
-
-mkdir graph_blocks
-copy ..\..\..\quad\computation_graph\src\graph_blocks\node_constant.h graph_blocks\node_constant.h
-copy ..\..\..\quad\computation_graph\src\graph_blocks\node_constant.c graph_blocks\node_constant.c
-copy ..\..\..\quad\computation_graph\src\graph_blocks\node_add.h graph_blocks\node_add.h
-copy ..\..\..\quad\computation_graph\src\graph_blocks\node_add.c graph_blocks\node_add.c
-copy ..\..\..\quad\sw\modular_quad_pid\src\graph_blocks\node_mixer.c graph_blocks\node_mixer.c
-copy ..\..\..\quad\sw\modular_quad_pid\src\graph_blocks\node_mixer.h graph_blocks\node_mixer.h
-copy ..\..\..\quad\sw\modular_quad_pid\src\graph_blocks\node_pid.c graph_blocks\node_pid.c
-copy ..\..\..\quad\sw\modular_quad_pid\src\graph_blocks\node_pid.h graph_blocks\node_pid.h
-copy ..\..\..\quad\sw\modular_quad_pid\src\graph_blocks\node_bounds.c graph_blocks\node_bounds.c
-copy ..\..\..\quad\sw\modular_quad_pid\src\graph_blocks\node_bounds.h graph_blocks\node_bounds.h
\ No newline at end of file
diff --git a/controls/model/test_model.slx b/controls/model/test_model.slx
index 56975e7eba373b73a005d9451ddcb553bd36f882..93229cbac59b18930c7e4a1158b9e2f6c53bb53c 100644
Binary files a/controls/model/test_model.slx and b/controls/model/test_model.slx differ
diff --git a/groundStation/Makefile b/groundStation/Makefile
index c6ea99f3502e19309fe8cf0800b0440ed920c3e7..b9024633ab737dd19d47c447fb11cda30624cf95 100644
--- a/groundStation/Makefile
+++ b/groundStation/Makefile
@@ -6,15 +6,10 @@ 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=inc src/vrpn src/vrpn/quat src/vrpn/build $(COMSRCDIR) $(BESRCDIR) $(CLISRCDIR) $(FESRCDIR)
-LIBS= -lpthread -lbluetooth -lvrpn -lquat -Lsrc/vrpn/build -Lsrc/vrpn/build/quat
+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
-# Common Objects
-COMSRCDIR=../common
-COMSOURCES := $(wildcard $(COMSRCDIR)/*.c )
-COMOBJECTS = $(COMSOURCES:$(COMSRCDIR)/%.c=$(OBJDIR)/%.o)
-
# Backend Specific Variables
BEBINARY=BackEnd
BESRCDIR=src/backend
@@ -28,7 +23,7 @@ CLIBINARY=Cli
CLISRCDIR=src/cli
CLISOURCES := $(wildcard $(CLISRCDIR)/*.c)
CLIOBJECTS = $(CLISOURCES:$(CLISRCDIR)/%.c=$(OBJDIR)/%.o)
-SYMLINKS=monitor setpid getpid setsetpoint getsetpoint
+SYMLINKS= getnodes addnode getparam setparam getsource setsource getoutput
# Frontend-common stuff
FESRCDIR=src/frontend
@@ -36,10 +31,13 @@ FECSOURCES := $(wildcard $(FESRCDIR)/*.c )
FECOBJECTS = $(FECSOURCES:$(FESRCDIR)/%.c=$(OBJDIR)/%.o)
-OBJECTS= $(COMOBJECTS) $(CLIOBJECTS) $(BECOBJECTS) $(BECPPOBJECTS) $(FECOBJECTS)
+OBJECTS=$(CLIOBJECTS) $(BECOBJECTS) $(BECPPOBJECTS) $(FECOBJECTS)
# Default target
-all: logs objdir backend cli $(SYMLINKS) frontend.a
+all: quad logs objdir backend cli $(SYMLINKS) frontend.a
+
+quad:
+ $(MAKE) -C ../quad
$(SYMLINKS): $(CLIBINARY)
$(foreach symlink, $(SYMLINKS), ln -s $(CLIBINARY) $(symlink);)
@@ -55,13 +53,9 @@ cli: $(CLIOBJECTS) $(FECOBJECTS)
$(CLIOBJECTS) : $(OBJDIR)/%.o : $(CLISRCDIR)/%.c
$(GCC) $(CFLAGS) -c $^ -o $@ $(INCLUDES) $(LIBS)
-
-backend: $(COMOBJECTS) $(BECPPOBJECTS) $(BECOBJECTS)
+backend: $(BECPPOBJECTS) $(BECOBJECTS)
$(GXX) $(CXXFLAGS) $^ -o $(BEBINARY) $(INCLUDES) $(LIBS)
-$(COMOBJECTS) : $(OBJDIR)/%.o : $(COMSRCDIR)/%.c
- $(GCC) $(CFLAGS) -c $^ -o $@ $(INCLUDES) $(LIBS)
-
$(FECOBJECTS) : $(OBJDIR)/%.o : $(FESRCDIR)/%.c
$(GCC) $(CFLAGS) -c $^ -o $@ $(INCLUDES) $(LIBS)
@@ -85,7 +79,6 @@ clean_logs:
rm -f logs/*
clean:
- rm -rf $(OBJDIR)/ $(BEBINARY) $(CLIBINARY)
+ rm -rf $(OBJDIR)/ $(BEBINARY) $(CLIBINARY) $(SYMLINKS)
debug:
- @echo $(COMOBJECTS)
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index cdd0727a269d0d857fc13be51f6a2e04696c21ae..5115a25c9919f6fd2a1422d5c5aa962d334d93de 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -29,7 +29,7 @@
#include <netinet/tcp.h>
//user created includes
-#include "../../../common/commands.h"
+#include "commands.h"
#include "vrpn_tracker.hpp"
#include "type_def.h"
#include "packet.h"
@@ -38,6 +38,7 @@
#include "config.h"
#include "source.h"
#include "output.h"
+#include "nodes.h"
#include "bitwise.h"
#define QUAD_BT_ADDR "00:06:66:64:61:D6"
@@ -81,7 +82,8 @@ static void quad_recv();
static int wasDisconnected(int fd);
/* handle controller responses from quad to frontend */
static void handleResponse(struct metadata *m, uint8_t * data);
-
+/* Create new dynamic logfile name */
+char * create_log_name(char * buffer, size_t max);
/* Thread-safe wrappers */
pthread_mutex_t quadSocketMutex;
@@ -112,14 +114,13 @@ fd_set rfds_master;
int max_fd = 0;
static FILE * quadlog_file;
+static int quadlog_file_open;
+static char user_specified_log_name[256] = "";
pthread_mutex_t quadResponseMutex, cliInputMutex ;
unsigned char *commandBuf;
int newQuadResponse = 0, newCliInput = 0;
-// Structures to be used throughout
-modular_structs_t structs;
-
// Callback to be ran whenever the tracker receives data.
// Currently doing much more than it should. It will be slimmed down
// in the future.
@@ -133,8 +134,6 @@ int main(int argc, char **argv)
{
int activity;
FD_ZERO(&rfds_master);
- char log_file[256] = "logs/";
-
/*
* Create backend listening socket
*/
@@ -153,6 +152,8 @@ int main(int argc, char **argv)
err(-1, "socket");
}
+ printf("backendSocket = %d\n", backendSocket);
+
/* Create sockaddr and bind */
struct sockaddr_un sa;
sa.sun_family = AF_UNIX;
@@ -191,6 +192,8 @@ int main(int argc, char **argv)
exit(1);
}
+ printf("zyboSocket = %d\n", zyboSocket);
+
if (pthread_mutex_unlock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
}
@@ -205,40 +208,27 @@ int main(int argc, char **argv)
if(argc >= 2)
{
- strncat(log_file, argv[1], strlen(argv[1]));
- } else {
- time_t rawtime;
- char timestr [30];
- time(&rawtime);
- sprintf(timestr,"%s",ctime(&rawtime));
- // Lets convert space to _ in
- char *p = timestr;
- size_t i = 0;
- while(i < strlen(timestr))
- {
- if (*p == ' ')
- *p = '_';
- i++;
- p++;
- }
- // timestr has a weird char at the end of it.
- // we will not include it in our file name
- strncat(log_file, timestr, strlen(timestr) -1 );
- strcat(log_file, ".txt");
+ strncat(user_specified_log_name, argv[1], strlen(argv[1]));
}
+ char log_file[256];
+ create_log_name(log_file, 256);
+
printf("Creating log file '%s'...\n",log_file);
quadlog_file = fopen(log_file, "a");
+ quadlog_file_open = 1;
// Tell the quad we are ready to send it vrpn data
sendStartPacket();
-
if(!getenv(NOVRPN_ENV)){
+ printf("Creating VRPN tracker...\n");
// create vrpnTracker instance
tracker = ucart_vrpn_tracker_createInstance(TRACKER_IP);
// this function will be called whenever tracker receives data
ucart_vrpn_tracker_addCallback(tracker, cb);
+ } else {
+ printf("Ignoring VRPN information...\n");
}
struct timeval timeout = {
@@ -358,28 +348,48 @@ void printVrpnData(struct ucart_vrpn_TrackerData * td) {
int connectToZybo() {
int sock;
- int status = 0;
+ int status = -1;
if (getenv(NOQUAD_ENV)) {
return 0;
}
- /* Use bluetooth by default */
- if (!getenv(QUAD_WIFI_ENV)) {
- printf("Using BT Settings\n");
- struct sockaddr_rc addr;
+ /* Use wifi by default */
+ if (getenv(QUAD_COMM_ENV)) {
+ /* Determine if we are using bluetooth or local */
+ if(strcmp(getenv(QUAD_COMM_ENV), "local") == 0) {
+ printf("Using Local Socket Settings\n");
+
+ struct sockaddr_un remote;
+ char str[100];
- // allocate a socket
- sock = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
+ if ((sock = socket(AF_UNIX, SOCK_STREAM, 0)) == -1) {
+ perror("socket");
+ exit(1);
+ }
- //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));
+ remote.sun_family = AF_UNIX;
+ char * sock_env = getenv(QUAD_LOCAL_SOCKET);
+ strcpy(remote.sun_path, sock_env ? sock_env : QUAD_DEFAULT_LOCAL_SOCKET);
+ printf("Attempting to connect to local socket at '%s'. please be patiend.\n", remote.sun_path);
+
+ status = connect(sock, (struct sockaddr *)&remote, sizeof(remote));
+ } else if (strcmp(getenv(QUAD_COMM_ENV), "bluetooth") == 0) {
+ printf("Using BT Settings\n");
+ struct sockaddr_rc 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 {
printf("Using WIFI settings\n");
struct sockaddr_in addr;
@@ -629,15 +639,18 @@ static void client_recv(int fd) {
char * first_word;
char * tmp = strdup(buffer);
+ // printf("tmpbuff = '%s'\n", tmp);
first_word = strtok(tmp, " ");
- free(tmp);
-
+ // printf("first word = '%s'\n", first_word);
+
ssize_t msg_type, i;
for (i = 0; i < MAX_TYPE_ID; ++i) {
if ((msg_type = findCommand(first_word)) != -1)
break;
}
+ free(tmp);
+
if (msg_type == -1) {
/* buffer was not a quad command, handling internally to
* backend instead of forwarding to quad
@@ -675,10 +688,12 @@ static void client_recv(int fd) {
} else {
uint8_t packet[64];
struct metadata m;
- uint8_t data[128];
+ uint8_t *data = malloc(sizeof(*data) * 128);
ssize_t result;
ssize_t psize;
+ printf(" found a msg_type of %ld\n", msg_type);
+
switch (msg_type) {
case SETPARAM_ID:
result = EncodeSetParam(&m, data, 128, buffer);
@@ -696,8 +711,10 @@ static void client_recv(int fd) {
result = EncodeGetOutput(&m, data, 128, buffer);
break;
case GETNODES_ID:
- result = -1;
- // result = EncodeGetnodes(&m, data, 128, buffer);
+ result = EncodeGetNodes(&m, data, 128, buffer);
+ break;
+ case ADDNODE_ID:
+ result = EncodeAddNode(&m, data, 128, buffer);
break;
default:
result = -1;
@@ -706,6 +723,7 @@ static void client_recv(int fd) {
if (result < 0) {
warnx("Big problems. client_recv. EncodeMetaData");
+ free(data);
return;
}
@@ -713,11 +731,13 @@ static void client_recv(int fd) {
if ((psize = EncodePacket(packet, 64, &m, data)) < 0) {
warnx("Big problems. client_recv. EncodePacket");
+ free(data);
return;
}
/* Only add the client to the pending responses if it was a getparam command */
- if (m.msg_type == GETPARAM_ID || m.msg_type == GETOUTPUT_ID || m.msg_type == GETSOURCE_ID) {
+ if (m.msg_type == GETPARAM_ID || m.msg_type == GETOUTPUT_ID ||
+ m.msg_type == GETSOURCE_ID || m.msg_type == GETNODES_ID || m.msg_type == ADDNODE_ID) {
if (clientAddPendResponses(fd, BytesTo16(packet[ID_L], packet[ID_H])) == -1) {
warnx("Ran out of room! Consider increasing CLIENT_MAX_PENDING_RESPONSES!\n");
}
@@ -729,8 +749,9 @@ static void client_recv(int fd) {
// }
// printf("'\n");
- writeQuad(packet, psize);
-
+ int retval = writeQuad(packet, psize);
+ // printf("sent %d bytes\n", retval);
+ free(data);
}
char * rest = &buffer[newline] + 1;
@@ -804,19 +825,33 @@ static void quad_recv() {
switch (m.msg_type) {
case LOG_ID:
- /* something like this */
- printf("(Quad) : Log found\n");
+ if (!quadlog_file_open) {
+ char log_file[256];
+ create_log_name(log_file, 256);
+ printf("New log file created: '%s'\n", log_file);
+ quadlog_file = fopen(log_file, "a");
+ quadlog_file_open = 1;
+ }
+ //printf("(Quad) : Log found\n");
fwrite((char *) data, sizeof(char), m.data_len, quadlog_file);
- // fflush(quadlog_file);
break;
case RESPPARAM_ID:
case RESPSOURCE_ID:
case RESPOUTPUT_ID:
+ case RESPNODES_ID:
+ case RESPADDNODE_ID:
handleResponse(&m, data);
break;
- case RESPNODES_ID:
+ case LOG_END_ID:
+ if (quadlog_file_open) {
+ fclose(quadlog_file);
+ quadlog_file_open = 0;
+ }
+ printf("(Quad) : Log End found\n");
+ break;
default:
printf("(Backend): message type %d ignored from quad\n", m.msg_type);
+ break;
}
}
}
@@ -824,33 +859,45 @@ static void quad_recv() {
static void handleResponse(struct metadata *m, uint8_t * data)
{
ssize_t result;
- char buffer[128];
+ char *buffer = malloc(sizeof(*buffer) * 128);
switch (m->msg_type) {
case RESPPARAM_ID:
- result = DecodeResponseParam(buffer, m, data);
+ result = DecodeResponseParam(buffer, 128, m, data);
break;
case RESPSOURCE_ID:
- result = DecodeResponseSource(buffer, m, data);
+ result = DecodeResponseSource(buffer, 128, m, data);
break;
case RESPOUTPUT_ID:
- result = DecodeResponseOutput(buffer, m, data);
+ result = DecodeResponseOutput(buffer, 128, m, data);
+ break;
+ case RESPNODES_ID:
+ result = DecodeResponseGetNodes(buffer, 128, m, data);
+ break;
+ case RESPADDNODE_ID:
+ result = DecodeResponseAddNode(buffer, 128, m, data);
break;
default:
result = -1;
+ break;
}
if (result < 0) {
warnx("DecodeResponse error");
+ free(buffer);
return;
}
+ // printf("msg to client = '%s'\n", buffer);
+
for(int fd = 0; fd <= max_fd; ++fd) {
- if (get_client_index(fd) < 0) {
+ if (get_client_index(fd) > -1) {
clientRemovePendResponses(fd, m->msg_id);
write(fd, buffer, result);
}
}
+
+ free(buffer);
}
static int wasDisconnected(int fd) {
@@ -891,3 +938,25 @@ void findTimeDiff(int respID) {
timeval_subtract(&result, &tend, &timeArr[respID%MAX_HASH_SIZE]);
printf("(BackEnd): Elapsed time = %ld ms\n", result.tv_usec/1000);
}
+
+char * create_log_name(char * buffer, size_t max) {
+ static const char * prefix = "logs";
+ static size_t num_logs = 0;
+ static const char * format_string = "%Y-%m-%e_%-l:%M";
+
+ time_t curr_time;
+ char c_time_string[256];
+ struct tm * tmp;
+
+ curr_time = time(NULL);
+ tmp = localtime(&curr_time);
+ strftime(c_time_string, 256, format_string, tmp);
+
+ if(strcmp(user_specified_log_name, "") == 0) {
+ sprintf(buffer, "%s/%s_%lu.txt", prefix, c_time_string, num_logs++);
+ } else {
+ sprintf(buffer, "%s/%s_%lu.txt", prefix, user_specified_log_name, num_logs++);
+ }
+
+ return buffer;
+}
diff --git a/groundStation/src/backend/config.h b/groundStation/src/backend/config.h
index 1ff4092641264a02aedcab0fd76080ee2e59af83..9306bd65ecf4ca80e60fb118a942e8fff00131d1 100644
--- a/groundStation/src/backend/config.h
+++ b/groundStation/src/backend/config.h
@@ -2,10 +2,7 @@
#define __CONFIG_H
-#ifndef DEFAULT_SOCKET
-#define DEFAULT_SOCKET "/var/run/ucart.socket"
-#endif
-
+#define DEFAULT_SOCKET "./ucart.socket"
#define SOCKET_ENV "UCART_SOCKET"
#define NOQUAD_ENV "UCART_NO_QUAD"
#define NOVRPN_ENV "UCART_NO_VRPN"
@@ -14,7 +11,10 @@
// If you are planning on using any of these env vars and you have
// exported them with normal user rights. You will need to run the
// backend with sudo elevation and with the --preserve-env flag or -E
-#define QUAD_WIFI_ENV "UCART_USE_WIFI"
+#define QUAD_COMM_ENV "UCART_COMM_CHANNEL"
+
+#define QUAD_DEFAULT_LOCAL_SOCKET "./virtquad.socket"
+#define QUAD_LOCAL_SOCKET "UCART_LOCAL_SOCKET"
#define QUAD_IP_ENV "UCART_QUAD_IP"
#define QUAD_IP_DEFAULT "192.168.1.1"
#define QUAD_PORT_ENV "UCART_QUAD_PORT"
diff --git a/groundStation/src/backend/nodes.c b/groundStation/src/backend/nodes.c
new file mode 100644
index 0000000000000000000000000000000000000000..695f58a00a0c67d0cdbe86db9a88c544bb6c67af
--- /dev/null
+++ b/groundStation/src/backend/nodes.c
@@ -0,0 +1,161 @@
+#include <sys/types.h>
+#include <inttypes.h>
+
+#include "nodes.h"
+#include "commands.h"
+#include "bitwise.h"
+
+
+enum GetnodeData {
+ GN_DATA_SIZE
+};
+
+
+/* Creates data and metadata for a getnodes packet.
+ * Returns data size.
+ */
+ssize_t EncodeGetNodes(
+ 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 */
+{
+ m->msg_type = GETNODES_ID;
+ m->data_len = GN_DATA_SIZE;
+
+ return GN_DATA_SIZE;
+}
+
+enum AddnodeData {
+ AN_TYPE_ID_L,
+ AN_TYPE_ID_H,
+ AN_NAME,
+ AN_MIN_DATA_SIZE
+};
+
+/* Creates data and metadata for a addnode packet
+ * Returns data size.
+ */
+ssize_t EncodeAddNode(
+ 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 = ADDNODE_ID;
+
+ if (data_size < AN_MIN_DATA_SIZE) {
+ return -1;
+ }
+
+ int16_t type;
+ char name[512];
+
+ sscanf(msg, "addnode %" SCNd16 "%s\n", &type, name);
+
+ data[AN_TYPE_ID_L] = LSByte16(type);
+ data[AN_TYPE_ID_H] = MSByte16(type);
+
+ memcpy(&data[AN_NAME], name, strlen(name) + 1); // We want to include the null byte
+
+ m->data_len = AN_MIN_DATA_SIZE + strlen(name);
+
+ return m->data_len;
+}
+
+enum ResponseGetnodesData {
+ RESP_GN_NUM_NODES_L,
+ RESP_GN_NUM_NODES_H,
+ RESP_GN_MIN_DATA_SIZE
+};
+
+static int resizeMsg(char **msg_ptr, int *curr_max, int check_val) {
+ /* resize the msg if necessary */
+ if (*curr_max < check_val) {
+ *curr_max = *curr_max * 4;
+ *msg_ptr = realloc(*msg_ptr, sizeof(**msg_ptr) * *curr_max);
+ if (!msg_ptr) {
+ return -1;
+ }
+ }
+ return 0;
+}
+
+/* Decode a metadata and data to populate a.
+ * Returns bytes written to msg, -1 on failure.
+ */
+int DecodeResponseGetNodes(
+ char * msg, /* Out */
+ size_t max_len, /* msg buffer max size */
+ const struct metadata *m, /* In */
+ const uint8_t * data) /* In */
+{
+ /* See if we have the min. amount */
+ if (m->data_len < RESP_GN_MIN_DATA_SIZE) {
+ return -1;
+ }
+ if (m->msg_type != RESPNODES_ID) {
+ return -1;
+ }
+
+ uint16_t num_nodes = BytesTo16(data[RESP_GN_NUM_NODES_L], data[RESP_GN_NUM_NODES_H]);
+
+ if (resizeMsg(&msg, (int *)&max_len, (m->data_len *2)) == -1) {
+ return -1;
+ }
+
+ int16_t val;
+ char name[512] = "";/* Corresponding to the maximum name len that the frontend will accept */
+ size_t i;
+ int msg_len = 0, msg_offset = 0, data_offset = RESP_GN_MIN_DATA_SIZE;
+
+ sprintf(msg, "getnodes %hu %n", num_nodes, &msg_offset);
+ msg_len += msg_offset;
+
+
+ for(i = 0; i < num_nodes * 3; ++i) {
+ if (i < num_nodes * 2) {
+ val = BytesTo16(data[data_offset], data[data_offset+1]);
+ data_offset += 2;
+ sprintf(&msg[msg_len], "%" PRId16 " %n", val, &msg_offset);
+ } else {
+ strncpy(name, (char *) (data + data_offset), 512);
+ data_offset += strlen(name) + 1;
+ sprintf(&msg[msg_len], "'%s' %n", name, &msg_offset);
+ }
+ msg_len += msg_offset;
+
+
+ if (resizeMsg(&msg, (int *)&max_len, msg_len + (msg_offset *2)) == -1) {
+ return -1;
+ }
+ }
+ strcat(&msg[msg_len], "\n");
+ return strlen(msg);
+}
+
+enum ResponseAddnodeData {
+ RESP_AN_BLOCK_ID_L,
+ RESP_AN_BLOCK_ID_H,
+ RESP_AN_DATA_SIZE
+};
+
+/* Decode a metadata and data to populate a controller.
+ * Returns bytes written to msg, -1 on failure.
+ */
+int DecodeResponseAddNode(
+ char * msg, /* Out */
+ size_t max_len, /* msg buffer max size */
+ const struct metadata *m, /* In */
+ const uint8_t * data) /* In */
+{
+ if (m->data_len < RESP_AN_DATA_SIZE) {
+ return -1;
+ }
+ if (m->msg_type != RESPADDNODE_ID) {
+ return -1;
+ }
+
+ return sprintf(msg, "addnode %d\n",
+ BytesTo16(data[RESP_AN_BLOCK_ID_L], data[RESP_AN_BLOCK_ID_H]));
+}
\ No newline at end of file
diff --git a/groundStation/src/backend/nodes.h b/groundStation/src/backend/nodes.h
new file mode 100644
index 0000000000000000000000000000000000000000..18f57c9a35419e483253da94b3e69e2d7c657fec
--- /dev/null
+++ b/groundStation/src/backend/nodes.h
@@ -0,0 +1,47 @@
+#ifndef _nodes_h
+#define _nodes_h
+
+#include "packet.h"
+
+#include <sys/types.h>
+
+
+/* Creates data and metadata for a getnodes packet.
+ * Returns data size.
+ */
+ssize_t EncodeGetNodes(
+ 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 addnode packet
+ * Returns data size.
+ */
+ssize_t EncodeAddNode(
+ 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.
+ * Returns bytes written to msg, -1 on failure.
+ */
+int DecodeResponseGetNodes(
+ char * msg, /* Out */
+ size_t max_len, /* msg buffer max size */
+ const struct metadata *m, /* In */
+ const uint8_t * data); /* In */
+
+
+/* Decode a metadata and data to populate a controller.
+ * Returns bytes written to msg, -1 on failure.
+ */
+int DecodeResponseAddNode(
+ char * msg, /* Out */
+ size_t max_len, /* msg buffer max size */
+ const struct metadata *m, /* In */
+ const uint8_t * data); /* In */
+
+#endif
\ No newline at end of file
diff --git a/groundStation/src/backend/output.c b/groundStation/src/backend/output.c
index 0c3195c95b76158e657fd05f8028502bd18f5cdd..9176be6fb7678db8708f5002ac17d31c915f4acc 100644
--- a/groundStation/src/backend/output.c
+++ b/groundStation/src/backend/output.c
@@ -1,7 +1,8 @@
#include <sys/types.h>
+#include <inttypes.h>
#include "output.h"
-#include "../../../common/commands.h"
+#include "commands.h"
#include "bitwise.h"
@@ -29,9 +30,9 @@ ssize_t EncodeGetOutput(
return -1;
}
- uint16_t block, output;
+ int16_t block, output;
- sscanf(msg, "getoutput %hu %hu", &block, &output);
+ sscanf(msg, "getoutput %" SCNd16 " %" SCNd16, &block, &output);
data[GO_BLOCK_ID_L] = LSByte16(block);
data[GO_BLOCK_ID_H] = MSByte16(block);
@@ -58,6 +59,7 @@ enum ResponseData {
*/
int DecodeResponseOutput(
char * msg, /* Decoded controller message */
+ size_t max_len, /* msg buffer max size */
const struct metadata * m, /* Metadata to aid in decoding */
const uint8_t * data) /* Data to decode */
{
@@ -68,7 +70,7 @@ int DecodeResponseOutput(
return -1;
}
- return sprintf(msg, "getoutput %hu %hu %f\n",
+ return snprintf(msg, max_len, "getoutput %" PRId16 " %" PRId16 " %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],
diff --git a/groundStation/src/backend/output.h b/groundStation/src/backend/output.h
index 034d6ec156d25fb27c481d08cfce1c66d7fc7f26..df923ab548c2986c7ddc1ade142aad6ade5f77b6 100644
--- a/groundStation/src/backend/output.h
+++ b/groundStation/src/backend/output.h
@@ -21,6 +21,7 @@ ssize_t EncodeGetOutput(
*/
int DecodeResponseOutput(
char * msg, /* Out */
+ size_t max_len, /* msg buffer max size */
const struct metadata *m, /* In */
const uint8_t * data); /* In */
diff --git a/groundStation/src/backend/param.c b/groundStation/src/backend/param.c
index 749960fe429f372d77f9a25c2e24029689898414..5fdba8fd5126414be4b8aee2239b3b14f0ce2205 100644
--- a/groundStation/src/backend/param.c
+++ b/groundStation/src/backend/param.c
@@ -1,7 +1,8 @@
#include <sys/types.h>
+#include <inttypes.h>
#include "param.h"
-#include "../../../common/commands.h"
+#include "commands.h"
#include "bitwise.h"
enum GetparamData {
@@ -28,8 +29,8 @@ ssize_t EncodeGetParam(
return -1;
}
- uint16_t block, param;
- sscanf(msg, "getparam %hu %hu", &block, ¶m);
+ int16_t block, param;
+ sscanf(msg, "getparam %" SCNd16 " %" SCNd16, &block, ¶m);
data[GP_BLOCK_ID_L] = LSByte16(block);
@@ -69,10 +70,10 @@ ssize_t EncodeSetParam(
return -1;
}
- uint16_t block, param;
+ int16_t block, param;
float val;
- sscanf(msg, "setparam %hu %hu %f", &block, ¶m, &val);
+ sscanf(msg, "setparam %" SCNd16 " %" SCNd16 " %f", &block, ¶m, &val);
data[SP_BLOCK_ID_L] = LSByte16(block);
data[SP_BLOCK_ID_H] = MSByte16(block);
@@ -107,7 +108,8 @@ enum ResponseData {
* Returns bytes written to msg, -1 on failure.
*/
int DecodeResponseParam(
- char * msg, /* Decoded controller message */
+ char * msg, /* Decoded controller message */
+ size_t max_len, /* msg buffer max size */
const struct metadata * m, /* Metadata to aid in decoding */
const uint8_t * data) /* Data to decode */
{
@@ -118,7 +120,7 @@ int DecodeResponseParam(
return -1;
}
- return sprintf(msg, "getparam %hu %hu %f\n",
+ return snprintf(msg, max_len, "getparam %" PRId16 " %" PRId16 " %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],
diff --git a/groundStation/src/backend/param.h b/groundStation/src/backend/param.h
index 96ecc633290abaea67d5083be4ef8b013901af07..b8b03429e391e39b761aca2ddc77b2a41e3a580a 100644
--- a/groundStation/src/backend/param.h
+++ b/groundStation/src/backend/param.h
@@ -29,6 +29,7 @@ ssize_t EncodeSetParam(
*/
int DecodeResponseParam(
char * msg, /* Out */
+ size_t max_len, /* msg buffer max size */
const struct metadata *m, /* In */
const uint8_t * data); /* In */
diff --git a/groundStation/src/backend/source.c b/groundStation/src/backend/source.c
index dac52612d810c500644c8a5286595e090046d631..dd2540e371ee6d8b0d5aa91535e6af13f76145bf 100644
--- a/groundStation/src/backend/source.c
+++ b/groundStation/src/backend/source.c
@@ -1,7 +1,8 @@
#include <sys/types.h>
+#include <inttypes.h>
#include "source.h"
-#include "../../../common/commands.h"
+#include "commands.h"
#include "bitwise.h"
@@ -28,9 +29,9 @@ ssize_t EncodeGetSource(
if (data_size < GS_DATA_SIZE) {
return -1;
}
- uint16_t block, input;
+ int16_t block, input;
- sscanf(msg, "getsource %hu %hu", &block, &input);
+ sscanf(msg, "getsource %" SCNd16 " %" SCNd16, &block, &input);
data[GS_BLOCK_ID_L] = LSByte16(block);
data[GS_BLOCK_ID_H] = MSByte16(block);
@@ -68,10 +69,10 @@ ssize_t EncodeSetSource(
return -1;
}
- uint16_t dst_block, dst_input;
- uint16_t src_block, src_output;
+ int16_t dst_block, dst_input;
+ int16_t src_block, src_output;
- sscanf(msg, "setsource %hu %hu %hu %hu", &dst_block, &dst_input, &src_block, &src_output);
+ sscanf(msg, "setsource %" SCNd16 " %" SCNd16 " %" SCNd16 " %" SCNd16, &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);
@@ -88,10 +89,14 @@ ssize_t EncodeSetSource(
enum ResponseData {
- RESP_DST_BLOCK_ID,
- RESP_DST_INPUT_ID,
- RESP_SRC_BLOCK_ID,
- RESP_SRC_OUTPUT_ID,
+ RESP_DST_BLOCK_ID_L,
+ RESP_DST_BLOCK_ID_H,
+ RESP_DST_INPUT_ID_L,
+ RESP_DST_INPUT_ID_H,
+ RESP_SRC_BLOCK_ID_L,
+ RESP_SRC_BLOCK_ID_H,
+ RESP_SRC_OUTPUT_ID_L,
+ RESP_SRC_OUTPUT_ID_H,
RESP_DATA_SIZE
};
@@ -100,6 +105,7 @@ enum ResponseData {
*/
int DecodeResponseSource(
char * msg, /* Decoded controller message */
+ size_t max_len, /* msg buffer max size */
const struct metadata * m, /* Metadata to aid in decoding */
const uint8_t * data) /* Data to decode */
{
@@ -110,5 +116,9 @@ int DecodeResponseSource(
return -1;
}
- return sprintf(msg, "getsource %d %d\n", data[RESP_SRC_BLOCK_ID], data[RESP_SRC_OUTPUT_ID]);
+ return snprintf(msg, max_len, "getsource %" PRId16 " %" PRId16 " %" PRId16" %" PRId16 "\n",
+ BytesTo16(data[RESP_DST_BLOCK_ID_L], data[RESP_DST_BLOCK_ID_H]),
+ BytesTo16(data[RESP_DST_INPUT_ID_L], data[RESP_DST_INPUT_ID_H]),
+ BytesTo16(data[RESP_SRC_BLOCK_ID_L], data[RESP_SRC_BLOCK_ID_H]),
+ BytesTo16(data[RESP_SRC_OUTPUT_ID_L], data[RESP_SRC_OUTPUT_ID_H]));
}
diff --git a/groundStation/src/backend/source.h b/groundStation/src/backend/source.h
index 577f27717b9fbce4504169bdb6e163a528cc7c34..40a78f0c3becf3074e77e2b91060f0d1a188da26 100644
--- a/groundStation/src/backend/source.h
+++ b/groundStation/src/backend/source.h
@@ -29,6 +29,7 @@ ssize_t EncodeSetSource(
*/
int DecodeResponseSource(
char * msg, /* Out */
+ size_t max_len, /* msg buffer max size */
const struct metadata *m, /* In */
const uint8_t * data); /* In */
diff --git a/groundStation/src/backend/update.c b/groundStation/src/backend/update.c
index 1f51f0be78c78b4671f2066124e15c90b96d3621..db546e05a3891ff0f9f52bc2ecdfc658012ed65b 100644
--- a/groundStation/src/backend/update.c
+++ b/groundStation/src/backend/update.c
@@ -1,5 +1,5 @@
#include "update.h"
-#include "../../../common/commands.h"
+#include "commands.h"
#include "bitwise.h"
#include <sys/types.h>
diff --git a/groundStation/src/cli/cli.c b/groundStation/src/cli/cli.c
index acec4dbc6352ca971b84289eb24cfc918da98bbd..ebde95590a1250cb280f6e8329a81d465d8ecd65 100644
--- a/groundStation/src/cli/cli.c
+++ b/groundStation/src/cli/cli.c
@@ -52,9 +52,8 @@ int main(int argc, char **argv)
// recognize which cli command the user has entered
if (cmdID == -1) {
command = argv[1];
- for(i = 0; i < MAX_COMMANDS; ++i) {
- if (strncmp(command, commandNames[i], strlen(commandNames[i])) == 0)
- {
+ for (i = 0; i < MAX_COMMANDS; ++i) {
+ if (strncmp(command, commandNames[i], strlen(commandNames[i])) == 0) {
cmdID = i;
}
}
@@ -78,7 +77,7 @@ int main(int argc, char **argv)
}
/**
- * I the user has asked for help, and we have already found
+ * If the user has asked for help, and we have already found
* the command that they are trying to use. Then we need
* to be able to provide the help info wihtout the
* requirement of the backend
@@ -100,7 +99,7 @@ int main(int argc, char **argv)
// Call the appropriate function
if (useSymlink) {
(*cli_functions[cmdID]) (conn, argc, &argv[0]);
- }else {
+ } else {
(*cli_functions[cmdID]) (conn, argc-1, &argv[1]);
}
@@ -109,4 +108,130 @@ int main(int argc, char **argv)
ucart_backendDisconnect(conn);
}
return 0;
+}
+
+/* This function is called by other cli functions to check for a help condition */
+int help_check(int argc, char ** argv) {
+ int c;
+ static int needHelp = 0;
+ static struct option long_options[] = {
+ /* These options don’t set a flag. We distinguish them by their indices. */
+ {"help", no_argument, &needHelp, 1},
+ {0, 0, 0, 0}
+ };
+
+ while (1)
+ {
+ /* getopt_long stores the option index here. */
+ int option_index = 0;
+
+ c = getopt_long(argc, argv, "h", long_options, &option_index);
+
+ /* Detect the end of the options. */
+ if (c == -1)
+ break;
+
+ if (c == 'h') {
+ needHelp = 1;
+ }
+ }
+ return needHelp;
+}
+
+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;
+}
+
+int convert_to_id(struct backend_conn * conn, char **argv, struct convert_data * convert_data, int conversion_requirement) {
+ /* variables used to search for id values */
+ size_t num_nodes = 0, i;
+ struct frontend_node_data* search_data;
+ int search_1 = 0, search_2 = 0;
+ const struct graph_node_type * node_definition;
+
+
+
+ if (!isNumber(argv[1])) {
+ search_1 = 1;
+ } else {
+ convert_data->val_1 = atoi(argv[1]);
+ }
+
+ if (!isNumber(argv[2])) {
+ search_2 = 1;
+ } else {
+ convert_data->val_2 = atoi(argv[2]);
+ }
+
+ if (!search_1 && !search_2) {
+ return 0;
+ }
+
+ search_data = malloc(sizeof((*search_data)) * num_nodes);
+
+ if (frontend_getnodes(conn, &search_data, &num_nodes)) {
+ return 1;
+ }
+
+ if (search_1) {
+ for (i = 0; i < num_nodes; ++i) {
+ if (strncasecmp(search_data[i].name, argv[1], strlen(search_data[i].name)) == 0) {
+ convert_data->val_1 = search_data[i].block;
+ node_definition = blockDefs[search_data[i].type];
+ break;
+ }
+ }
+ }
+
+ if (i == num_nodes)
+ return 1;
+
+ if (search_2) {
+ const int *num_s2_options;
+ const char* const* s2_options_arr;
+
+ if (!search_1) {
+ node_definition = blockDefs[search_data[convert_data->val_1].type];
+ }
+
+ switch (conversion_requirement) {
+ case PARAM:
+ num_s2_options = &node_definition->n_params;
+ s2_options_arr = node_definition->param_names;
+ break;
+ case INPUT:
+ num_s2_options = &node_definition->n_inputs;
+ s2_options_arr = node_definition->input_names;
+ break;
+ case OUTPUT:
+ num_s2_options = &node_definition->n_outputs;
+ s2_options_arr = node_definition->output_names;
+ break;
+ }
+
+ for (i = 0; i < (size_t)*num_s2_options; ++i) {
+ if (strncasecmp(s2_options_arr[i],
+ argv[2],
+ strlen(s2_options_arr[i])) == 0) {
+ convert_data->val_2 = i;
+ search_2 = 0;
+ break;
+ }
+ }
+ }
+ for(i = 0; i < num_nodes; ++i) {
+ free(search_data[i].name);
+ }
+ free(search_data);
+ return search_2;
}
\ No newline at end of file
diff --git a/groundStation/src/cli/cli.h b/groundStation/src/cli/cli.h
index 707d16836783fe34279d1b0935995fa535a67fad..8a14201024f41c39a921beea10f19e36428047af 100644
--- a/groundStation/src/cli/cli.h
+++ b/groundStation/src/cli/cli.h
@@ -1,38 +1,82 @@
-#ifndef __CLI_H
-#define __CLI_H
+#ifndef _CLI_H
+#define _CLI_H
-#include "cli_monitor.h"
+#include "frontend_common.h"
#include "cli_source.h"
#include "cli_param.h"
#include "cli_output.h"
+#include "cli_nodes.h"
+
+struct backend_conn;
enum CommandNameIds{
- CMD_MONITOR,
CMD_GETSOURCE,
CMD_SETSOURCE,
CMD_GETPARAM,
CMD_SETPARAM,
CMD_GETOUTPUT,
+ CMD_GETNODES,
+ CMD_ADDNODE,
MAX_COMMANDS
};
typedef int (*cli_function_ptr)(struct backend_conn *, int, char **);
static cli_function_ptr cli_functions[] = {
- &cli_monitor,
&cli_getsource,
&cli_setsource,
&cli_getparam,
&cli_setparam,
&cli_getoutput,
+ &cli_getnodes,
+ &cli_addnode
};
static char* commandNames[MAX_COMMANDS] = {
- "monitor",
"getsource",
"setsource",
"getparam",
"setparam",
- "getoutput"
+ "getoutput",
+ "getnodes",
+ "addnode"
+};
+
+/**
+ * generic two short struct for use with 'convert_to_id()'
+ */
+struct convert_data {
+ int16_t val_1;
+ int16_t val_2;
};
-#endif /* __CLI_H */
\ No newline at end of file
+enum conversion_requirements {
+ INPUT,
+ PARAM,
+ OUTPUT
+};
+/**
+ * isNumber takes a char * such as argv[n] and checks to see if it is a number.
+ * @param number null terminating string (ex. argv[1])
+ * @return 1 if 'number' is a number
+ * 0 if 'number' is not a number
+ */
+int isNumber(char *number);
+
+/**
+ * convert_to_id will take in the convert_data struct and either use the values from argv or
+ * find the correct values by using the optional strings passed in from argv
+ * @param conn backend connection struct
+ * @param argv argv from the cmd line
+ * @param convert_data saves the necissary converted data in this struct for later use.
+ * @return returns an error integer
+ */
+int convert_to_id(struct backend_conn * conn, char **argv, struct convert_data * convert_data, int conversion_requirement);
+
+/* This function is called by other cli functions to check for a help condition */
+/**
+ * determine if the user asked for help
+ * @return 1 if help is needed, else 0.
+ */
+int help_check(int argc, char ** argv);
+
+#endif /* _CLI_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_getpid.c b/groundStation/src/cli/cli_getpid.c
deleted file mode 100644
index 4bf634e3e2e966ea59ac54d8510c3607815f462d..0000000000000000000000000000000000000000
--- a/groundStation/src/cli/cli_getpid.c
+++ /dev/null
@@ -1,176 +0,0 @@
-#include <stdio.h>
-#include <unistd.h>
-#include <getopt.h>
-
-#include "cli_getpid.h"
-
-int cli_getpid(struct backend_conn * conn, int argc, char **argv) {
- int c;
- static int getRoll = 0, getPitch = 0, getYaw = 0, getAll = 0;
- static int getRollV = 0, getPitchV = 0, getYawV = 0;
- static int getHeight = 0, getLat = 0, getLong = 0;
- static int needHelp = 0;
- struct frontend_pid_data pid_data;
- static struct option long_options[] = {
- /* These options don’t set a flag. We distinguish them by their indices. */
- {"roll", no_argument, &getRoll, 1},
- {"pitch", no_argument, &getPitch, 1},
- {"yaw", no_argument, &getYaw, 1},
- {"rollv", no_argument, &getRollV, 1},
- {"pitchv", no_argument, &getPitchV, 1},
- {"yawv", no_argument, &getYawV, 1},
- {"height", no_argument, &getHeight, 1},
- {"lat", no_argument, &getLat, 1},
- {"long", no_argument, &getLong, 1},
- {"help", no_argument, &needHelp, 1},
- {0, 0, 0, 0}
- };
-
- while (1)
- {
- /* getopt_long stores the option index here. */
- int option_index = 0;
-
- c = getopt_long(argc, argv, "a", long_options, &option_index);
-
- /* Detect the end of the options. */
- if (c == -1)
- break;
-
- if (c == 'a') {
- getAll = 1;
- }
- }
-
- if (needHelp) {
- printf("Getpid gets the p, i , and d constant values of any single controller\n");
- printf("Usage Syntax : \n\t./Cli getpid controller [options...]\n");
- printf("Symlink Usage Syntax : \n\t./getpid controller [options...]\n\n");
- printf("Available 'controllers' include the following\n");
- printf("\t[--pitch] : Pitch\n\t[--roll] : Roll\n\t[--yaw] : Yaw\n");
- printf("\t[--pitchv] : Pitch Velocity\n\t[--rollv] : Roll Velocity\n\t[--yawv] : Yaw Velocity\n");
- printf("\t[--height] : Z\n\t[--lat] : X\n\t[--long] : Y\n\n");
- return 0;
- }
-
- if (argc < 2) {
- printf("Incorrect Usage, run './cli getpid --help' for correct usage.\n");
- return 1;
- }
-
- int result;
- if(getAll) {
- for(int i = 0; i < PID_NUM_PIDS; ++i) {
- pid_data.controller = i;
- if ((result = getPidValues(conn, &pid_data))) {
- return result;
- }
- }
- } else {
- if(getPitch) {
- pid_data.controller = PID_PITCH;
- if ((result = getPidValues(conn, &pid_data))) {
- return result;
- }
- }
- if(getRoll) {
- pid_data.controller = PID_ROLL;
- if ((result = getPidValues(conn, &pid_data))) {
- return result;
- }
- }
- if(getYaw) {
- pid_data.controller = PID_YAW;
- if ((result = getPidValues(conn, &pid_data))) {
- return result;
- }
- }
- if(getPitchV) {
- pid_data.controller = PID_PITCH_RATE;
- if ((result = getPidValues(conn, &pid_data))) {
- return result;
- }
- }
- if(getRollV) {
- pid_data.controller = PID_ROLL_RATE;
- if ((result = getPidValues(conn, &pid_data))) {
- return result;
- }
- }
- if(getYawV) {
- pid_data.controller = PID_YAW_RATE;
- if ((result = getPidValues(conn, &pid_data))) {
- return result;
- }
- }
- if(getHeight) {
- pid_data.controller = PID_HEIGHT;
- if ((result = getPidValues(conn, &pid_data))) {
- return result;
- }
- }
- if(getLat) {
- pid_data.controller = PID_LAT;
- if ((result = getPidValues(conn, &pid_data))) {
- return result;
- }
- }
- if(getLong) {
- pid_data.controller = PID_LONG;
- if ((result = getPidValues(conn, &pid_data))) {
- return result;
- }
- }
-
- }
-
- return 0;
-}
-
-int getPidValues(struct backend_conn * conn, struct frontend_pid_data * pid_data) {
- if(frontend_getpid(conn, pid_data)) {
- return 1;
- }
-
- switch(pid_data->controller) {
- case PID_PITCH :
- printf("Pitch Constants: P = %f\tI = %f\tD = %f\n",
- pid_data->p, pid_data->i, pid_data->d);
- break;
- case PID_ROLL :
- printf("Roll Constants: P = %f\tI = %f\tD = %f\n",
- pid_data->p, pid_data->i, pid_data->d);
- break;
- case PID_YAW :
- printf("Yaw Constants: P = %f\tI = %f\tD = %f\n",
- pid_data->p, pid_data->i, pid_data->d);
- break;
- case PID_PITCH_RATE :
- printf("Pitch Rate Constants: P = %f\tI = %f\tD = %f\n",
- pid_data->p, pid_data->i, pid_data->d);
- break;
- case PID_ROLL_RATE :
- printf("Roll Rate Constants: P = %f\tI = %f\tD = %f\n",
- pid_data->p, pid_data->i, pid_data->d);
- break;
- case PID_YAW_RATE :
- printf("Yaw Rate Constants: P = %f\tI = %f\tD = %f\n",
- pid_data->p, pid_data->i, pid_data->d);
- break;
- case PID_HEIGHT :
- printf("Height Constants: P = %f\tI = %f\tD = %f\n",
- pid_data->p, pid_data->i, pid_data->d);
- break;
- case PID_LAT :
- printf("Latitude Constants: P = %f\tI = %f\tD = %f\n",
- pid_data->p, pid_data->i, pid_data->d);
- break;
- case PID_LONG :
- printf("Longitude Constants: P = %f\tI = %f\tD = %f\n",
- pid_data->p, pid_data->i, pid_data->d);
- break;
- default :
- break;
- }
- return 0;
-}
diff --git a/groundStation/src/cli/cli_getpid.h b/groundStation/src/cli/cli_getpid.h
deleted file mode 100644
index 799681f06d114602083e304f2cba321891155fbc..0000000000000000000000000000000000000000
--- a/groundStation/src/cli/cli_getpid.h
+++ /dev/null
@@ -1,9 +0,0 @@
-#ifndef __CLI_GETPID_H
-#define __CLI_GETPID_H
-
-#include "frontend_getpid.h"
-
-int getPidValues(struct backend_conn *, struct frontend_pid_data *);
-int cli_getpid(struct backend_conn * conn, int argc, char ** argv);
-
-#endif /* __CLI_GETPID_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_getsetpoint.c b/groundStation/src/cli/cli_getsetpoint.c
deleted file mode 100644
index 8cb30bb15b14fa643f8bf9ce60c4f1268c36a233..0000000000000000000000000000000000000000
--- a/groundStation/src/cli/cli_getsetpoint.c
+++ /dev/null
@@ -1,134 +0,0 @@
-#include <stdio.h>
-#include <unistd.h>
-#include <getopt.h>
-
-#include "cli_getsetpoint.h"
-
-int cli_getsetpoint(struct backend_conn * conn, int argc, char **argv) {
- int c;
- static int getheight = 0, getlat = 0, getlong = 0;
- static int getpitch = 0, getroll = 0, getyaw = 0;
- struct frontend_setpoint_data setpoint_data;
- static int needHelp = 0;
- static int mask;
- static struct option long_options[] = {
- /* These options don’t set a flag. We distinguish them by their indices. */
- {"help", no_argument, &needHelp, 1},
- {"height", no_argument, &getheight, 1},
- {"long", no_argument, &getlong, 1},
- {"lat", no_argument, &getlat, 1},
- {"pitch", no_argument, &getpitch, 1},
- {"roll", no_argument, &getroll, 1},
- {"yaw", no_argument, &getyaw, 1},
- {0, 0, 0, 0}
- };
-
- while (1)
- {
- /* getopt_long stores the option index here. */
- int option_index = 0;
-
- c = getopt_long(argc, argv, "a", long_options, &option_index);
-
- /* Detect the end of the options. */
- if (c == -1)
- break;
-
- if (c == 'a') {
- getheight = 1;
- getlat = 1;
- getlong = 1;
- getpitch = 1;
- getroll = 1;
- getyaw = 1;
- }
- }
-
- if (needHelp) {
- printf("Getsetpoint gets the height, lat, long, pitch, roll and yaw set point values for the quad.\n");
- printf("Usage Syntax : \n\t./Cli getsetpoint [options...]\n");
- printf("Symlink Usage Syntax : \n\t./getsetpoint [options...]\n\n");
- printf("Available options include the following\n");
- printf("\t[-a] : Gets all of the following setpoints\n");
- printf("\t[--height] : Gets the height setpoint\n");
- printf("\t[--lat] : Gets the latitude setpoint\n");
- printf("\t[--long] : Gets the longitude setpoint\n");
- printf("\t[--pitch] : Gets the pitch setpoint\n");
- printf("\t[--roll] : Gets the roll setpoint\n");
- printf("\t[--yaw] : Gets the yaw setpoint\n");
- return 0;
- }
-
- if (argc < 2) {
- printf("Incorrect Usage, run './cli getsetpoint --help' for correct usage.\n");
- return 1;
- }
- int result;
- if(getheight) {
- if ((result = getSetPointValues(conn, &setpoint_data, HEIGHT))) {
- return result;
- }
- }
- if(getlat) {
- if ((result = getSetPointValues(conn, &setpoint_data, LAT))) {
- return result;
- }
- }
- if(getlong) {
- if ((result = getSetPointValues(conn, &setpoint_data, LONGG))) {
- return result;
- }
- }
- if(getpitch) {
- if ((result = getSetPointValues(conn, &setpoint_data, PITCH))) {
- return result;
- }
- }
- if(getroll) {
- if ((result = getSetPointValues(conn, &setpoint_data, ROLL))) {
- return result;
- }
- }
- if(getyaw) {
- if ((result = getSetPointValues(conn, &setpoint_data, YAW))) {
- return result;
- }
- }
-
- return 0;
-}
-
-int getSetPointValues(struct backend_conn * conn, struct frontend_setpoint_data * setpoint_data, int type) {
- if(frontend_getsetpoint(conn, setpoint_data, type)) {
- return 1;
- }
-
- switch(type) {
- case HEIGHT :
- printf("Height: %f\n",
- setpoint_data->height);
- break;
- case LAT :
- printf("Latitude: %f\n",
- setpoint_data->lat);
- case LONGG :
- printf("Longitude: %f\n",
- setpoint_data->longg);
- break;
- case PITCH :
- printf("Pitch: %f\n",
- setpoint_data->pitch);
- break;
- case ROLL :
- printf("Roll: %f\n",
- setpoint_data->roll);
- break;
- case YAW :
- printf("Yaw: %f\n",
- setpoint_data->yaw);
- break;
- default :
- break;
- }
- return 0;
-}
diff --git a/groundStation/src/cli/cli_getsetpoint.h b/groundStation/src/cli/cli_getsetpoint.h
deleted file mode 100644
index a852b37973c84b21ca985e89dbb90180f35907ba..0000000000000000000000000000000000000000
--- a/groundStation/src/cli/cli_getsetpoint.h
+++ /dev/null
@@ -1,18 +0,0 @@
-#ifndef __CLI_GETSETPOINT_H
-#define __CLI_GETSETPOINT_H
-
-#include "frontend_getsetpoint.h"
-
-enum {
- HEIGHT,
- LAT,
- LONGG,
- PITCH,
- ROLL,
- YAW
-};
-
-int getSetPointValues(struct backend_conn *, struct frontend_setpoint_data *, int type);
-int cli_getsetpoint(struct backend_conn * conn, int argc, char ** argv);
-
-#endif /* __CLI_GETSETPOINT_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_monitor.c b/groundStation/src/cli/cli_monitor.c
deleted file mode 100644
index 7f1df5bf38236b1a6e88224d25b9ac57e69bc9af..0000000000000000000000000000000000000000
--- a/groundStation/src/cli/cli_monitor.c
+++ /dev/null
@@ -1,151 +0,0 @@
-#define _GNU_SOURCE
-
-#include <stdio.h>
-#include <unistd.h>
-#include <getopt.h>
-#include <time.h>
-#include <unistd.h>
-#include <err.h>
-
-#include "cli_monitor.h"
-#include "frontend_tracker.h"
-#include "frontend_getpid.h"
-#include "pid_common.h"
-
-int rate = 10;
-static int pidcounter = 0;
-static int monitorcounter = 0;
-
-int cli_monitor(struct backend_conn * conn, int argc, char **argv) {
- int c, result;
- int countFlag = 0;
- int count;
- int forever = 0;
- static int needHelp = 0;
-
- static struct option long_options[] = {
- /* These options don’t set a flag. We distinguish them by their indices. */
- {"help", no_argument, &needHelp, 1},
- {0, 0, 0, 0}
- };
-
- while (1)
- {
- /* getopt_long stores the option index here. */
- int option_index = 0;
-
- // If you change this VVV please also update the help message
- c = getopt_long(argc, argv, "fc:r:", long_options, &option_index);
-
- if (c == -1)
- break;
-
- switch(c) {
- case 'c' :
- count = atoi(optarg);
- countFlag = 1;
- break;
- case 'r' :
- rate = atoi(optarg) + 1;
- break;
- case 'f' :
- forever = 1;
- break;
- default :
- break;
- }
- }
-
- if (needHelp) {
- printf("Monitor provides real time information about the quad. Including positional data as well as controller constants\n\n");
- printf("Usage Syntax : \n\t./Cli monitor [options...]\n");
- printf("Symlink Usage Syntax : \n\t./monitor [options...]\n\n");
- printf("Available options include the following\n");
- printf("\t[-f] : Run monitor continuously until you kill the program. (ctrl-C)\n");
- printf("\t[-c] 'count' : Sets the number of times the monitor will refresh\n");
- printf("\t[-r] 'rate' : Sets the 'rate' at which the monitor will refresh per second\n");
- return 0;
- }
-
- 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 (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);
- }
-
- return result;
-}
-
-int monitor(struct backend_conn * conn) {
- static struct frontend_pid_data pid_data[PID_NUM_PIDS];
- /* Get tracker data */
- struct frontend_tracker_data td;
-
- if (frontend_track(conn, &td)) {
- errx(1, "Error reading tracker data");
- }
-
- if (monitorcounter == 0) {
- for(int i = 0; i < PID_NUM_PIDS; ++i) {
- pid_data[i].controller = i;
- if (frontend_getpid(conn, &pid_data[i])) {
- errx(1, "Error reading pid values");
- }
- }
- } else {
- if ((monitorcounter % (rate * 5)) == 0) {
- pid_data[pidcounter].controller = pidcounter;
- if (frontend_getpid(conn, &pid_data[pidcounter])) {
- errx(1, "Error reading pid values");
- }
- }
- }
-
- /* Print stuff on screen */
- /* Assuming a tab width of 8 columns */
- printf("\033[2J");
- printf("STATUS: NA\n");
- printf("CTRLR : P R Y P_V R_V Y_V H LAT LON\n");
- printf(" P :%10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf\n",
- pid_data[0].p, pid_data[1].p, pid_data[2].p, pid_data[3].p, pid_data[4].p,
- pid_data[5].p, pid_data[6].p, pid_data[7].p, pid_data[8].p);
- printf(" I :%10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf\n",
- pid_data[0].i, pid_data[1].i, pid_data[2].i, pid_data[3].i, pid_data[4].i,
- pid_data[5].i, pid_data[6].i, pid_data[7].i, pid_data[8].i);
- printf(" D :%10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf\n",
- pid_data[0].d, pid_data[1].d, pid_data[2].d, pid_data[3].d, pid_data[4].d,
- pid_data[5].d, pid_data[6].d, pid_data[7].d, pid_data[8].d);
- printf("PosAtt: H LAT LON P R Y\n");
- printf(" :%10.3lf%10.3lf%10.3lf%10.3lf%10.3lf%10.3lf\n",
- td.height, td.lateral, td.longitudinal,
- td.pitch, td.roll, td.yaw); //TODO: Tracker data long and lat are backwards
-
- monitorcounter++;
- pidcounter = ((pidcounter + 1) % PID_NUM_PIDS);
- return 0;
-}
diff --git a/groundStation/src/cli/cli_monitor.h b/groundStation/src/cli/cli_monitor.h
deleted file mode 100644
index 694323739001d0b0e1b820c37b87ff95362f27e5..0000000000000000000000000000000000000000
--- a/groundStation/src/cli/cli_monitor.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#ifndef __CLI_MONITOR_H
-#define __CLI_MONITOR_H
-
-#include <time.h>
-
-#include "frontend_getpid.h"
-
-#define SECOND_IN_NANO 1000000000
-
-int cli_monitor(struct backend_conn * conn, int argc, char **argv);
-
-// Return 0 on success and 1 otherwise
-int monitor(struct backend_conn * conn);
-#endif /* __CLI_MONITOR_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_nodes.c b/groundStation/src/cli/cli_nodes.c
new file mode 100644
index 0000000000000000000000000000000000000000..281ee6fb60dfd66b29c60515748a7fc6c908a344
--- /dev/null
+++ b/groundStation/src/cli/cli_nodes.c
@@ -0,0 +1,103 @@
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+#include <inttypes.h>
+
+#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;
+ struct frontend_node_data * node_data;
+
+ 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");
+ printf("Symlink Usage Syntax : \n\t./getnodes\n\n");
+ return 0;
+ }
+
+ if (argc > 1) {
+ printf("Incorrect Usage, run './cli getnodes --help' for correct usage.\n");
+ return 1;
+ }
+
+ node_data = malloc(sizeof(*node_data));
+
+ if (frontend_getnodes(conn, &node_data, &num_nodes)) {
+ free(node_data);
+ return 1;
+ }
+
+ printf("--------------------------------------------------------------------------------------------------------------\n");
+ printf("The following %lu Nodes have been found:\n", num_nodes);
+ printf("--------------------------------------------------------------------------------------------------------------\n");
+ printf("\tBLOCK\t\tTYPE\t\tNAME\t\tINPUTS\t\tPARAMS\t\tOUTPUTS\n");
+ printf("--------------------------------------------------------------------------------------------------------------\n");
+ 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;
+}
+
+int cli_addnode(struct backend_conn * conn, int argc, char ** argv) {
+ struct frontend_node_data node_data;
+ int needHelp = 0;
+
+ if ((needHelp = help_check(argc, argv))) {
+ printf("addnodes adds a node of specified type_id and name to the comp_graph\n");
+ printf("Usage Syntax : \n\t./Cli addnode type_id name\n");
+ printf("Symlink Usage Syntax : \n\t./addnode type_id name\n\n");
+ return 0;
+ }
+
+ if (argc < 3) {
+ printf("Incorrect Usage, run './cli addnode --help' for correct usage.\n");
+ return 1;
+ }
+
+ node_data.type = atoi(argv[1]);
+ strncpy(node_data.name, argv[2], 512/* this value matches the max space of name */ );
+
+ if (frontend_addnode(conn, &node_data)) {
+ return 1;
+ }
+
+ printf("Node created with block_id : %" PRId16 "\n", node_data.block);
+ return 0;
+}
diff --git a/groundStation/src/cli/cli_nodes.h b/groundStation/src/cli/cli_nodes.h
new file mode 100644
index 0000000000000000000000000000000000000000..2d9bb137272bf0e040feb6bfb420207ba50e0bad
--- /dev/null
+++ b/groundStation/src/cli/cli_nodes.h
@@ -0,0 +1,9 @@
+#ifndef _CLI_NODES_H
+#define _CLI_NODES_H
+
+#include "frontend_nodes.h"
+
+int cli_getnodes(struct backend_conn * conn, int argc, char ** argv);
+int cli_addnode(struct backend_conn * conn, int argc, char ** argv);
+
+#endif /* _CLI_NODES_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_output.c b/groundStation/src/cli/cli_output.c
new file mode 100644
index 0000000000000000000000000000000000000000..9f4a5fb5fc90c3209c0c3bb3cd81b497503ca302
--- /dev/null
+++ b/groundStation/src/cli/cli_output.c
@@ -0,0 +1,39 @@
+#include <stdio.h>
+#include <unistd.h>
+#include <inttypes.h>
+
+#include "cli.h"
+#include "cli_output.h"
+#include "frontend_output.h"
+
+int cli_getoutput(struct backend_conn * conn, int argc, char ** argv) {
+ int needHelp = 0;
+ struct frontend_output_data output_data;
+
+ if ((needHelp = help_check(argc, argv))) {
+ printf("getoutput gets the output value of a specified block_id and output_id\n");
+ printf("Usage Syntax : \n\t./Cli getoutput <block_id|'block_name'> <output_id|'output_name'>\n");
+ printf("Symlink Usage Syntax : \n\t./getoutput <block_id|'block_name'> <output_id|'output_name'>\n\n");
+ return 0;
+ }
+
+ if (argc < 3) {
+ printf("Incorrect Usage, run './cli getoutput --help' for correct usage.\n");
+ return 1;
+ }
+
+ if (convert_to_id(conn, argv, (struct convert_data *)&output_data, OUTPUT)) {
+ return 1;
+ }
+
+ if (frontend_getoutput(conn, &output_data)) {
+ return 1;
+ }
+
+ printf("BLOCK.OUTPUT = VAL\n" \
+ " %" PRId16 ".%" PRId16 " = %lf\n",
+ output_data.block,
+ output_data.output,
+ output_data.value);
+ return 0;
+}
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_output.h b/groundStation/src/cli/cli_output.h
new file mode 100644
index 0000000000000000000000000000000000000000..153dc10bb5d863d8911b6d9ccb931e41ee471caa
--- /dev/null
+++ b/groundStation/src/cli/cli_output.h
@@ -0,0 +1,8 @@
+#ifndef _CLI_OUTPUT_H
+#define _CLI_OUTPUT_H
+
+#include "frontend_output.h"
+
+int cli_getoutput(struct backend_conn * conn, int argc, char ** argv);
+
+#endif /* _CLI_OUTPUT_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_param.c b/groundStation/src/cli/cli_param.c
new file mode 100644
index 0000000000000000000000000000000000000000..4b3b802c40760d3b3e4323761f6cd2bb8d4699e4
--- /dev/null
+++ b/groundStation/src/cli/cli_param.c
@@ -0,0 +1,70 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <inttypes.h>
+
+#include "cli.h"
+#include "cli_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|'block_name'> <param_id|'param_name'>\n");
+ printf("Symlink Usage Syntax : \n\t./getparam <block_id|'block_name'> <param_id|'param_name'>\n\n");
+ return 0;
+ }
+
+ if (argc < 3) {
+ printf("Incorrect Usage, run './cli getparam --help' for correct usage.\n");
+ return 1;
+ }
+
+ if (convert_to_id(conn, argv, (struct convert_data *)¶m_data, PARAM)) {
+ return 1;
+ }
+
+ if (frontend_getparam(conn, ¶m_data)) {
+ return 1;
+ }
+
+ printf("BLOCK.PARAM = VAL\n" \
+ " %2" PRId16 ".%2" PRId16 " = %lf\n",
+ param_data.block,
+ param_data.param,
+ param_data.value);
+ return 0;
+}
+
+int cli_setparam(struct backend_conn * conn, int argc, char ** argv) {
+ int needHelp = 0;
+ struct frontend_param_data param_data;
+
+ if ((needHelp = help_check(argc, argv))) {
+ printf("setparam sets the param_val for a specified block_id and param_id\n");
+ printf("Usage Syntax : \n\t./Cli setparam <block_id|'block_name'> <param_id|'param_name'> value\n");
+ printf("Symlink Usage Syntax : \n\t./setparam <block_id|'block_name'> <param_id|'param_name'> value\n\n");
+ return 0;
+ }
+
+ if (argc < 4) {
+ printf("Incorrect Usage, run './cli setparam --help' for correct usage.\n");
+ return 1;
+ }
+
+
+ if (convert_to_id(conn, argv, (struct convert_data *)¶m_data, PARAM)) {
+ return 1;
+ }
+
+ param_data.value = atof(argv[3]);
+
+ if (frontend_setparam(conn, ¶m_data)) {
+ return 1;
+ }
+
+ return 0;
+}
diff --git a/groundStation/src/cli/cli_param.h b/groundStation/src/cli/cli_param.h
new file mode 100644
index 0000000000000000000000000000000000000000..b48f033b8fb38c84a062dcd53f15097f2cf4e001
--- /dev/null
+++ b/groundStation/src/cli/cli_param.h
@@ -0,0 +1,14 @@
+#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"
+
+int cli_getparam(struct backend_conn * conn, int argc, char ** argv);
+int cli_setparam(struct backend_conn * conn, int argc, char ** argv);
+
+#endif /* _CLI_PARAM_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_setpid.c b/groundStation/src/cli/cli_setpid.c
deleted file mode 100644
index b2ca124f5e16769dae5d4234d3431ce396210b93..0000000000000000000000000000000000000000
--- a/groundStation/src/cli/cli_setpid.c
+++ /dev/null
@@ -1,103 +0,0 @@
-#include <stdio.h>
-#include <unistd.h>
-#include <getopt.h>
-
-#include "cli_setpid.h"
-#include "frontend_setpid.h"
-
-int cli_setpid(struct backend_conn * conn, int argc, char **argv) {
- int c;
- static int setRoll = 0, setPitch = 0, setYaw = 0, setAll = 0;
- static int setRollV = 0, setPitchV = 0, setYawV = 0;
- static int setHeight = 0, setLat = 0, setLong = 0;
- struct frontend_pid_data pid_data;
- static int mask;
- static float pval = 0, ival = 0, dval = 0;
- static int needHelp = 0;
- static struct option long_options[] = {
- /* These options don’t set a flag. We distinguish them by their indices. */
- {"roll", no_argument, &setRoll, 1},
- {"pitch", no_argument, &setPitch, 1},
- {"yaw", no_argument, &setYaw, 1},
- {"rollv", no_argument, &setRollV, 1},
- {"pitchv", no_argument, &setPitchV, 1},
- {"yawv", no_argument, &setYawV, 1},
- {"height", no_argument, &setHeight, 1},
- {"lat", no_argument, &setLat, 1},
- {"long", no_argument, &setLong, 1},
- {"help", no_argument, &needHelp, 1},
- {0, 0, 0, 0}
- };
-
- while (1)
- {
- /* getopt_long stores the option index here. */
- int option_index = 0;
-
- c = getopt_long(argc, argv, "p:i:d:", long_options, &option_index);
-
- /* Detect the end of the options. */
- if (c == -1)
- break;
-
- switch(c) {
- case 'p' :
- pid_data.p = atof(optarg);
- mask |= SET_P;
- break;
- case 'i' :
- pid_data.i = atof(optarg);
- mask |= SET_I;
- break;
- case 'd' :
- pid_data.d = atof(optarg);
- mask |= SET_D;
- break;
- default :
- break;
- }
- }
-
- if (needHelp) {
- printf("Setpid sets the p, i , or d constant values of any single controller\n");
- printf("Usage Syntax : \n\t./Cli setpid controller [options...]\n");
- printf("Symlink Usage Syntax : \n\t./setpid controller [options...]\n\n");
- printf("Available 'controllers' include the following\n");
- printf("\t[--pitch] : Pitch\n\t[--roll] : Roll\n\t[--yaw] : Yaw\n");
- printf("\t[--pitchv] : Pitch Velocity\n\t[--rollv] : Roll Velocity\n\t[--yawv] : Yaw Velocity\n");
- printf("\t[--height] : Z\n\t[--lat] : X\n\t[--long] : Y\n\n");
- printf("Available 'controller' options include the following\n");
- printf("\t[-p] 'val' : Sets the p constant of the 'controller' to 'val'\n");
- printf("\t[-i] 'val' : Sets the i constant of the 'controller' to 'val'\n");
- printf("\t[-d] 'val' : Sets the d constant of the 'controller' to 'val'\n");
- return 0;
- }
-
- if (argc < 2) {
- printf("Incorrect Usage, run './cli setpid --help' for correct usage.\n");
- return 1;
- }
-
- if (setRoll) {
- pid_data.controller = PID_ROLL;
- } else if (setYaw) {
- pid_data.controller = PID_YAW;
- } else if (setPitch) {
- pid_data.controller = PID_PITCH;
- } else if (setRollV) {
- pid_data.controller = PID_ROLL_RATE;
- } else if (setPitchV) {
- pid_data.controller = PID_PITCH_RATE;
- } else if (setYawV) {
- pid_data.controller = PID_YAW_RATE;
- } else if (setHeight) {
- pid_data.controller = PID_HEIGHT;
- } else if (setLong) {
- pid_data.controller = PID_LONG;
- } else if (setLat) {
- pid_data.controller = PID_LAT;
- }
-
- frontend_setpid(conn, &pid_data, mask);
- return 0;
-}
diff --git a/groundStation/src/cli/cli_setpid.h b/groundStation/src/cli/cli_setpid.h
deleted file mode 100644
index d78fcc07042d7d571f35940f798493a5c8cb1c88..0000000000000000000000000000000000000000
--- a/groundStation/src/cli/cli_setpid.h
+++ /dev/null
@@ -1,8 +0,0 @@
-#ifndef __CLI_SETPID_H
-#define __CLI_SETPID_H
-
-#include "frontend_setpid.h"
-
-int cli_setpid(struct backend_conn * conn, int argc, char ** argv);
-
-#endif /* __CLI_SETPID_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_setsetpoint.c b/groundStation/src/cli/cli_setsetpoint.c
deleted file mode 100644
index e0c43814ff98b2e5326b2d6feb0e14fa468d9032..0000000000000000000000000000000000000000
--- a/groundStation/src/cli/cli_setsetpoint.c
+++ /dev/null
@@ -1,89 +0,0 @@
-#include <stdio.h>
-#include <unistd.h>
-#include <getopt.h>
-
-#include "cli_setsetpoint.h"
-
-int cli_setsetpoint(struct backend_conn * conn, int argc, char **argv) {
- int c;
- static int setheight = 0, setlat = 0, setlong = 0;
- static int setpitch = 0, setroll = 0, setyaw = 0;
- struct frontend_setpoint_data setpoint_data;
- static int needHelp = 0;
- static int mask;
- static struct option long_options[] = {
- /* These options don’t set a flag. We distinguish them by their indices. */
- {"help", no_argument, &needHelp, 1},
- {"height", required_argument, 0, 'h'},
- {"long", required_argument, 0, 'l'},
- {"lat", required_argument, 0, 't'},
- {"pitch", required_argument, 0, 'p'},
- {"roll", required_argument, 0, 'r'},
- {"yaw", required_argument, 0, 'y'},
- {0, 0, 0, 0}
- };
-
- while (1)
- {
- /* getopt_long stores the option index here. */
- int option_index = 0;
-
- c = getopt_long(argc, argv, "", long_options, &option_index);
-
- /* Detect the end of the options. */
- if (c == -1)
- break;
-
- switch(c) {
- case 'h' :
- setpoint_data.height = atof(optarg);
- mask |= SET_HEIGHT;
- break;
- case 't' :
- setpoint_data.lat = atof(optarg);
- mask |= SET_LAT;
- break;
- case 'l' :
- setpoint_data.longg = atof(optarg);
- mask |= SET_LONG;
- break;
- case 'p' :
- setpoint_data.pitch = atof(optarg);
- mask |= SET_PITCH;
- break;
- case 'r' :
- setpoint_data.roll = atof(optarg);
- mask |= SET_ROLL;
- break;
- case 'y' :
- setpoint_data.yaw = atof(optarg);
- mask |= SET_YAW;
- break;
- default :
- break;
- }
-
- }
-
- if (needHelp) {
- printf("Setsetpoint sets the height, lat, long, pitch, roll, or yaw set point values for the quad.\n");
- printf("Usage Syntax : \n\t./Cli setsetpoint [options...]\n");
- printf("Symlink Usage Syntax : \n\t./setsetpoint [options...]\n\n");
- printf("Available options include the following\n");
- printf("\t[--height] 'val' : Sets the height setpoint value to 'val'\n");
- printf("\t[--lat] 'val' : Sets the latitude setpoint value to 'val'\n");
- printf("\t[--long] 'val' : Sets the longitude setpoint value to 'val'\n");
- printf("\t[--pitch] 'val' : Sets the pitch setpoint value to 'val'\n");
- printf("\t[--roll] 'val' : Sets the roll setpoint value to 'val'\n");
- printf("\t[--yaw] 'val' : Sets the yaw setpoint value to 'val'\n");
- return 0;
- }
-
- if (argc < 2) {
- printf("Incorrect Usage, run './cli setpid --help' for correct usage.\n");
- return 1;
- }
-
- frontend_setsetpoint(conn, &setpoint_data, mask);
- return 0;
-}
diff --git a/groundStation/src/cli/cli_setsetpoint.h b/groundStation/src/cli/cli_setsetpoint.h
deleted file mode 100644
index 514145a9485733276fb1982418f5a44747103e74..0000000000000000000000000000000000000000
--- a/groundStation/src/cli/cli_setsetpoint.h
+++ /dev/null
@@ -1,8 +0,0 @@
-#ifndef __CLI_SETSETPOINT_H
-#define __CLI_SETSETPOINT_H
-
-#include "frontend_setsetpoint.h"
-
-int cli_setsetpoint(struct backend_conn * conn, int argc, char ** argv);
-
-#endif /* __CLI_SETSETPOINT_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_source.c b/groundStation/src/cli/cli_source.c
new file mode 100644
index 0000000000000000000000000000000000000000..c82443118163cca8f4ef425a7a912210b6a9bd8a
--- /dev/null
+++ b/groundStation/src/cli/cli_source.c
@@ -0,0 +1,73 @@
+#include <stdio.h>
+#include <unistd.h>
+#include <inttypes.h>
+
+#include "cli.h"
+#include "cli_source.h"
+#include "frontend_source.h"
+
+int cli_getsource(struct backend_conn * conn, int argc, char ** argv) {
+ struct frontend_source_data source_data;
+ int needHelp = 0;
+
+ if ((needHelp = help_check(argc, argv))) {
+ printf("getsource gets the src_block_id and src_output_id for a specified dst_block_id and dst_input_id\n");
+ printf("Usage Syntax : \n\t./Cli getsource dst_block_id dst_input_id\n");
+ printf("Symlink Usage Syntax : \n\t./getsource dst_block_id dst_input_id\n\n");
+ return 0;
+ }
+
+ if (argc < 3) {
+ printf("Incorrect Usage, run './cli getsource --help' for correct usage.\n");
+ return 1;
+ }
+
+ if (convert_to_id(conn, argv, (struct convert_data *)&source_data, INPUT)) {
+ return 1;
+ }
+
+ if (frontend_getsource(conn, &source_data)) {
+ return 1;
+ }
+
+ printf("SRC BLOCK.OUTPUT ---> DST BLOCK.INPUT\n" \
+ " %" PRId16 ".%" PRId16 " ---> %" PRId16 ".%" PRId16 "\n",
+ source_data.src_block, source_data.src_output,
+ source_data.dst_block, source_data.dst_input);
+ return 0;
+}
+
+int cli_setsource(struct backend_conn * conn, int argc, char ** argv) {
+ struct frontend_source_data source_data;
+ struct convert_data conv_data;
+ int needHelp = 0;
+
+ if ((needHelp = help_check(argc, argv))) {
+ printf("setsource sets the src_block_id and src_output_id for a specified dst_block_id and dst_input_id\n");
+ printf("Usage Syntax : \n\t./Cli setsource dst_block_id dst_input_id src_block_id src_output_id\n");
+ printf("Symlink Usage Syntax : \n\t./setsource dst_block_id dst_input_id src_block_id src_output_id\n\n");
+ return 0;
+ }
+
+ if (argc < 5) {
+ printf("Incorrect Usage, run './cli setsource --help' for correct usage.\n");
+ return 1;
+ }
+
+ if (convert_to_id(conn, argv, &conv_data, INPUT)) {
+ return 1;
+ }
+ source_data.dst_block = conv_data.val_1;
+ source_data.dst_input = conv_data.val_2;
+
+ if (convert_to_id(conn, argv+2, &conv_data, OUTPUT)) {
+ return 1;
+ }
+ source_data.src_block = conv_data.val_1;
+ source_data.src_output = conv_data.val_2;
+
+ if (frontend_setsource(conn, &source_data)) {
+ return 1;
+ }
+ return 0;
+}
diff --git a/groundStation/src/cli/cli_source.h b/groundStation/src/cli/cli_source.h
new file mode 100644
index 0000000000000000000000000000000000000000..0e1b30cba38db0d7fb2a335aaea89d04cd7c900f
--- /dev/null
+++ b/groundStation/src/cli/cli_source.h
@@ -0,0 +1,9 @@
+#ifndef _CLI_SOURCE_H
+#define _CLI_SOURCE_H
+
+#include "frontend_source.h"
+
+int cli_getsource(struct backend_conn * conn, int argc, char ** argv);
+int cli_setsource(struct backend_conn * conn, int argc, char ** argv);
+
+#endif /* _CLI_SOURCE_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_common.h b/groundStation/src/frontend/frontend_common.h
index ee0e923bb8e55ab3b1fd48b4da63a7c985ac9845..2fef5c52ae8978e70b153f0579b063d62d979fe4 100644
--- a/groundStation/src/frontend/frontend_common.h
+++ b/groundStation/src/frontend/frontend_common.h
@@ -1,5 +1,5 @@
-#ifndef __FRONTEND_COMMON_H
-#define __FRONTEND_COMMON_H
+#ifndef _FRONTEND_COMMON_H
+#define _FRONTEND_COMMON_H
#include <stdlib.h>
#ifdef __cplusplus
@@ -23,8 +23,32 @@ char * ucart_backendGetline(struct backend_conn * conn);
/* Write a line to the backend */
int ucart_backendWrite(struct backend_conn * backend, const char * line);
+struct frontend_output_data {
+ int16_t block;
+ int16_t output;
+ float value;
+};
+
+struct frontend_param_data {
+ int16_t block;
+ int16_t param;
+ float value;
+};
+
+struct frontend_source_data {
+ int16_t dst_block;
+ int16_t dst_input;
+ int16_t src_block;
+ int16_t src_output;
+};
+
+struct frontend_node_data {
+ int16_t block;
+ int16_t type;
+ char *name;
+};
+
#ifdef __cplusplus
}
#endif
-
#endif /* __FRONTEND_COMMON_H */
diff --git a/groundStation/src/frontend/frontend_getimu.h b/groundStation/src/frontend/frontend_getimu.h
deleted file mode 100644
index 1747252bbc78a403799fb0744c91e2b04883c0cb..0000000000000000000000000000000000000000
--- a/groundStation/src/frontend/frontend_getimu.h
+++ /dev/null
@@ -1,6 +0,0 @@
-#ifndef __FRONTEND_GETIMU_H
-#define __FRONTEND_GETIMU_H
-
-#include "frontend_common.h"
-
-#endif /* __FRONTEND_GETIMU_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_getpid.c b/groundStation/src/frontend/frontend_getpid.c
deleted file mode 100644
index 2fd33c31116bf135a3c1f78cf94b2353bdbb8820..0000000000000000000000000000000000000000
--- a/groundStation/src/frontend/frontend_getpid.c
+++ /dev/null
@@ -1,91 +0,0 @@
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-#include <err.h>
-
-#include "frontend_getpid.h"
-#include "pid_common.h"
-
-/* Get a specified PID.
- *
- * Example:
- *
- * struct frontend_pid_data pid_data;
- * pid_data.pid = PID_PITCH;
- * if (frontend_getpid(conn, &pid_data)) {
- * error
- * } else {
- * pid_data.p, pid_data.i, and pid_data.d are filled
- * }
- *
- * Returns 0 on success, 1 on error
- */
-int frontend_getpid(
- struct backend_conn * conn, struct frontend_pid_data * pid_data) {
-
- char line[100] = "";
- switch (pid_data->controller) {
- case PID_PITCH :
- strncpy(line, "getpitchp\ngetpitchi\ngetpitchd\n", 30);
- break;
- case PID_ROLL :
- strncpy(line, "getrollp\ngetrolli\ngetrolld\n", 27);
- break;
- case PID_YAW :
- strncpy(line, "getyawp\ngetyawi\ngetyawd\n", 24);
- break;
- case PID_PITCH_RATE :
- strncpy(line, "getpitchratep\ngetpitchratei\ngetpitchrated\n", 42);
- break;
- case PID_ROLL_RATE :
- strncpy(line, "getrollratep\ngetrollratei\ngetrollrated\n", 39);
- break;
- case PID_YAW_RATE :
- strncpy(line, "getyawratep\ngetyawratei\ngetyawrated\n", 36);
- break;
- case PID_HEIGHT :
- strncpy(line, "getheightp\ngetheighti\ngetheightd\n", 33);
- break;
- case PID_LAT :
- strncpy(line, "getlatp\ngetlati\ngetlatd\n", 24);
- break;
- case PID_LONG :
- strncpy(line, "getlongp\ngetlongi\ngetlongd\n", 27);
- break;
- default :
- return 1;
- }
-
- int size;
- if((size = ucart_backendWrite(conn, line)) < 0 ) {
- return 1;
- }
-
- char * response;
- char tmpresponse[64];
- char * cmdString;
- size_t pendingResponses = 3;
- float value;
- while (pendingResponses) {
- response = ucart_backendGetline(conn);
- if (response == NULL) {
- warnx("Line not returned from backend");
- return 1;
- }
- strncpy(tmpresponse, response, 64);
- if (strncmp(tmpresponse, "get", 3) == 0) {
- cmdString = strtok(tmpresponse, " ");
- value = strtof(&response[strlen(cmdString)],NULL);
-
- if(cmdString[strlen(cmdString)-1] == 'p') {
- pid_data->p = value;
- } else if(cmdString[strlen(cmdString)-1] == 'i') {
- pid_data->i = value;
- } else if(cmdString[strlen(cmdString)-1] == 'd') {
- pid_data->d = value;
- }
- pendingResponses--;
- }
- }
- return 0;
-}
diff --git a/groundStation/src/frontend/frontend_getpid.h b/groundStation/src/frontend/frontend_getpid.h
deleted file mode 100644
index e7933f1abf1869ac7f3074d472c8a8a36106507c..0000000000000000000000000000000000000000
--- a/groundStation/src/frontend/frontend_getpid.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#ifndef __FRONTEND_GETPID_H
-#define __FRONTEND_GETPID_H
-
-#include "frontend_common.h"
-#include "pid_common.h"
-
-/* Get a specified PID.
- *
- * Example:
- *
- * struct frontend_pid_data pid_data;
- * pid_data.pid = PITCH;
- * if (frontend_getpid(conn, &pid_data)) {
- * error
- * } else {
- * pid_data.p, pid_data.i, and pid_data.d are filled
- * }
- *
- * Returns 0 on success, 1 on error
- */
-int frontend_getpid(
- struct backend_conn * conn,
- struct frontend_pid_data * pid_data);
-
-
-#endif /* __FRONTEND_GETPID_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_getsetpoint.c b/groundStation/src/frontend/frontend_getsetpoint.c
deleted file mode 100644
index b23a5dda43847e08eb3d7eb06479bff27c002575..0000000000000000000000000000000000000000
--- a/groundStation/src/frontend/frontend_getsetpoint.c
+++ /dev/null
@@ -1,94 +0,0 @@
-#include <stdio.h>
-#include <string.h>
-#include <stdlib.h>
-#include <err.h>
-
-#include "frontend_getsetpoint.h"
-#include "setpoint_common.h"
-#include "cli_getsetpoint.h"
-
-/* Get a specified setpoint.
- *
- * Example:
- *
- * struct frontend_setpoint_data setpoint_data;
- * if (frontend_getpid(conn, &pid_data)) {
- * error
- * } else {
- * setpoint_data.height, setpoint_data.lat, and setpoint.long are filled
- * }
- *
- * Returns 0 on success, 1 on error
- */
-int frontend_getsetpoint(
- struct backend_conn * conn, struct frontend_setpoint_data * setpoint_data, int type) {
-
- char line[25] = "";
- switch (type) {
- case HEIGHT :
- strncpy(line, "getheight\n", 10);
- break;
- case LAT :
- strncpy(line, "getlat\n", 7);
- break;
- case LONGG :
- strncpy(line, "getlong\n", 8);
- break;
- case PITCH :
- strncpy(line, "getpitch\n", 9);
- break;
- case ROLL :
- strncpy(line, "getroll\n", 8);
- break;
- case YAW :
- strncpy(line, "getyaw\n", 7);
- break;
- }
- int size;
- if((size = ucart_backendWrite(conn, line)) < 0 ) {
- return 1;
- }
-
- char * response;
- char tmpresponse[64];
- char * cmdString;
- size_t pendingResponses = 1;
- float value;
- while (pendingResponses) {
- response = ucart_backendGetline(conn);
- if (response == NULL) {
- warnx("Line not returned from backend");
- return 1;
- }
- strncpy(tmpresponse, response, 64);
- if (strncmp(tmpresponse, "get", 3) == 0) {
- cmdString = strtok(tmpresponse, " ");
- value = strtof(&response[strlen(cmdString)],NULL);
-
- switch (type) {
- case HEIGHT :
- setpoint_data->height = value;
- break;
- case LAT :
- setpoint_data->lat = value;
- break;
- case LONGG :
- setpoint_data->longg = value;
- break;
- case PITCH :
- setpoint_data->pitch = value;
- break;
- case ROLL :
- setpoint_data->roll = value;
- break;
- case YAW :
- setpoint_data->yaw = value;
- break;
- }
-
- pendingResponses--;
- }
- }
-
- return 0;
-}
diff --git a/groundStation/src/frontend/frontend_getsetpoint.h b/groundStation/src/frontend/frontend_getsetpoint.h
deleted file mode 100644
index f8dfdc87b3df057d5fd43714c5b81a52831ce763..0000000000000000000000000000000000000000
--- a/groundStation/src/frontend/frontend_getsetpoint.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#ifndef __FRONTEND_GETSETPOINT_H
-#define __FRONTEND_GETSETPOINT_H
-
-#include "frontend_common.h"
-#include "setpoint_common.h"
-
-/* Get a specified setpoint.
- *
- * Example:
- *
- * struct frontend_setpoint_data setpoint_data;
- * if (frontend_getpid(conn, &pid_data)) {
- * error
- * } else {
- * setpoint_data.height, setpoint_data.lat, and setpoint.long are filled
- * }
- *
- * Returns 0 on success, 1 on error
- */
-int frontend_getsetpoint(
- struct backend_conn * conn,
- struct frontend_setpoint_data * setpoint_data,
- int type);
-
-#endif /* __FRONTEND_GETPID_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_nodes.c b/groundStation/src/frontend/frontend_nodes.c
new file mode 100644
index 0000000000000000000000000000000000000000..6f2ef72e9c6bedda79d88be8ce9f997730fa35e8
--- /dev/null
+++ b/groundStation/src/frontend/frontend_nodes.c
@@ -0,0 +1,125 @@
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <err.h>
+#include <inttypes.h>
+
+#include "frontend_nodes.h"
+
+/* Get the block_id, type_id and name of
+ * 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,
+ struct frontend_node_data ** node_data,
+ size_t * num_nodes) {
+
+ char msg[64] = "";
+ int written;
+
+ snprintf(msg, 64, "getnodes\n");
+
+ if((written = ucart_backendWrite(conn, msg)) < 0) {
+ return 1;
+ }
+
+ size_t pendingResponses = 1;
+ char * response;
+
+ while (pendingResponses) {
+ response = ucart_backendGetline(conn);
+ if (response == NULL) {
+ warnx("Line not returned from backend");
+ return 1;
+ }
+
+ if (strncmp(response, "getnodes", 8) != 0) {
+ continue;
+ }
+
+ size_t num_nodes_ret = 0;
+ size_t offset = 0;
+
+ sscanf(response, "getnodes %lu %n", &num_nodes_ret, (int * )&offset);
+ response += offset;
+
+ /* Resize if necessary */
+ if (num_nodes_ret != *num_nodes) {
+ *num_nodes = num_nodes_ret;
+ *node_data = realloc(*node_data, sizeof(**node_data) * (*num_nodes));
+ if (!*node_data) {
+ return 1;
+ }
+ }
+
+ struct frontend_node_data * arr = *node_data;
+ for (size_t i = 0; i < *num_nodes; ++i) {
+ sscanf(response, "%" SCNd16 " %n", &arr[i].block, (int*)&offset);
+ // printf("found block %d\n", arr[i].block);
+ response += offset;
+ }
+
+ for (size_t i = 0; i < *num_nodes; ++i) {
+ sscanf(response, "%" SCNd16 " %n", &arr[i].type, (int*)&offset);
+ // printf("found type %d\n", arr[i].type);
+ response += offset;
+ }
+
+ for (size_t i = 0; i < *num_nodes; ++i) {
+ 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--;
+ }
+
+ return 0;
+}
+
+/* Set the value of block.param
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_addnode(
+ struct backend_conn * conn,
+ struct frontend_node_data * node_data) {
+
+ char msg[16 + strlen(node_data->name)];
+ int written;
+
+ snprintf(msg, 16 + strlen(node_data->name), "addnode %" PRId16 " %s\n", node_data->type, node_data->name);
+
+ if((written = ucart_backendWrite(conn, msg)) < 0) {
+ return 1;
+ }
+
+ size_t pendingResponses = 1;
+ char * response;
+
+ while (pendingResponses) {
+ response = ucart_backendGetline(conn);
+ if (response == NULL) {
+ warnx("Line not returned from backend");
+ return 1;
+ }
+
+ if (strncmp(response, "addnode", 7) != 0) {
+ continue;
+ }
+
+ sscanf(response, "addnode %" SCNd16, &node_data->block);
+
+ pendingResponses--;
+ }
+
+ return 0;
+}
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_nodes.h b/groundStation/src/frontend/frontend_nodes.h
new file mode 100644
index 0000000000000000000000000000000000000000..8410d12decb915d23e77e9c71263065177ecb58b
--- /dev/null
+++ b/groundStation/src/frontend/frontend_nodes.h
@@ -0,0 +1,28 @@
+#ifndef _FRONTEND_NODES_H
+#define _FRONTEND_NODES_H
+
+#include "frontend_common.h"
+
+/* Get the block_id, type_id and name of
+ * 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,
+ struct frontend_node_data ** node_data,
+ size_t * num_nodes);
+
+
+/* Adds a node of specified type_id
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_addnode(
+ struct backend_conn * conn,
+ struct frontend_node_data * node_data);
+
+#endif /* __FRONTEND_NODES_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_output.c b/groundStation/src/frontend/frontend_output.c
new file mode 100644
index 0000000000000000000000000000000000000000..54cd6cf8873605c1c166e95d7b7992dcb3810efa
--- /dev/null
+++ b/groundStation/src/frontend/frontend_output.c
@@ -0,0 +1,46 @@
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <err.h>
+#include <inttypes.h>
+
+#include "frontend_output.h"
+
+/* Get the value that corresponds
+ * to the block.output in question.
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_getoutput(
+ struct backend_conn * conn,
+ struct frontend_output_data * output_data) {
+
+ char msg[64] = "";
+ int written;
+
+ snprintf(msg, 64, "getoutput %" PRId16 " %" PRId16 "\n", output_data->block, output_data->output);
+
+ if((written = ucart_backendWrite(conn, msg)) < 0) {
+ return 1;
+ }
+
+ size_t pendingResponses = 1;
+ char * response;
+
+ while (pendingResponses) {
+ response = ucart_backendGetline(conn);
+ if (response == NULL) {
+ warnx("Line not returned from backend");
+ return 1;
+ }
+
+ if (strncmp(response, "getoutput", 9) == 0) {
+ sscanf(response, "getoutput %" SCNd16 " %" SCNd16" %f",
+ &output_data->block, &output_data->output,
+ &output_data->value);
+ pendingResponses--;
+ }
+ }
+
+ return 0;
+}
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_output.h b/groundStation/src/frontend/frontend_output.h
new file mode 100644
index 0000000000000000000000000000000000000000..b2a4e4333cc83344c0154c9bc20d764d9439799d
--- /dev/null
+++ b/groundStation/src/frontend/frontend_output.h
@@ -0,0 +1,16 @@
+#ifndef _FRONTEND_OUTPUT_H
+#define _FRONTEND_OUTPUT_H
+
+#include "frontend_common.h"
+
+/* Get the value that corresponds
+ * to the block.output in question.
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_getoutput(
+ struct backend_conn * conn,
+ struct frontend_output_data * output_data);
+
+
+#endif /* __FRONTEND_OUTPUT_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_param.c b/groundStation/src/frontend/frontend_param.c
new file mode 100644
index 0000000000000000000000000000000000000000..d16faa64474a0ac199becb88c3453f766577b02a
--- /dev/null
+++ b/groundStation/src/frontend/frontend_param.c
@@ -0,0 +1,66 @@
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <err.h>
+#include <inttypes.h>
+
+#include "frontend_param.h"
+
+
+/* Get the value of block.param
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_getparam(
+ struct backend_conn * conn,
+ struct frontend_param_data * param_data) {
+
+ char msg[64] = "";
+ int written;
+
+ snprintf(msg, 64, "getparam %" PRId16 " %" PRId16 "\n", param_data->block, param_data->param);
+
+ if((written = ucart_backendWrite(conn, msg)) < 0) {
+ return 1;
+ }
+
+ size_t pendingResponses = 1;
+ char * response;
+
+ while (pendingResponses) {
+ response = ucart_backendGetline(conn);
+ if (response == NULL) {
+ warnx("Line not returned from backend");
+ return 1;
+ }
+
+ if (strncmp(response, "getparam", 8) == 0) {
+ sscanf(response, "getparam %" SCNd16 " %" SCNd16 " %f",
+ ¶m_data->block, ¶m_data->param,
+ ¶m_data->value);
+ pendingResponses--;
+ }
+ }
+
+ return 0;
+}
+
+/* Set the value of block.param
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_setparam(
+ struct backend_conn * conn,
+ struct frontend_param_data * param_data) {
+
+ char msg[64] = "";
+ int written;
+
+ snprintf(msg, 64, "setparam %" PRId16 " %" PRId16 " %f\n", param_data->block, param_data->param, param_data->value);
+
+ if((written = ucart_backendWrite(conn, msg)) < 0) {
+ return 1;
+ }
+
+ return 0;
+}
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_param.h b/groundStation/src/frontend/frontend_param.h
new file mode 100644
index 0000000000000000000000000000000000000000..26854dd0d7ee104e20edb524a5459a2535794426
--- /dev/null
+++ b/groundStation/src/frontend/frontend_param.h
@@ -0,0 +1,23 @@
+#ifndef _FRONTEND_PARAM_H
+#define _FRONTEND_PARAM_H
+
+#include "frontend_common.h"
+
+/* Get the value of block.param
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_getparam(
+ struct backend_conn * conn,
+ struct frontend_param_data * param_data);
+
+/* Set the value of block.param
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_setparam(
+ struct backend_conn * conn,
+ struct frontend_param_data * param_data);
+
+
+#endif /* __FRONTEND_PARAM_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_setpid.c b/groundStation/src/frontend/frontend_setpid.c
deleted file mode 100644
index 58bf4109cd1c50d22486e464c101c9f8dd3c367e..0000000000000000000000000000000000000000
--- a/groundStation/src/frontend/frontend_setpid.c
+++ /dev/null
@@ -1,82 +0,0 @@
-#include <err.h>
-#include <stdio.h>
-
-#include "frontend_setpid.h"
-#include "pid_common.h"
-#include "frontend_common.h"
-
-int frontend_setpid(
- struct backend_conn * conn,
- struct frontend_pid_data * pid_data,
- int mask)
-{
- if (conn == NULL) {
- return -1;
- }
-
- char * controller;
- switch (pid_data->controller) {
- case PID_PITCH:
- controller = "pitch";
- break;
- case PID_ROLL:
- controller = "roll";
- break;
- case PID_YAW:
- controller = "yaw";
- break;
- case PID_PITCH_RATE:
- controller = "pitchrate";
- break;
- case PID_ROLL_RATE:
- controller = "rollrate";
- break;
- case PID_YAW_RATE:
- controller = "yawrate";
- break;
- case PID_HEIGHT:
- controller = "height";
- break;
- case PID_LAT:
- controller = "lat";
- break;
- case PID_LONG:
- controller = "long";
- break;
- default:
- warnx("Unsupported PID constant");
- return -1;
- }
-
- char buffer[2048];
- /* Set the P, I, and D */
- if (mask & SET_P) {
- if (snprintf(buffer, 2048,
- "set%sp %f\n",
- controller,
- pid_data->p) >= 2048) {
- errx(0, "Buffer to small to format!");
- }
- ucart_backendWrite(conn, buffer);
- }
- if (mask & SET_I) {
- if (snprintf(buffer, 2048,
- "set%si %f\n",
- controller,
- pid_data->i) >= 2048) {
- errx(0, "Buffer to small to format!");
- }
- ucart_backendWrite(conn, buffer);
- }
- if (mask & SET_D) {
- if (snprintf(buffer, 2048,
- "set%sd %f\n",
- controller,
- pid_data->d) >= 2048) {
- errx(0, "Buffer to small to format!");
- }
- ucart_backendWrite(conn, buffer);
- }
-
- return 0;
-}
diff --git a/groundStation/src/frontend/frontend_setpid.h b/groundStation/src/frontend/frontend_setpid.h
deleted file mode 100644
index b9c6e073d3433a0350ebd9b2d9de8ee55a12f18e..0000000000000000000000000000000000000000
--- a/groundStation/src/frontend/frontend_setpid.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#ifndef __FRONTEND_SETPID_H
-#define __FRONTEND_SETPID_H
-
-#include "pid_common.h"
-#include "frontend_common.h"
-
-int frontend_setpid(
- struct backend_conn * conn,
- struct frontend_pid_data * pid_data,
- int mask);
-
-#define SET_P 0x01
-#define SET_I 0x02
-#define SET_D 0x04
-
-#ifndef SET_ALL
-#define SET_ALL (SET_P | SET_I | SET_D)
-#endif /* SET_ALL */
-
-#endif /* __FRONTEND_SETPID_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_setsetpoint.c b/groundStation/src/frontend/frontend_setsetpoint.c
deleted file mode 100644
index b9f43caed0ded4d80964dddcc39a12e165f5c54a..0000000000000000000000000000000000000000
--- a/groundStation/src/frontend/frontend_setsetpoint.c
+++ /dev/null
@@ -1,69 +0,0 @@
-#include <err.h>
-#include <stdio.h>
-
-#include "frontend_setsetpoint.h"
-#include "setpoint_common.h"
-#include "frontend_common.h"
-
-int frontend_setsetpoint(
- struct backend_conn * conn,
- struct frontend_setpoint_data * setpoint_data,
- int mask)
-{
- if (conn == NULL) {
- return -1;
- }
-
- char buffer[2048];
- /* Set the P, I, and D */
- if (mask & SET_HEIGHT) {
- if (snprintf(buffer, 2048,
- "setheight %f\n",
- setpoint_data->height) >= 2048) {
- errx(0, "Buffer to small to format!");
- }
- ucart_backendWrite(conn, buffer);
- }
- if (mask & SET_LAT) {
- if (snprintf(buffer, 2048,
- "setlat %f\n",
- setpoint_data->lat) >= 2048) {
- errx(0, "Buffer to small to format!");
- }
- ucart_backendWrite(conn, buffer);
- }
- if (mask & SET_LONG) {
- if (snprintf(buffer, 2048,
- "setlong %f\n",
- setpoint_data->longg) >= 2048) {
- errx(0, "Buffer to small to format!");
- }
- ucart_backendWrite(conn, buffer);
- }
- if (mask & SET_PITCH) {
- if (snprintf(buffer, 2048,
- "setpitch %f\n",
- setpoint_data->pitch) >= 2048) {
- errx(0, "Buffer to small to format!");
- }
- ucart_backendWrite(conn, buffer);
- }
- if (mask & SET_ROLL) {
- if (snprintf(buffer, 2048,
- "setroll %f\n",
- setpoint_data->roll) >= 2048) {
- errx(0, "Buffer to small to format!");
- }
- ucart_backendWrite(conn, buffer);
- }
- if (mask & SET_YAW) {
- if (snprintf(buffer, 2048,
- "setyaw %f\n",
- setpoint_data->yaw) >= 2048) {
- errx(0, "Buffer to small to format!");
- }
- ucart_backendWrite(conn, buffer);
- }
-
- return 0;
-}
diff --git a/groundStation/src/frontend/frontend_setsetpoint.h b/groundStation/src/frontend/frontend_setsetpoint.h
deleted file mode 100644
index 2607c4d564e14b5c4baae8b9500a74d6b878b922..0000000000000000000000000000000000000000
--- a/groundStation/src/frontend/frontend_setsetpoint.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#ifndef __FRONTEND_SETSETPOINT_H
-#define __FRONTEND_SETSETPOINT_H
-
-#include "setpoint_common.h"
-#include "frontend_common.h"
-
-int frontend_setsetpoint(
- struct backend_conn * conn,
- struct frontend_setpoint_data * setpoint_data,
- int mask);
-
-#define SET_LAT 0x01
-#define SET_LONG 0x02
-#define SET_HEIGHT 0x04
-#define SET_PITCH 0x08
-#define SET_ROLL 0x10
-#define SET_YAW 0x20
-
-#ifndef SET_ALL
-#define SET_ALL (SET_LAT | SET_LONG | SET_HEIGHT | SET_PITCH | SET_ROLL | SET_YAW)
-#endif /* SET_ALL */
-
-#endif /* __FRONTEND_SETSETPOINT_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_source.c b/groundStation/src/frontend/frontend_source.c
new file mode 100644
index 0000000000000000000000000000000000000000..809696fc0d99357ce42440e56620334455fc564f
--- /dev/null
+++ b/groundStation/src/frontend/frontend_source.c
@@ -0,0 +1,69 @@
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <err.h>
+#include <inttypes.h>
+
+#include "frontend_source.h"
+
+
+/* Get the block.output that corresponds
+ * to the block.input in question.
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_getsource(
+ struct backend_conn * conn,
+ struct frontend_source_data * source_data) {
+
+ char msg[64] = "";
+ int written;
+
+ snprintf(msg, 64, "getsource %" PRId16 " %" PRId16 "\n", source_data->dst_block, source_data->dst_input);
+
+ if((written = ucart_backendWrite(conn, msg)) < 0) {
+ return 1;
+ }
+
+ size_t pendingResponses = 1;
+ char * response;
+
+ while (pendingResponses) {
+ response = ucart_backendGetline(conn);
+ if (response == NULL) {
+ warnx("Line not returned from backend");
+ return 1;
+ }
+
+ if (strncmp(response, "getsource", 9) == 0) {
+ sscanf(response, "getsource %" SCNd16 " %" SCNd16 " %" SCNd16 " %" SCNd16,
+ &source_data->dst_block, &source_data->dst_input,
+ &source_data->src_block, &source_data->src_output);
+ pendingResponses--;
+ }
+ }
+
+ return 0;
+}
+
+/* Set the connect the block.output from one block to
+ * another block.input.
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_setsource(
+ struct backend_conn * conn,
+ struct frontend_source_data * source_data) {
+ char msg[64] = "";
+ int written;
+
+ snprintf(msg, 64, "setsource %" PRId16 " %" PRId16 " %" PRId16 " %" PRId16 "\n",
+ source_data->dst_block, source_data->dst_input,
+ source_data->src_block, source_data->src_output);
+
+ if((written = ucart_backendWrite(conn, msg)) < 0) {
+ return 1;
+ }
+
+ return 0;
+}
diff --git a/groundStation/src/frontend/frontend_source.h b/groundStation/src/frontend/frontend_source.h
new file mode 100644
index 0000000000000000000000000000000000000000..ac6da68956e933717a51ee9783bd1a821548a5a0
--- /dev/null
+++ b/groundStation/src/frontend/frontend_source.h
@@ -0,0 +1,25 @@
+#ifndef _FRONTEND_SOURCE_H
+#define _FRONTEND_SOURCE_H
+
+#include "frontend_common.h"
+
+/* Get the block.output that corresponds
+ * to the block.input in question.
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_getsource(
+ struct backend_conn * conn,
+ struct frontend_source_data * source_data);
+
+/* Set the connect the block.output from one block to
+ * another block.input.
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_setsource(
+ struct backend_conn * conn,
+ struct frontend_source_data * source_data);
+
+
+#endif /* _FRONTEND_SOURCE_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/pid_common.h b/groundStation/src/frontend/pid_common.h
deleted file mode 100644
index b89e3b1cddc85bb8820520e91ea4fa1858becd3a..0000000000000000000000000000000000000000
--- a/groundStation/src/frontend/pid_common.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#ifndef __PID_COMMON_H
-#define __PID_COMMON_H
-
-enum pid_controller {
- PID_PITCH,
- PID_ROLL,
- PID_YAW,
- PID_PITCH_RATE,
- PID_ROLL_RATE,
- PID_YAW_RATE,
- PID_HEIGHT, /* Z */
- PID_LAT, /* X */
- PID_LONG, /* Y */
- PID_NUM_PIDS
-};
-
-struct frontend_pid_data {
- enum pid_controller controller;
-
- float p;
- float i;
- float d;
-};
-
-
-#endif /* __PID_COMMON_H */
diff --git a/groundStation/src/frontend/setpoint_common.h b/groundStation/src/frontend/setpoint_common.h
deleted file mode 100644
index a661cb1cd6b2a3fe84edbba7fdf2ffac85e9c074..0000000000000000000000000000000000000000
--- a/groundStation/src/frontend/setpoint_common.h
+++ /dev/null
@@ -1,15 +0,0 @@
-#ifndef __SETPOINT_COMMON_H
-#define __SETPOINT_COMMON_H
-
-struct frontend_setpoint_data {
- float height;
- float lat;
- /* named with two g's due to long type name */
- float longg;
- float pitch;
- float roll;
- float yaw;
-};
-
-
-#endif /* __SETPOINT_COMMON_H */
\ No newline at end of file
diff --git a/quad/.gitignore b/quad/.gitignore
index 43d04fb118c3ab8c1ea06f84c8a8b11598990756..92bd47f407dc5d75d40fff7c329cb9ba87f3df11 100644
--- a/quad/.gitignore
+++ b/quad/.gitignore
@@ -5,3 +5,4 @@ lib/
lib-zybo/
TAGS
out/
+bin/
\ No newline at end of file
diff --git a/quad/Makefile b/quad/Makefile
index f784e354f4310db4d4c9241d11b731c65cba1249..d04ffe0e3d8af5a9842809be690f7ab85d30e134 100644
--- a/quad/Makefile
+++ b/quad/Makefile
@@ -1,20 +1,26 @@
INCDIR = inc
LIBDIR = lib
OUTDIR = out
+EXEDIR = bin
WS = $(CURDIR)/xsdk_workspace
BOOT = $(OUTDIR)/BOOT.bin
.PHONY: all libs zybo boot test clean deep-clean
-all: libs
+all: libs bins
libs:
$(MAKE) -C src/test
$(MAKE) -C src/queue
$(MAKE) -C src/computation_graph
+ $(MAKE) -C src/graph_blocks
+ $(MAKE) -C src/commands
$(MAKE) -C src/quad_app
+bins:
+ $(MAKE) -C src/virt_quad
+
zybo:
bash scripts/build_zybo.sh
@@ -26,13 +32,15 @@ test:
$(MAKE) -C src/quad_app test
clean:
- rm -rf $(INCDIR) $(LIBDIR) $(OUTDIR)
+ rm -rf $(INCDIR) $(LIBDIR) $(OUTDIR) $(EXEDIR)
deep-clean:
make clean
$(MAKE) -C src/test clean
$(MAKE) -C src/queue clean
$(MAKE) -C src/computation_graph clean
+ $(MAKE) -C src/graph_blocks clean
+ $(MAKE) -C src/commands clean
$(MAKE) -C src/quad_app clean
bash scripts/clean_xsdk_workspace.sh
diff --git a/quad/executable.mk b/quad/executable.mk
new file mode 100644
index 0000000000000000000000000000000000000000..d17244a837c5c785fcf53ffb3f547d110d0be88a
--- /dev/null
+++ b/quad/executable.mk
@@ -0,0 +1,43 @@
+GCC = gcc
+
+INCDIR = $(TOP)/inc
+OBJDIR = obj
+EXEDIR = $(TOP)/bin
+LIBDIR = $(TOP)/lib
+
+SOURCES = $(wildcard *.c)
+HEADERS = $(wildcard *.h)
+INCLUDES = $(addprefix $(INCDIR)/, $(HEADERS))
+OBJECTS = $(patsubst %.c, $(OBJDIR)/%.o, $(SOURCES))
+
+TARGET = $(EXEDIR)/$(NAME)
+
+.PHONY: default run clean
+
+################
+## User Targets
+################
+
+default: $(TARGET)
+
+run: $(TARGET)
+ $(EXEDIR)/$(NAME)
+
+clean:
+ rm -rf $(TARGET) $(OBJDIR)
+
+####################
+## Internal Targets
+####################
+
+$(TARGET): $(OBJECTS) | $(EXEDIR)
+ $(GCC) -g -o $(TARGET) $^ -I$(INCDIR) -L$(LIBDIR) $(REQLIBS)
+
+$(OBJDIR)/%.o : %.c | $(OBJDIR) $(INCDIR)
+ $(GCC) -c -g -o $@ $< -I$(INCDIR)
+
+$(OBJDIR):
+ mkdir $(OBJDIR)
+
+$(EXEDIR):
+ mkdir $(EXEDIR)
diff --git a/quad/scripts/__pycache__/uart_stress_tests.cpython-36.pyc b/quad/scripts/__pycache__/uart_stress_tests.cpython-36.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..4b92a40fddc351f17e205b35da850c41744a373c
Binary files /dev/null and b/quad/scripts/__pycache__/uart_stress_tests.cpython-36.pyc differ
diff --git a/quad/scripts/test_uart_comm.py b/quad/scripts/test_uart_comm.py
index bd4f36c0c9748300850eaf495dc4efdf3a7d3926..c02b017aaf3079ac1222ea71e67b9c8d2c2ac220 100755
--- a/quad/scripts/test_uart_comm.py
+++ b/quad/scripts/test_uart_comm.py
@@ -5,11 +5,10 @@ import time
import serial
-def create_msg(main_type, subtype, msg_id, data):
+def create_msg(msg_type, msg_id, data):
msg = bytes()
msg += b'\xBE'
- msg += main_type.to_bytes(1, 'little')
- msg += subtype.to_bytes(1, 'little')
+ msg += msg_type.to_bytes(2, 'little')
msg += msg_id.to_bytes(2, 'little')
msg += len(data).to_bytes(2, 'little')
msg += data
@@ -22,7 +21,7 @@ def create_msg(main_type, subtype, msg_id, data):
def create_test_packet(size=8):
data = bytes((i % 256 for i in range(size)))
- return create_msg(0, 1, 0, data)
+ return create_msg(1, 0, data)
def read_packet(ser):
header = ser.read(7)
@@ -33,7 +32,7 @@ def read_packet(ser):
def query_received(ser):
# Send request
- query_msg = create_msg(0, 2, 0, b'')
+ query_msg = create_msg(2, 0, b'')
ser.write(query_msg)
ser.flush()
@@ -46,7 +45,7 @@ def query_received(ser):
if __name__ == '__main__':
with serial.Serial('/dev/ttyUSB0', 921600, timeout=5) as ser:
ser.reset_input_buffer()
- ser.write(create_test_packet(8))
+ ser.write(create_test_packet(240))
ser.flush()
print(query_received(ser))
diff --git a/quad/scripts/test_zybo_uart.py b/quad/scripts/test_zybo_uart.py
index 0ccd93c66f47df11e9ad87651e1299ca56f8453c..4b0bfb86775e5c19f99fccc5069208aa304a040c 100755
--- a/quad/scripts/test_zybo_uart.py
+++ b/quad/scripts/test_zybo_uart.py
@@ -5,10 +5,11 @@ import time
import serial
-if __name__ == '__main__':
+def do_test():
with serial.Serial('/dev/ttyUSB0', 921600, timeout=5) as ser:
ser.reset_input_buffer()
- send_bytes = b'sdflouirgaorifa;eofija;ogijasfhluiasflawieufzxcvwe'
+ send_bytes = bytes(i % 256 for i in range(128))
+ #send_bytes = b'sdjjjjjjjjjj9ssssssssssssnnnnnnnnnflouirgaorifa;eofija;ogijasfhluiasflawieufzxcvwe'
ser.write(send_bytes)
print("Sending {} bytes".format(len(send_bytes)))
time.sleep(1)
@@ -21,4 +22,8 @@ if __name__ == '__main__':
else:
print(recv_bytes);
print("Test Failed.")
-
+if __name__ == '__main__':
+ for i in range(1):
+ print("Test ", i)
+ do_test()
+ time.sleep(1)
diff --git a/quad/src/commands/Makefile b/quad/src/commands/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..8cc8ffee3eb119613ad65707e4bcc03f9dea80a1
--- /dev/null
+++ b/quad/src/commands/Makefile
@@ -0,0 +1,6 @@
+TOP=../..
+
+NAME = commands
+REQLIBS = -ltest
+
+include $(TOP)/library.mk
diff --git a/quad/src/quad_app/cb_default.h b/quad/src/commands/cb_default.h
similarity index 75%
rename from quad/src/quad_app/cb_default.h
rename to quad/src/commands/cb_default.h
index aa308108b499e2cb8f4e723a59b81b02abe6d29c..5581c442c29af074806052203d4e18e76d263d5c 100644
--- a/quad/src/quad_app/cb_default.h
+++ b/quad/src/commands/cb_default.h
@@ -1,11 +1,10 @@
#include "commands.h"
-#include "type_def.h"
/* The cb_default used on the groundStation. This file MUST NOT BE INCLUDED
* by anything except for commands.c */
/* cb_default used by portable commands.c */
-int cb_default(modular_structs_t *structs)
+int cb_default(struct modular_structs *structs)
{
return 0;
}
diff --git a/common/commands.c b/quad/src/commands/commands.c
similarity index 94%
rename from common/commands.c
rename to quad/src/commands/commands.c
index 09f18bcaeefb6c8ecbcffd4342c0ce7b68c59d14..8dddcbf3c26d53b8f306fa8024e4e02d2c75526b 100644
--- a/common/commands.c
+++ b/quad/src/commands/commands.c
@@ -72,6 +72,9 @@ command_cb cb_respoutput __attribute__((weak, alias("cb_default")));
command_cb cb_getnodes __attribute__((weak, alias("cb_default")));
command_cb cb_respnodes __attribute__((weak, alias("cb_default")));
+command_cb cb_addnode __attribute__((weak, alias("cb_default")));
+command_cb cb_respaddnode __attribute__((weak, alias("cb_default")));
+
/*
* Command structure.
@@ -140,14 +143,14 @@ struct MessageType MessageTypes[MAX_TYPE_ID] =
// Function pointer
&cb_log
},
- // RESPONSE
+ // LOG_END
{
// Command text
- "response",
+ "logend",
// Type of the command data
stringType,
// Function pointer
- &cb_response
+ &cb_logend
},
// SETPARAM
{
@@ -210,7 +213,7 @@ struct MessageType MessageTypes[MAX_TYPE_ID] =
// Type of the command data
floatType,
// Function pointer
- &cb_respoutput
+ &cb_getoutput
},
// RESPOUTPUT
{
@@ -239,14 +242,23 @@ struct MessageType MessageTypes[MAX_TYPE_ID] =
// Function pointer
&cb_respnodes
},
- // LOG_END
+ // ADDNODE
{
// Command text
- "logend",
+ "addnode",
// Type of the command data
- stringType,
+ floatType,
// Function pointer
- &cb_logend
+ &cb_addnode
+ },
+ // RESPADDNODE
+ {
+ // Command text
+ "respaddnode",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_respaddnode
}
};
diff --git a/common/commands.h b/quad/src/commands/commands.h
similarity index 57%
rename from common/commands.h
rename to quad/src/commands/commands.h
index 86fa2c897cf54f090af5e333ae7e755a64f30505..2d41d2e6294c74757518e51b8157df6351765667 100644
--- a/common/commands.h
+++ b/quad/src/commands/commands.h
@@ -5,8 +5,6 @@
#include <stdlib.h>
#include <string.h>
-#include "callbacks.h"
-
#define MAX_CMD_TEXT_LENGTH 100
enum Message{
@@ -41,20 +39,26 @@ enum MessageTypeID{
UPDATE_ID, // 03
BEGINUPDATE_ID, // 04
LOG_ID, // 05
- RESPONSE_ID, // 06
- SETPARAM_ID, // 07 - Setting controller parameters. Example: PID constants
- GETPARAM_ID, // 08 - Getting controller parameters. Example: PID constants
- RESPPARAM_ID, // 09 - Responding with controller parameters. Example: PID constants
- SETSOURCE_ID, // 10 - Setting controller source Block & id
- GETSOURCE_ID, // 11 - Getting controller source Block & id
- RESPSOURCE_ID, // 12 - Responding with controller source Block & id
- GETOUTPUT_ID, // 13 - Getting controller block output
- RESPOUTPUT_ID, // 14 - Responding with controller block output
- GETNODES_ID, // 15 - Getting nodes from current comp_graph
- RESPNODES_ID, // 16 - Responding with nodes from current comp_graph
- LOG_END_ID, // 17 - Responding with controller parameters. Example: PID constants
- MAX_TYPE_ID // 18 - Just used to keep track of the size. Must remain at the end
+ LOG_END_ID, // 06 - Responding with controller parameters. Example: PID constants
+ SETPARAM_ID, // 07 - Setting node parameters.
+ GETPARAM_ID, // 08 - Getting node parameters.
+ RESPPARAM_ID, // 09 - Responding with node parameters.
+ SETSOURCE_ID, // 10 - Setting node input source block_id & output_id
+ GETSOURCE_ID, // 11 - Getting node input source block_id & output_id
+ RESPSOURCE_ID, // 12 - Responding with node input source block_id & output_id
+ GETOUTPUT_ID, // 13 - Getting node output
+ RESPOUTPUT_ID, // 14 - Responding with node output
+ GETNODES_ID, // 15 - Getting node IDs from current comp_graph
+ RESPNODES_ID, // 16 - Responding with node IDs from current comp_graph
+ ADDNODE_ID, // 17 - Add a node of specified type_id
+ RESPADDNODE_ID, // 18 - Responding with the block_id of the newly added node
+ MAX_TYPE_ID // 19 - Just used to keep track of the size. Must remain at the end
};
+
+struct modular_structs;
+struct metadata;
+typedef int (command_cb)(struct modular_structs *, struct metadata *, unsigned char *, unsigned short);
+
/*
* Message type struct used to keep track of the callback function
* pointers located in commands.c
diff --git a/quad/src/computation_graph/Makefile b/quad/src/computation_graph/Makefile
index 5142ac39b839e02ca6ed2eb2c28fcec186b88ef7..ddd1f5c2e82619162c544e52c82cd774958782dd 100644
--- a/quad/src/computation_graph/Makefile
+++ b/quad/src/computation_graph/Makefile
@@ -1,6 +1,6 @@
TOP=../..
NAME = computation_graph
-REQLIBS = -ltest -lm
+REQLIBS = -ltest -lm -lgraph_blocks
include $(TOP)/library.mk
diff --git a/quad/src/computation_graph/computation_graph.c b/quad/src/computation_graph/computation_graph.c
index 7434e14a112117b8dbe22a3ecd300b04c6c90413..7b21b2273e111b96160293108fa08aed2b7de5d5 100644
--- a/quad/src/computation_graph/computation_graph.c
+++ b/quad/src/computation_graph/computation_graph.c
@@ -81,6 +81,14 @@ int graph_set_source(struct computation_graph *graph,
return 0;
}
+struct node_src graph_get_source(struct computation_graph *graph, int node_id, int input_id) {
+ if (node_id >= graph->n_nodes || node_id < 0 ||
+ input_id >= graph->nodes[node_id].type->n_inputs || input_id < 0) {
+ return (struct node_src) {.controller_id = -1, .controller_output = -1};
+ }
+ return graph->nodes[node_id].input_srcs[input_id];
+}
+
int graph_add_node(struct computation_graph *graph,
const char* name,
const struct graph_node_type *type,
@@ -104,7 +112,7 @@ int graph_add_node(struct computation_graph *graph,
new_node->updated = 1;
new_node->output_values = malloc(type->n_outputs * sizeof(double));
new_node->param_values = calloc(type->n_params, sizeof(double));
- new_node->input_srcs = malloc(type->n_inputs * sizeof(struct input_type));
+ new_node->input_srcs = malloc(type->n_inputs * sizeof(struct node_src));
// Check that malloc succeeded in every case which memory was requested
if ((type->n_outputs && !new_node->output_values) ||
(type->n_params && !new_node->param_values) ||
diff --git a/quad/src/computation_graph/computation_graph.h b/quad/src/computation_graph/computation_graph.h
index e5e769fd28abcb90f66ef2df40434e132c496c62..e997aa7ab06a79d61aac152699d9a49379403ffc 100644
--- a/quad/src/computation_graph/computation_graph.h
+++ b/quad/src/computation_graph/computation_graph.h
@@ -25,14 +25,22 @@ struct computation_graph {
// Declares a node type
struct graph_node_type {
- const char* const* input_names;
- const char* const* output_names;
- const char* const* param_names;
- int n_inputs;
- int n_outputs;
- int n_params;
- execute_node_t execute;
- reset_node_t reset;
+ const char* const* input_names; // Array of strings corresponding to the inputs
+ const char* const* output_names; // Array of strings corresponding to the outputs
+ const char* const* param_names; // Array of strings corresponding to the parameters
+ int n_inputs; // Number of inputs
+ int n_outputs; // Number of outputs
+ int n_params; // Number of parameters
+ execute_node_t execute; // Function describing how to produce outputs
+ reset_node_t reset; // Reset this node. Called upon (re)connection
+ size_t state_size; // Size of the state struct for this type
+ int type_id; // A unique ID for this node type
+};
+
+// Holds a tuple for defining the source of a node. Includes the node ID and its output ID
+struct node_src {
+ int controller_id;
+ int controller_output;
};
// Declares an instance of a node
@@ -44,10 +52,7 @@ struct graph_node {
int n_children; // The number of connected children
void *state; // Pointer to the state instance
int processed_state; // State of the node with respecct to the graph traversal
- struct input_type { // Array of tuples indicating the source for each input to this node
- int controller_id;
- int controller_output;
- } *input_srcs;
+ struct node_src *input_srcs; // Array of tuples indicating the source for each input to this node
int updated; // 1 if this node has had an input or parameter change
};
@@ -68,6 +73,12 @@ struct computation_graph *create_graph();
*/
int graph_set_source(struct computation_graph *graph, int dest_node_id, int dest_input, int src_node_id, int src_output);
+/*
+ * Returns the source node/output pair of a node's input. The mirror of graph_set_source.
+ * Returns a node ID of -1 if the requested node or input does not exist
+ */
+struct node_src graph_get_source(struct computation_graph *graph, int node_id, int input_id);
+
/*
* Creates a new node with the given data, and adds it to the graph.
* Returns a negative integer upon failure.
diff --git a/quad/src/computation_graph/test/test_computation_graph.c b/quad/src/computation_graph/test/test_computation_graph.c
index 1948421eb7c8792756c51e4cccd6f8c559f0ac95..929fe9ca44404efbaa9e46287cc78a6a2fe057f9 100644
--- a/quad/src/computation_graph/test/test_computation_graph.c
+++ b/quad/src/computation_graph/test/test_computation_graph.c
@@ -2,11 +2,7 @@
#include "computation_graph.h"
-#include "node_add.h"
-#include "node_mult.h"
-#include "node_constant.h"
-#include "node_gain.h"
-#include "node_accumulator.h"
+#include "graph_blocks.h"
#define GRAPH_TEST_EPS 0.00001
@@ -19,10 +15,10 @@ static int nequal(double val1, double val2) {
int graph_test_one_add() {
struct computation_graph *graph = create_graph();
- int block = graph_add_node_add(graph, "Add");
- int cblock3 = graph_add_node_const(graph, "3");
+ int block = graph_add_defined_block(graph, BLOCK_ADD, "Add");
+ int cblock3 = graph_add_defined_block(graph, BLOCK_CONSTANT, "3");
graph_set_param_val(graph, cblock3, CONST_SET, 3);
- int cblock4 = graph_add_node_const(graph, "4");
+ int cblock4 = graph_add_defined_block(graph, BLOCK_CONSTANT, "4");
graph_set_param_val(graph, cblock4, CONST_SET, 4);
graph_set_source(graph, block, ADD_SUMMAND1, cblock3, CONST_VAL);
graph_set_source(graph, block, ADD_SUMMAND2, cblock4, CONST_VAL);
@@ -35,8 +31,8 @@ int graph_test_one_add() {
int graph_test_circular_runs() {
struct computation_graph *graph = create_graph();
- int gain1 = graph_add_node_gain(graph, "gain1");
- int gain2 = graph_add_node_gain(graph, "gain2");
+ int gain1 = graph_add_defined_block(graph, BLOCK_GAIN, "gain1");
+ int gain2 = graph_add_defined_block(graph, BLOCK_GAIN, "gain2");
graph_set_source(graph, gain2, GAIN_INPUT, gain1, GAIN_RESULT);
graph_set_source(graph, gain1, GAIN_INPUT, gain2, GAIN_RESULT);
int to_compute_for[1] = {gain2};
@@ -47,8 +43,8 @@ int graph_test_circular_runs() {
int graph_test_circular_resets() {
struct computation_graph *graph = create_graph();
- int acum1 = graph_add_node_accum(graph, "accumulator1");
- int acum2 = graph_add_node_accum(graph, "accumulator2");
+ int acum1 = graph_add_defined_block(graph, BLOCK_ACCUMULATE, "accumulator1");
+ int acum2 = graph_add_defined_block(graph, BLOCK_ACCUMULATE, "accumulator2");
graph_set_source(graph, acum2, ACCUM_IN, acum1, ACCUMULATED);
graph_set_source(graph, acum1, ACCUM_IN, acum2, ACCUMULATED);
return 0; // Passes if no infinite loop
@@ -57,8 +53,8 @@ int graph_test_circular_resets() {
// Tests the accumulator block, thereby testing reset and state changes
int graph_test_accumulator() {
struct computation_graph *graph = create_graph();
- int cblock = graph_add_node_const(graph, "const");
- int acum_b = graph_add_node_accum(graph, "accumulator");
+ int cblock = graph_add_defined_block(graph, BLOCK_CONSTANT, "const");
+ int acum_b = graph_add_defined_block(graph, BLOCK_ACCUMULATE, "accumulator");
graph_set_source(graph, acum_b, ACCUM_IN, cblock, CONST_VAL);
int to_compute_for[1] = {acum_b};
@@ -76,7 +72,7 @@ int graph_test_accumulator() {
}
// Test reset on source set
- int gain_b = graph_add_node_gain(graph, "Gain");
+ int gain_b = graph_add_defined_block(graph, BLOCK_GAIN, "Gain");
graph_set_param_val(graph, gain_b, GAIN_GAIN, 1);
graph_set_source(graph, gain_b, GAIN_INPUT, acum_b, ACCUMULATED);
to_compute_for[0] = gain_b;
@@ -93,9 +89,9 @@ int graph_test_accumulator() {
// even if its output is connected to multiple inputs
int graph_test_single_run() {
struct computation_graph *graph = create_graph();
- int acum_b = graph_add_node_accum(graph, "accumulator");
- int add_block = graph_add_node_add(graph, "Add");
- int cblock = graph_add_node_const(graph, "const");
+ int acum_b = graph_add_defined_block(graph, BLOCK_ACCUMULATE, "accumulator");
+ int add_block = graph_add_defined_block(graph, BLOCK_ADD, "Add");
+ int cblock = graph_add_defined_block(graph, BLOCK_CONSTANT, "const");
graph_set_param_val(graph, cblock, CONST_SET, 2);
@@ -112,10 +108,10 @@ int graph_test_single_run() {
// Tests that upon connection of a second child, a block will not reset
int graph_test_reset_rules() {
struct computation_graph *graph = create_graph();
- int cblock = graph_add_node_const(graph, "5");
+ int cblock = graph_add_defined_block(graph, BLOCK_CONSTANT, "5");
graph_set_param_val(graph, cblock, CONST_SET, 5);
- int acum_b = graph_add_node_accum(graph, "accumulator");
- int gain1 = graph_add_node_gain(graph, "gain1");
+ int acum_b = graph_add_defined_block(graph, BLOCK_ACCUMULATE, "accumulator");
+ int gain1 = graph_add_defined_block(graph, BLOCK_GAIN, "gain1");
graph_set_param_val(graph, gain1, GAIN_GAIN, 1);
graph_set_source(graph, gain1, GAIN_INPUT, acum_b, ACCUMULATED);
@@ -124,7 +120,7 @@ int graph_test_reset_rules() {
graph_compute_nodes(graph, to_compute_for, 1);
// state of acum_b is now 5
- int gain2 = graph_add_node_gain(graph, "gain2");
+ int gain2 = graph_add_defined_block(graph, BLOCK_GAIN, "gain2");
graph_set_param_val(graph, gain2, GAIN_GAIN, 1);
// Connect gain 2, and accumulator should not get reset
graph_set_source(graph, gain2, GAIN_INPUT, acum_b, ACCUMULATED);
@@ -138,7 +134,7 @@ int graph_test_reset_rules() {
int graph_test_self_loop() {
struct computation_graph *graph = create_graph();
- int gain1 = graph_add_node_gain(graph, "gain1");
+ int gain1 = graph_add_defined_block(graph, BLOCK_GAIN, "gain1");
graph_set_source(graph, gain1, GAIN_INPUT, gain1, GAIN_RESULT);
int to_compute_for[1] = {gain1};
graph_compute_nodes(graph, to_compute_for, 1);
@@ -147,8 +143,8 @@ int graph_test_self_loop() {
int graph_test_update_rules() {
struct computation_graph *graph = create_graph();
- int cblock = graph_add_node_const(graph, "const");
- int acum_b = graph_add_node_accum(graph, "accumulator");
+ int cblock = graph_add_defined_block(graph, BLOCK_CONSTANT, "const");
+ int acum_b = graph_add_defined_block(graph, BLOCK_ACCUMULATE, "accumulator");
graph_set_source(graph, acum_b, ACCUM_IN, cblock, CONST_VAL);
graph_set_param_val(graph, cblock, CONST_SET, 3);
@@ -167,11 +163,11 @@ C2 --->| accum_b2 --->|
*/
int graph_test_update_propagation() {
struct computation_graph *graph = create_graph();
- int cblock1 = graph_add_node_const(graph, "const1");
- int cblock2 = graph_add_node_const(graph, "const2");
- int accum_b1 = graph_add_node_accum(graph, "accumulator1");
- int accum_b2 = graph_add_node_accum(graph, "accumulator2");
- int add_b = graph_add_node_add(graph, "add");
+ int cblock1 = graph_add_defined_block(graph, BLOCK_CONSTANT, "const1");
+ int cblock2 = graph_add_defined_block(graph, BLOCK_CONSTANT, "const2");
+ int accum_b1 = graph_add_defined_block(graph, BLOCK_ACCUMULATE, "accumulator1");
+ int accum_b2 = graph_add_defined_block(graph, BLOCK_ACCUMULATE, "accumulator2");
+ int add_b = graph_add_defined_block(graph, BLOCK_ADD, "add");
graph_set_source(graph, accum_b1, ACCUM_IN, cblock1, CONST_VAL);
graph_set_source(graph, accum_b2, ACCUM_IN, cblock2, CONST_VAL);
graph_set_source(graph, add_b, ADD_SUMMAND1, accum_b1, ACCUMULATED);
@@ -199,10 +195,10 @@ the node would never get set.
int graph_test_update_disconnected() {
printf("\n\n---------\n");
struct computation_graph *graph = create_graph();
- int d_block = graph_add_node_const(graph, "const1");
- int gain_block = graph_add_node_gain(graph, "gain");
- int gain2_block = graph_add_node_gain(graph, "gain2");
- int const_b = graph_add_node_const(graph, "const2");
+ int d_block = graph_add_defined_block(graph, BLOCK_CONSTANT, "const1");
+ int gain_block = graph_add_defined_block(graph, BLOCK_GAIN, "gain");
+ int gain2_block = graph_add_defined_block(graph, BLOCK_GAIN, "gain2");
+ int const_b = graph_add_defined_block(graph, BLOCK_CONSTANT, "const2");
graph_set_source(graph, gain_block, GAIN_INPUT, const_b, CONST_VAL);
graph_set_source(graph, gain2_block, GAIN_INPUT, d_block, CONST_VAL); // We need this so d_block doesn't get updated
graph_set_param_val(graph, gain_block, GAIN_GAIN, 2);
@@ -217,8 +213,35 @@ int graph_test_update_disconnected() {
return nequal(set_val, 2*1.2345);
}
+int graph_test_get_source() {
+ struct computation_graph *graph = create_graph();
+ int add_block = graph_add_defined_block(graph, BLOCK_ADD, "Add");
+ int cblock3 = graph_add_defined_block(graph, BLOCK_CONSTANT, "3");
+ graph_set_source(graph, add_block, ADD_SUMMAND1, cblock3, CONST_VAL);
+
+ struct node_src source = graph_get_source(graph, add_block, ADD_SUMMAND1);
+ if (source.controller_id != cblock3 || source.controller_output != CONST_VAL) {
+ return 1;
+ }
+ else {
+ return 0;
+ }
+}
+
+int graph_test_get_source_null() {
+ struct computation_graph *graph = create_graph();
+ int add_block = graph_add_defined_block(graph, BLOCK_ADD, "Add");
+
+ struct node_src source = graph_get_source(graph, 123, ADD_SUMMAND1);
+ if (source.controller_id != -1) {
+ return 1;
+ }
+ else {
+ return 0;
+ }
+}
+
int main() {
- int success = 0;
test(graph_test_one_add, "Test adding 2 numbers");
test(graph_test_circular_runs, "Test computing cycles");
test(graph_test_circular_resets, "Test resetting cycles");
@@ -229,5 +252,7 @@ int main() {
test(graph_test_update_rules, "Tests that nodes only update when their inputs change");
test(graph_test_update_propagation, "Tests that updates propagate only to their children");
test(graph_test_update_disconnected, "Tests that nodes get executed when updated, even if disconnected");
+ test(graph_test_get_source, "Tests that the get_source call works normally");
+ test(graph_test_get_source_null, "Tests that the get_source call returns ID -1 when invalid ID is passed");
return test_summary();
}
diff --git a/quad/src/graph_blocks/.gitignore b/quad/src/graph_blocks/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..90edb74c26197159cf7438929580622073b7cd17
--- /dev/null
+++ b/quad/src/graph_blocks/.gitignore
@@ -0,0 +1 @@
+obj/
diff --git a/quad/src/graph_blocks/Makefile b/quad/src/graph_blocks/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..2769a61ebc43c61087f2cb47df50d11e94729e95
--- /dev/null
+++ b/quad/src/graph_blocks/Makefile
@@ -0,0 +1,6 @@
+TOP=../..
+
+NAME = graph_blocks
+REQLIBS = -lcomputation_graph
+
+include $(TOP)/library.mk
diff --git a/quad/src/graph_blocks/graph_blocks.c b/quad/src/graph_blocks/graph_blocks.c
new file mode 100644
index 0000000000000000000000000000000000000000..325218bf8d966c0eaca77675fb091ad34e4a28fd
--- /dev/null
+++ b/quad/src/graph_blocks/graph_blocks.c
@@ -0,0 +1,33 @@
+#include "graph_blocks.h"
+#include <stdlib.h>
+
+// See graph_blocks.h
+const struct graph_node_type* blockDefs[MAX_BLOCK_TYPES] =
+{
+ &node_const_type,
+ &node_add_type,
+ &node_mult_type,
+ &node_gain_type,
+ &node_accum_type,
+ &node_bounds_type,
+ &node_mixer_type,
+ &node_pid_type
+};
+
+
+int graph_add_defined_block(struct computation_graph* graph, int type_id, const char* name) {
+ // Verify block type is valid
+ if (type_id >= MAX_BLOCK_TYPES) {
+ return -1;
+ }
+ const struct graph_node_type *block_type = blockDefs[type_id];
+ void* state = NULL;
+ // Allocate the state struct for this node, if necessary
+ if (block_type->state_size) {
+ state = malloc(block_type->state_size);
+ if (!state) {return -1;} // Check for malloc failure
+ }
+
+ // Use the computation graph implementation's add node function
+ return graph_add_node(graph, name, block_type, state);
+}
\ No newline at end of file
diff --git a/quad/src/graph_blocks/graph_blocks.h b/quad/src/graph_blocks/graph_blocks.h
new file mode 100644
index 0000000000000000000000000000000000000000..812e2a844a15ed0afba19d7fd3f2b78b8a5ea997
--- /dev/null
+++ b/quad/src/graph_blocks/graph_blocks.h
@@ -0,0 +1,54 @@
+#ifndef __GRAPH_BLOCKS_H__
+#define __GRAPH_BLOCKS_H__
+
+#include "computation_graph.h"
+#include "node_constant.h"
+#include "node_add.h"
+#include "node_mult.h"
+#include "node_gain.h"
+#include "node_accumulator.h"
+#include "node_bounds.h"
+#include "node_mixer.h"
+#include "node_pid.h"
+
+/*
+ * ---------- How-To ------------
+ * To add a new block type, put the implementation (.c and .h) files
+ * in the same directory as this file, and include the header file above
+ * Add a new entry to this enum right before MAX_BLOCK_TYPES
+ *
+ * In graph_blocks.c, add a new entry at the end of the array with
+ * your graph_node_type struct.
+ */
+
+
+/*
+ * Enumerates all the types of different block types.
+ * Must match blockDefs
+ */
+enum BlockTypes {
+ BLOCK_CONSTANT, // 00
+ BLOCK_ADD, // 01
+ BLOCK_MULT, // 02
+ BLOCK_GAIN, // 03
+ BLOCK_ACCUMULATE, // 04
+ BLOCK_BOUNDS, // 05
+ BLOCK_MIXER, // 06
+ BLOCK_PID, // 07
+ // <-- Insert new block type here
+ MAX_BLOCK_TYPES
+};
+
+/*
+ * Array corresponding to the different block type structs
+ * Mustm match the nums in BlockTypes
+ */
+extern const struct graph_node_type* blockDefs[MAX_BLOCK_TYPES];
+
+
+/*
+ * Creates a new node and adds it to the graph with the given type ID and name
+ * Returns the id of the new node upon success, -1 upon failure
+ */
+int graph_add_defined_block(struct computation_graph* graph, int type_id, const char* name);
+#endif // __GRAPH_BLOCKS_H__
diff --git a/quad/src/computation_graph/node_accumulator.c b/quad/src/graph_blocks/node_accumulator.c
similarity index 91%
rename from quad/src/computation_graph/node_accumulator.c
rename to quad/src/graph_blocks/node_accumulator.c
index 17a36ee92dffc796e9ea592f28ecd1f4737085a1..10b96873750e862b9072d0f2738842aa3be69ec7 100644
--- a/quad/src/computation_graph/node_accumulator.c
+++ b/quad/src/graph_blocks/node_accumulator.c
@@ -27,7 +27,9 @@ const struct graph_node_type node_accum_type = {
.n_outputs = 1,
.n_params = 0,
.execute = accum_nodes,
- .reset = reset
+ .reset = reset,
+ .state_size = sizeof(struct accum_state),
+ .type_id = BLOCK_ACCUMULATE
};
int graph_add_node_accum(struct computation_graph *graph, const char* name) {
diff --git a/quad/src/computation_graph/node_accumulator.h b/quad/src/graph_blocks/node_accumulator.h
similarity index 93%
rename from quad/src/computation_graph/node_accumulator.h
rename to quad/src/graph_blocks/node_accumulator.h
index a392a9db295e5bc7f44d84292e4aa561ee3fba9d..43301d6676aa1289a6523da45546ffc88f7cbfe0 100644
--- a/quad/src/computation_graph/node_accumulator.h
+++ b/quad/src/graph_blocks/node_accumulator.h
@@ -1,6 +1,7 @@
#ifndef __NODE_ACCUMULATOR_H__
#define __NODE_ACCUMULATOR_H__
#include "computation_graph.h"
+#include "graph_blocks.h"
int graph_add_node_accum(struct computation_graph *graph, const char* name);
diff --git a/quad/src/computation_graph/node_add.c b/quad/src/graph_blocks/node_add.c
similarity index 91%
rename from quad/src/computation_graph/node_add.c
rename to quad/src/graph_blocks/node_add.c
index 048a49b3b6a9c054f74900e356e6377f17a6a4b7..25a780a32681df3d56aec758f9f0527115ee00b7 100644
--- a/quad/src/computation_graph/node_add.c
+++ b/quad/src/graph_blocks/node_add.c
@@ -17,7 +17,9 @@ const struct graph_node_type node_add_type = {
.n_outputs = 1,
.n_params = 0,
.execute = add_nodes,
- .reset = reset
+ .reset = reset,
+ .state_size = 0,
+ .type_id = BLOCK_ADD
};
int graph_add_node_add(struct computation_graph *graph, const char* name) {
diff --git a/quad/src/computation_graph/node_add.h b/quad/src/graph_blocks/node_add.h
similarity index 92%
rename from quad/src/computation_graph/node_add.h
rename to quad/src/graph_blocks/node_add.h
index 390e3d229c7a943fdd09c26e18be711672cf000e..34b8123638dc1d954ceb0dcd6ceadb959ae6c5c5 100644
--- a/quad/src/computation_graph/node_add.h
+++ b/quad/src/graph_blocks/node_add.h
@@ -1,6 +1,7 @@
#ifndef __NODE_ADD_H__
#define __NODE_ADD_H__
#include "computation_graph.h"
+#include "graph_blocks.h"
int graph_add_node_add(struct computation_graph *graph, const char* name);
diff --git a/quad/src/quad_app/node_bounds.c b/quad/src/graph_blocks/node_bounds.c
similarity index 92%
rename from quad/src/quad_app/node_bounds.c
rename to quad/src/graph_blocks/node_bounds.c
index aae4a67957a3d76c89d44480962e7b426b94f235..d1fe264311e1c5223df17f61e7e0330e9466c286 100644
--- a/quad/src/quad_app/node_bounds.c
+++ b/quad/src/graph_blocks/node_bounds.c
@@ -25,7 +25,9 @@ const struct graph_node_type node_bounds_type = {
.n_outputs = 1,
.n_params = 2,
.execute = bounds_computation,
- .reset = reset_bounds
+ .reset = reset_bounds,
+ .state_size = 0,
+ .type_id = BLOCK_BOUNDS
};
int graph_add_node_bounds(struct computation_graph *graph, const char* name) {
diff --git a/quad/src/quad_app/node_bounds.h b/quad/src/graph_blocks/node_bounds.h
similarity index 94%
rename from quad/src/quad_app/node_bounds.h
rename to quad/src/graph_blocks/node_bounds.h
index 4c3b93256106bce8560daf28c67f19844fb2ea8f..7eea073fa6000457c30588f251565fcdd3db1a5c 100644
--- a/quad/src/quad_app/node_bounds.h
+++ b/quad/src/graph_blocks/node_bounds.h
@@ -1,6 +1,7 @@
#ifndef __NODE_BOUNDS_H__
#define __NODE_BOUNDS_H__
#include "computation_graph.h"
+#include "graph_blocks.h"
int graph_add_node_bounds(struct computation_graph *graph, const char* name);
diff --git a/quad/src/computation_graph/node_constant.c b/quad/src/graph_blocks/node_constant.c
similarity index 90%
rename from quad/src/computation_graph/node_constant.c
rename to quad/src/graph_blocks/node_constant.c
index b2a46e757eef397b4c9805d4b76a159fccc6c9a0..8bd406ad924f3025631c4d251c5d751eddcce90e 100644
--- a/quad/src/computation_graph/node_constant.c
+++ b/quad/src/graph_blocks/node_constant.c
@@ -17,7 +17,9 @@ const struct graph_node_type node_const_type = {
.n_outputs = 1,
.n_params = 1,
.execute = output_const,
- .reset = reset
+ .reset = reset,
+ .state_size = 0,
+ .type_id = BLOCK_CONSTANT
};
int graph_add_node_const(struct computation_graph *graph, const char* name) {
diff --git a/quad/src/computation_graph/node_constant.h b/quad/src/graph_blocks/node_constant.h
similarity index 93%
rename from quad/src/computation_graph/node_constant.h
rename to quad/src/graph_blocks/node_constant.h
index c67ac6e0511e971e1f9ca57c853bd9de6fca6238..417e92da19bbe1170cbec09598e4129d3c4400a6 100644
--- a/quad/src/computation_graph/node_constant.h
+++ b/quad/src/graph_blocks/node_constant.h
@@ -1,6 +1,7 @@
#ifndef __NODE_CONSTANT_H__
#define __NODE_CONSTANT_H__
#include "computation_graph.h"
+#include "graph_blocks.h"
int graph_add_node_const(struct computation_graph *graph, const char* name);
diff --git a/quad/src/computation_graph/node_gain.c b/quad/src/graph_blocks/node_gain.c
similarity index 91%
rename from quad/src/computation_graph/node_gain.c
rename to quad/src/graph_blocks/node_gain.c
index 35bb3702cf2aa36d2f08f85ed580d12fadbe8fa8..3c0ac77ae8a54b0e99b6b767ec85083f3e047e91 100644
--- a/quad/src/computation_graph/node_gain.c
+++ b/quad/src/graph_blocks/node_gain.c
@@ -17,7 +17,9 @@ const struct graph_node_type node_gain_type = {
.n_outputs = 1,
.n_params = 1,
.execute = scale_nodes,
- .reset = reset
+ .reset = reset,
+ .state_size = 0,
+ .type_id = BLOCK_GAIN
};
int graph_add_node_gain(struct computation_graph *graph, const char* name) {
diff --git a/quad/src/computation_graph/node_gain.h b/quad/src/graph_blocks/node_gain.h
similarity index 93%
rename from quad/src/computation_graph/node_gain.h
rename to quad/src/graph_blocks/node_gain.h
index 4089244980ad7ee2fc50bc375f6cbb1500196b5e..4a1a3322f65789ffccd6282125181f8deade4200 100644
--- a/quad/src/computation_graph/node_gain.h
+++ b/quad/src/graph_blocks/node_gain.h
@@ -1,6 +1,7 @@
#ifndef __NODE_GAIN_H__
#define __NODE_GAIN_H__
#include "computation_graph.h"
+#include "graph_blocks.h"
int graph_add_node_gain(struct computation_graph *graph, const char* name);
diff --git a/quad/src/quad_app/node_mixer.c b/quad/src/graph_blocks/node_mixer.c
similarity index 95%
rename from quad/src/quad_app/node_mixer.c
rename to quad/src/graph_blocks/node_mixer.c
index 316c1ce8218b835ee002c8c4352c97af111b318d..fe7d57f276106e7847e5c0b0c0ba0fc92f2ed862 100644
--- a/quad/src/quad_app/node_mixer.c
+++ b/quad/src/graph_blocks/node_mixer.c
@@ -34,7 +34,9 @@ const struct graph_node_type node_mixer_type = {
.n_outputs = 4,
.n_params = 0,
.execute = mixer_computation,
- .reset = reset_mixer
+ .reset = reset_mixer,
+ .state_size = 0,
+ .type_id = BLOCK_MIXER
};
int graph_add_node_mixer(struct computation_graph *graph, const char* name) {
diff --git a/quad/src/quad_app/node_mixer.h b/quad/src/graph_blocks/node_mixer.h
similarity index 94%
rename from quad/src/quad_app/node_mixer.h
rename to quad/src/graph_blocks/node_mixer.h
index ba1ec1c4901db366610506f18e41f9883a41980b..584538f0242677428632b681b2f0fe064e789abc 100644
--- a/quad/src/quad_app/node_mixer.h
+++ b/quad/src/graph_blocks/node_mixer.h
@@ -1,6 +1,7 @@
#ifndef __NODE_MIXER_H__
#define __NODE_MIXER_H__
#include "computation_graph.h"
+#include "graph_blocks.h"
int graph_add_node_mixer(struct computation_graph *graph, const char* name);
diff --git a/quad/src/computation_graph/node_mult.c b/quad/src/graph_blocks/node_mult.c
similarity index 91%
rename from quad/src/computation_graph/node_mult.c
rename to quad/src/graph_blocks/node_mult.c
index 2696719fdc83a89ae346d4dc788df693d97b2ddb..427b9e74d071b45bbd5c7ef2437647f13aeb5b5c 100644
--- a/quad/src/computation_graph/node_mult.c
+++ b/quad/src/graph_blocks/node_mult.c
@@ -17,7 +17,9 @@ const struct graph_node_type node_mult_type = {
.n_outputs = 1,
.n_params = 0,
.execute = mult_nodes,
- .reset = reset
+ .reset = reset,
+ .state_size = 0,
+ .type_id = BLOCK_MULT
};
int graph_add_node_mult(struct computation_graph *graph, const char* name) {
diff --git a/quad/src/computation_graph/node_mult.h b/quad/src/graph_blocks/node_mult.h
similarity index 93%
rename from quad/src/computation_graph/node_mult.h
rename to quad/src/graph_blocks/node_mult.h
index 9ea2bbb9fabdbc522a02f292f5294b33ad7af44c..f86f7ee0ab88c64dc1f3241615ac06d66fc3d925 100644
--- a/quad/src/computation_graph/node_mult.h
+++ b/quad/src/graph_blocks/node_mult.h
@@ -1,6 +1,7 @@
#ifndef __NODE_MULT_H__
#define __NODE_MULT_H__
#include "computation_graph.h"
+#include "graph_blocks.h"
int graph_add_node_mult(struct computation_graph *graph, const char* name);
diff --git a/quad/src/quad_app/node_pid.c b/quad/src/graph_blocks/node_pid.c
similarity index 97%
rename from quad/src/quad_app/node_pid.c
rename to quad/src/graph_blocks/node_pid.c
index 7222094577d6c4ba1f41c93f65e5bdbe00c4dc75..df6b611100aec808a8728a3fbe435ecbe5078557 100644
--- a/quad/src/quad_app/node_pid.c
+++ b/quad/src/graph_blocks/node_pid.c
@@ -90,7 +90,9 @@ const struct graph_node_type node_pid_type = {
.n_outputs = 1,
.n_params = 4,
.execute = pid_computation,
- .reset = reset_pid
+ .reset = reset_pid,
+ .state_size = sizeof(struct pid_node_state),
+ .type_id = BLOCK_PID
};
int graph_add_node_pid(struct computation_graph *graph, const char* name) {
diff --git a/quad/src/quad_app/node_pid.h b/quad/src/graph_blocks/node_pid.h
similarity index 96%
rename from quad/src/quad_app/node_pid.h
rename to quad/src/graph_blocks/node_pid.h
index 7b384bb1a233785877fc2cc79d56a8e2dd88aa10..694f7a143d5141d7bbcaf951302fee187f56ab15 100644
--- a/quad/src/quad_app/node_pid.h
+++ b/quad/src/graph_blocks/node_pid.h
@@ -1,6 +1,7 @@
#ifndef __NODE_PID_H__
#define __NODE_PID_H__
#include "computation_graph.h"
+#include "graph_blocks.h"
int graph_add_node_pid(struct computation_graph *graph, const char* name);
diff --git a/quad/src/computation_graph/node_pow.c b/quad/src/graph_blocks/node_pow.c
similarity index 94%
rename from quad/src/computation_graph/node_pow.c
rename to quad/src/graph_blocks/node_pow.c
index dbbc1d707d7833254e5a96a4dc8ba2b9c954ae4d..e4fe0f25c2dd323085110869e3f1191217914d40 100644
--- a/quad/src/computation_graph/node_pow.c
+++ b/quad/src/graph_blocks/node_pow.c
@@ -18,7 +18,8 @@ const struct graph_node_type node_pow_type = {
.n_outputs = 1,
.n_params = 1,
.execute = pow_nodes,
- .reset = reset
+ .reset = reset,
+ .state_size = 0,
};
int graph_add_node_pow(struct computation_graph *graph, const char* name) {
diff --git a/quad/src/computation_graph/node_pow.h b/quad/src/graph_blocks/node_pow.h
similarity index 100%
rename from quad/src/computation_graph/node_pow.h
rename to quad/src/graph_blocks/node_pow.h
diff --git a/quad/src/quad_app/Makefile b/quad/src/quad_app/Makefile
index aea2974582bf7a794b8b32ecdd46223260d26470..02cc8d007386acd8b03e61623248cd1e75059829 100644
--- a/quad/src/quad_app/Makefile
+++ b/quad/src/quad_app/Makefile
@@ -1,6 +1,6 @@
TOP=../..
NAME = quad_app
-REQLIBS = -ltest -lcomputation_graph -lm -lqueue
+REQLIBS = -ltest -lcomputation_graph -lm -lqueue -lgraph_blocks -lcommands
include $(TOP)/library.mk
diff --git a/quad/src/quad_app/callbacks.c b/quad/src/quad_app/callbacks.c
index 183ecf85458ee8233f30ab0c6afdc688cfc7a983..6ddd546a344df78d637707399cf600472040df53 100644
--- a/quad/src/quad_app/callbacks.c
+++ b/quad/src/quad_app/callbacks.c
@@ -99,41 +99,55 @@ int cb_beginupdate(modular_structs_t *structs, metadata_t *meta, u8 *data, u16 l
return 0;
}
+/*
+ * -----------------------------------------------
+ * Callbacks for control network modification/info
+ * -----------------------------------------------
+*/
-/* Callbacks for configuration */
+// Struct for holding a node ID and either a parameter, output, or input index
+struct node_ids {
+ int16_t id;
+ int16_t sub_id;
+};
+
+/*
+ * Given a data array, returns a node_ids struct retrieved from the array.
+ * Assumes the given array is at least 4 bytes to hold the data.
+*/
+struct node_ids get_node_ids(u8 *data) {
+ return (struct node_ids) {
+ .id = build_short(data),
+ .sub_id = build_short(data + 2)
+ };
+}
/**
- * Handles a command to set a controller parameter on the quad.
+ * Handles a command to set a node parameter on the quad.
*
* NOTE:
* Expects the uart buff to have data in the following format:
* |--------------------------------------------------------|
- * | data index || 0 | 1 | 2 - 5 |
+ * | data index || 0 - 1 | 2 - 3 | 4 - 7 |
* |--------------------------------------------------------|
- * | parameter || control ID | ctrl parmID | param val |
+ * | parameter || node ID | node parmID | param val |
* |--------------------------------------------------------|
- * | bytes || 1 | 1 | 4 |
+ * | bytes || 2 | 2 | 4 |
* |--------------------------------------------------------|
*
* Does not send anything in response.
*/
int cb_setparam(modular_structs_t *structs, metadata_t *meta, u8 *data, u16 length)
{
- // Get some of the meta data
- u16 data_len = length;
// Check if the data length is correct
- if (data_len != 6)
- {
- return -1;
- }
+ if (length != 8) {return -1;}
struct computation_graph* graph = structs->parameter_struct.graph;
// Get the node ID, parameter ID, parameter value
- u8 node_id = data[0];
- u8 param_id = data[1];
- float param_val = build_float(data + 2);
+ struct node_ids ids = get_node_ids(data);
+ float param_val = build_float(data + 4);
// Set the value for that parameter on that node
- graph_set_param_val(graph, node_id, param_id, param_val);
+ graph_set_param_val(graph, ids.id, ids.sub_id, param_val);
return 0;
}
@@ -143,54 +157,234 @@ int cb_setparam(modular_structs_t *structs, metadata_t *meta, u8 *data, u16 leng
*
* NOTE:
* Expects the uart buff to have data in the following format:
- * |------------------------------------------|
- * | data index || 0 | 1 |
- * |------------------------------------------|
- * | parameter || control ID | ctrl parmID |
- * |------------------------------------------|
- * | bytes || 1 | 1 |
- * |------------------------------------------|
+ * |-------------------------------------------|
+ * | data index || 0 - 1 | 2 - 3 |
+ * |-------------------------------------------|
+ * | parameter || node ID | node parmID |
+ * |-------------------------------------------|
+ * | bytes || 2 | 2 |
+ * |-------------------------------------------|
*
- * Sends a response of type RESPONSECONTROL_ID.
+ * Sends a response of type RESPPARAM_ID.
* The response will have a message ID equal to the one originally received.
* The data of the response will be in the following format:
* |--------------------------------------------------------|
- * | data index || 0 | 1 | 2 - 5 |
+ * | data index || 0 - 1 | 2 - 3 | 4 - 7 |
* |--------------------------------------------------------|
- * | parameter || control ID | ctrl parmID | param val |
+ * | parameter || node ID | node parmID | param val |
* |--------------------------------------------------------|
- * | bytes || 1 | 1 | 4 |
+ * | bytes || 2 | 2 | 4 |
* |--------------------------------------------------------|
*/
int cb_getparam(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 length)
{
- // Get some of the meta data
- u16 data_len = length;
- u16 msg_id = meta->msg_id;
// Check if the data length is correct
- if (data_len != 2)
- {
- return -1;
- }
+ if (length != 4) {return -1;}
+ u16 msg_id = meta->msg_id;
// Get the controller ID, parameter ID
- u8 node_id = data[0];
- u8 param_id = data[1];
+ struct node_ids ids = get_node_ids(data);
struct computation_graph* graph = structs->parameter_struct.graph;
- float param_val = graph_get_param_val(graph, node_id, param_id);
+ float param_val = graph_get_param_val(graph, ids.id, ids.sub_id);
// Format the response data
- char resp_data[6];
+ char resp_data[8];
// Controller ID
- resp_data[0] = node_id;
+ pack_short(ids.id, resp_data);
// Parameter ID
- resp_data[1] = param_id;
+ pack_short(ids.sub_id, resp_data + 2);
// Parameter value (4 byte float)
- // TODO set a strict byte ordering for communication between the ground station and the quad
- memcpy(&resp_data[2], ¶m_val, sizeof(param_val));
+ pack_float(param_val, resp_data + 4);
// Send the response
send_data(&structs->hardware_struct.uart, RESPPARAM_ID, msg_id, resp_data, sizeof(resp_data));
return 0;
}
+
+/**
+ * Handles a command to set a node's input source
+ *
+ * NOTE:
+ * Expects the uart buff to have data in the following format:
+ * |---------------------------------------------------------------------------|
+ * | data index || 0 - 1 | 2 - 3 | 4 - 5 | 6 - 7 |
+ * |---------------------------------------------------------------------------|
+ * | parameter || dest node ID | dest input ID | src node ID | src output ID |
+ * |---------------------------------------------------------------------------|
+ * | bytes || 2 | 2 | 2 | 2 |
+ * |---------------------------------------------------------------------------|
+ *
+ * Does not send anything in response.
+ */
+int cb_setsource(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 length) {
+ if (length != 8) {return -1;}
+ int16_t dest_node = build_short(data);
+ int16_t dest_input = build_short(data + 2);
+ int16_t src_node = build_short(data + 4);
+ int16_t src_input = build_short(data + 6);
+
+ struct computation_graph* graph = structs->parameter_struct.graph;
+ graph_set_source(graph, dest_node, dest_input, src_node, src_input);
+
+ return 0;
+}
+
+/**
+ * Handles a command to get the source of a node's input
+ *
+ * NOTE:
+ * Expects the uart buff to have data in the following format:
+ * |---------------------------------------------|
+ * | data index || 0 - 1 | 2 - 3 |
+ * |---------------------------------------------|
+ * | parameter || node ID | node input ID |
+ * |---------------------------------------------|
+ * | bytes || 2 | 2 |
+ * |---------------------------------------------|
+ *
+ * Sends a response of type RESPSOURCE_ID.
+ * The response will have a message ID equal to the one originally received.
+ * The data of the response will be in the following format:
+ * |---------------------------------------------------------------------------|
+ * | data index || 0 - 1 | 2 - 3 | 4 - 5 | 6 - 7 |
+ * |---------------------------------------------------------------------------|
+ * | parameter || dest node ID | dest input ID | src node ID | src output ID |
+ * |---------------------------------------------------------------------------|
+ * | bytes || 2 | 2 | 2 | 2 |
+ * |---------------------------------------------------------------------------|
+ */
+int cb_getsource(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 length) {
+ if (length != 4) {return -1;}
+ u16 msg_id = meta->msg_id;
+ // Get requested IDs
+ struct node_ids ids = get_node_ids(data);
+
+ u8 resp_data[8];
+ pack_short(ids.id, resp_data);
+ pack_short(ids.sub_id, resp_data + 2);
+
+ struct computation_graph* graph = structs->parameter_struct.graph;
+ struct node_src source = graph_get_source(graph, ids.id, ids.sub_id);
+ pack_short(source.controller_id, resp_data + 4);
+ pack_short(source.controller_output, resp_data + 6);
+
+ send_data(&structs->hardware_struct.uart, RESPSOURCE_ID, msg_id, resp_data, sizeof(resp_data));
+}
+
+/**
+ * Handles a command to get a node output value from the quad.
+ * Packet structure is the same as getparam
+ */
+int cb_getoutput(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 length)
+{
+ // Check if the data length is correct
+ if (length != 4) {return -1;}
+ u16 msg_id = meta->msg_id;
+
+ // Get the controller ID, parameter ID
+ struct node_ids ids = get_node_ids(data);
+ struct computation_graph* graph = structs->parameter_struct.graph;
+ float output_val = graph_get_output(graph, ids.id, ids.sub_id);
+
+ // Format the response data
+ char resp_data[8];
+ // Controller ID
+ pack_short(ids.id, resp_data);
+ // Output ID
+ pack_short(ids.sub_id, resp_data + 2);
+ // Output value (4 byte float)
+ pack_float(output_val, resp_data + 4);
+
+ // Send the response
+ send_data(&structs->hardware_struct.uart, RESPOUTPUT_ID, msg_id, resp_data, sizeof(resp_data));
+
+ return 0;
+}
+
+/*
+ * Handles a request for the list of nodes in the graph
+ * For N total nodes, returns data in the following format:
+ * The node IDs and type IDs are consecutive shorts
+ * The node names are null-separated
+ * |---------------------------------------------------------------|
+ * | data index || 0 - 2*N-1 | 2*N - 4*N-1 | 4*N - (< 4096) |
+ * |---------------------------------------------------------------|
+ * | parameter || Node IDs | Node type IDs | Node names |
+ * |---------------------------------------------------------------|
+ * | bytes || 2*N | 2*N | < 4096 |
+ * |---------------------------------------------------------------|
+ */
+int cb_getnodes(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 length) {
+ const struct computation_graph* graph = structs->parameter_struct.graph;
+ if (graph->n_nodes >= 150) {
+ static char* error_msg = "Over 150 nodes. Not responding to cb_getnodes for fear of buffer overflow.";
+ send_data(&structs->hardware_struct.uart, DEBUG_ID, 0,
+ error_msg, sizeof(error_msg));
+ return -1;
+ }
+
+ // Number of bytes in node ID being sent. Currently short (16 bits)
+ size_t id_len = 2;
+
+ char resp_buf[4096];
+ int i;
+ // Currently ID is always index in array.
+ // computation_graph provides no method of accessing ID, since it is implicit
+ for (i = 0; i < graph->n_nodes; i++) {
+ pack_short(i, resp_buf + (id_len * i));
+ }
+
+ // Construct type IDs
+ size_t offset = id_len * graph->n_nodes;
+ for (i = 0; i < graph->n_nodes; i++) {
+ int type_id = graph->nodes[i].type->type_id;
+ pack_short(type_id, resp_buf + offset + (id_len * i));
+ }
+
+ // Construct list of node names
+ offset += id_len * graph->n_nodes;
+ for (i = 0; i < graph->n_nodes; i++) {
+ size_t remaining_size = sizeof(resp_buf) - offset;
+ const char* name = graph->nodes[i].name;
+ size_t name_len = strlen(name);
+ if (name_len + 1 <= remaining_size) {
+ memcpy(resp_buf + offset, name, name_len);
+ offset += name_len;
+ // Add null-terminator separator
+ resp_buf[offset] = 0;
+ offset += 1;
+ }
+ }
+
+ send_data(&structs->hardware_struct.uart, RESPNODES_ID, meta->msg_id, resp_buf, offset);
+ return 0;
+}
+
+/*
+ * Handles adding a new node with a particular type and name
+ * Expects the uart buff to have data in the following format:
+ * |---------------------------------------------|
+ * | data index || 0 - 1 | 2 - ? |
+ * |---------------------------------------------|
+ * | parameter || type ID | New node name |
+ * |---------------------------------------------|
+ * | bytes || 2 | ? |
+ * |---------------------------------------------|
+ *
+ * Returns the new node ID in the following format:
+ * |-----------------------------|
+ * | data index || 0 - 1 |
+ * |-----------------------------|
+ * | parameter || node ID |
+ * |------------------------------
+ * | bytes || 2 |
+ * |-----------------------------|
+ */
+int cb_addnode(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 length) {
+ if (length < 2) {return -1;}
+ // Size of name
+ size_t name_len = length - 2;
+
+ return 0;
+}
diff --git a/quad/src/quad_app/callbacks.h b/quad/src/quad_app/callbacks.h
index 80d0bbc43a5634cf176d084292ddae0376599773..3a13626dbd13e8c3d5bba48cf6c4675069e96394 100644
--- a/quad/src/quad_app/callbacks.h
+++ b/quad/src/quad_app/callbacks.h
@@ -4,8 +4,6 @@
/* Grab some stupid stuff from legacy code */
struct modular_structs;
struct metadata;
-
-/* Make commands.c happy */
typedef int (command_cb)(struct modular_structs *, struct metadata *, unsigned char *, unsigned short);
#endif
diff --git a/quad/src/quad_app/commands.c b/quad/src/quad_app/commands.c
deleted file mode 120000
index e9bada254a300676bc4a563b5d1183e02125693f..0000000000000000000000000000000000000000
--- a/quad/src/quad_app/commands.c
+++ /dev/null
@@ -1 +0,0 @@
-../../../groundStation/src/backend/common/commands.c
\ No newline at end of file
diff --git a/quad/src/quad_app/commands.h b/quad/src/quad_app/commands.h
deleted file mode 120000
index 92d6b32d4641fd6b8ea711d7141b7b03d484b72a..0000000000000000000000000000000000000000
--- a/quad/src/quad_app/commands.h
+++ /dev/null
@@ -1 +0,0 @@
-../../../groundStation/src/backend/common/commands.h
\ No newline at end of file
diff --git a/quad/src/quad_app/communication.c b/quad/src/quad_app/communication.c
index 619257cb062e480d32146abaeecceba3021cc1cc..c0d37659e29c0b8145b00e15f9a3302e2ef343ae 100644
--- a/quad/src/quad_app/communication.c
+++ b/quad/src/quad_app/communication.c
@@ -83,11 +83,12 @@ int process_packet(modular_structs_t *structs) {
meta.msg_type = packet[2] << 8 | packet[1];
meta.msg_id = packet[4] << 8 | packet[3];
meta.data_len = packet[6] << 8 | packet[5];
- unsigned char packet_checksum = packet[7+meta.data_len];
// Call appropriate function for packet
- (* (MessageTypes[meta.msg_type].functionPtr))(structs,&meta,&packet[PACKET_HEADER_SIZE], meta.data_len);
-
+ command_cb* func_ptr = MessageTypes[meta.msg_type].functionPtr;
+ if (meta.msg_type < MAX_TYPE_ID && func_ptr) {
+ (* func_ptr)(structs,&meta,&packet[PACKET_HEADER_SIZE], meta.data_len);
+ }
// Done processing packets, reset state
bytes_recv = 0;
diff --git a/quad/src/quad_app/control_algorithm.c b/quad/src/quad_app/control_algorithm.c
index 5e1ebfd7dd227de54ab2ec80b02896b02d26694b..424f098cbe02be1fb3e7707b6383fa0814c99957 100644
--- a/quad/src/quad_app/control_algorithm.c
+++ b/quad/src/quad_app/control_algorithm.c
@@ -8,11 +8,7 @@
// This implemented modular quadrotor software implements a PID control algorithm
#include "control_algorithm.h"
-#include "node_pid.h"
-#include "node_bounds.h"
-#include "node_constant.h"
-#include "node_mixer.h"
-#include "node_add.h"
+#include "graph_blocks.h"
#include "PID.h"
#include "util.h"
#include "timer.h"
@@ -43,55 +39,55 @@ int control_algorithm_init(parameter_t * ps)
ps->graph = graph;
// Create all the PID blocks
- ps->roll_pid = graph_add_node_pid(graph, "Roll PID");
- ps->pitch_pid = graph_add_node_pid(graph, "Pitch PID");
- ps->yaw_pid = graph_add_node_pid(graph, "Yaw PID");
- ps->roll_r_pid = graph_add_node_pid(graph, "Roll Rate PID");
- ps->pitch_r_pid = graph_add_node_pid(graph, "Pitch Rate PID");
- ps->yaw_r_pid = graph_add_node_pid(graph, "Yaw Rate PID");
- ps->x_pos_pid = graph_add_node_pid(graph, "X pos PID");
- ps->y_pos_pid = graph_add_node_pid(graph, "Y pos PID");
- ps->alt_pid = graph_add_node_pid(graph, "Altitude PID");
- ps->x_set = graph_add_node_const(graph, "X Setpoint"); // ID 9
- ps->y_set = graph_add_node_const(graph, "Y Setpoint");
- ps->alt_set = graph_add_node_const(graph, "Alt Setpoint");
- ps->yaw_set = graph_add_node_const(graph, "Yaw Setpoint");
- ps->throttle_trim = graph_add_node_const(graph, "Throttle trim");
- ps->throttle_trim_add = graph_add_node_add(graph, "T trim add");
+ ps->roll_pid = graph_add_defined_block(graph, BLOCK_PID, "Roll PID");
+ ps->pitch_pid = graph_add_defined_block(graph, BLOCK_PID, "Pitch PID");
+ ps->yaw_pid = graph_add_defined_block(graph, BLOCK_PID, "Yaw PID");
+ ps->roll_r_pid = graph_add_defined_block(graph, BLOCK_PID, "Roll Rate PID");
+ ps->pitch_r_pid = graph_add_defined_block(graph, BLOCK_PID, "Pitch Rate PID");
+ ps->yaw_r_pid = graph_add_defined_block(graph, BLOCK_PID, "Yaw Rate PID");
+ ps->x_pos_pid = graph_add_defined_block(graph, BLOCK_PID, "X pos PID");
+ ps->y_pos_pid = graph_add_defined_block(graph, BLOCK_PID, "Y pos PID");
+ ps->alt_pid = graph_add_defined_block(graph, BLOCK_PID, "Altitude PID");
+ ps->x_set = graph_add_defined_block(graph, BLOCK_CONSTANT, "X Setpoint"); // ID 9
+ ps->y_set = graph_add_defined_block(graph, BLOCK_CONSTANT, "Y Setpoint");
+ ps->alt_set = graph_add_defined_block(graph, BLOCK_CONSTANT, "Alt Setpoint");
+ ps->yaw_set = graph_add_defined_block(graph, BLOCK_CONSTANT, "Yaw Setpoint");
+ ps->throttle_trim = graph_add_defined_block(graph, BLOCK_CONSTANT, "Throttle trim");
+ ps->throttle_trim_add = graph_add_defined_block(graph, BLOCK_ADD, "T trim add");
// Create blocks for sensor inputs
- ps->cur_pitch = graph_add_node_const(graph, "Pitch"); // ID 20
- ps->cur_roll = graph_add_node_const(graph, "Roll");
- ps->cur_yaw = graph_add_node_const(graph, "Yaw");
+ ps->cur_pitch = graph_add_defined_block(graph, BLOCK_CONSTANT, "Pitch"); // ID 15
+ ps->cur_roll = graph_add_defined_block(graph, BLOCK_CONSTANT, "Roll");
+ ps->cur_yaw = graph_add_defined_block(graph, BLOCK_CONSTANT, "Yaw");
// Yaw angular velocity PID
// theta_dot is the angular velocity about the y-axis
// phi_dot is the angular velocity about the x-axis
// psi_dot is the angular velocity about the z-axis
// These are calculated from using the gimbal equations
- ps->theta_dot = graph_add_node_const(graph, "dTheta");
- ps->phi_dot = graph_add_node_const(graph, "dPhi");
- ps->psi_dot = graph_add_node_const(graph, "dPsi");
- ps->clamp_d_pwmP = graph_add_node_bounds(graph, "P PWM Clamp");
- ps->clamp_d_pwmR = graph_add_node_bounds(graph, "R PWM Clamp");
- ps->clamp_d_pwmY = graph_add_node_bounds(graph, "Y PWM Clamp");
+ ps->theta_dot = graph_add_defined_block(graph, BLOCK_CONSTANT, "dTheta");
+ ps->phi_dot = graph_add_defined_block(graph, BLOCK_CONSTANT, "dPhi");
+ ps->psi_dot = graph_add_defined_block(graph, BLOCK_CONSTANT, "dPsi");
+ ps->clamp_d_pwmP = graph_add_defined_block(graph, BLOCK_BOUNDS, "P PWM Clamp");
+ ps->clamp_d_pwmR = graph_add_defined_block(graph, BLOCK_BOUNDS, "R PWM Clamp");
+ ps->clamp_d_pwmY = graph_add_defined_block(graph, BLOCK_BOUNDS, "Y PWM Clamp");
// Create blocks for VRPN data
- ps->vrpn_x = graph_add_node_const(graph, "VRPN X");
- ps->vrpn_y = graph_add_node_const(graph, "VRPN Y");
- ps->vrpn_alt = graph_add_node_const(graph, "VRPN Alt");
- ps->vrpn_pitch = graph_add_node_const(graph, "VRPN Pitch");
- ps->vrpn_roll = graph_add_node_const(graph, "VRPN Roll");
+ ps->vrpn_x = graph_add_defined_block(graph, BLOCK_CONSTANT, "VRPN X");
+ ps->vrpn_y = graph_add_defined_block(graph, BLOCK_CONSTANT, "VRPN Y");
+ ps->vrpn_alt = graph_add_defined_block(graph, BLOCK_CONSTANT, "VRPN Alt");
+ ps->vrpn_pitch = graph_add_defined_block(graph, BLOCK_CONSTANT, "VRPN Pitch");
+ ps->vrpn_roll = graph_add_defined_block(graph, BLOCK_CONSTANT, "VRPN Roll");
// Create blocks for RC controller
- ps->rc_pitch = graph_add_node_const(graph, "RC Pitch");
- ps->rc_roll = graph_add_node_const(graph, "RC Roll");
- ps->rc_yaw = graph_add_node_const(graph, "RC Yaw");
- ps->rc_throttle = graph_add_node_const(graph, "RC Throttle");
+ ps->rc_pitch = graph_add_defined_block(graph, BLOCK_CONSTANT, "RC Pitch");
+ ps->rc_roll = graph_add_defined_block(graph, BLOCK_CONSTANT, "RC Roll");
+ ps->rc_yaw = graph_add_defined_block(graph, BLOCK_CONSTANT, "RC Yaw");
+ ps->rc_throttle = graph_add_defined_block(graph, BLOCK_CONSTANT, "RC Throttle");
- ps->mixer = graph_add_node_mixer(graph, "Signal Mixer");
+ ps->mixer = graph_add_defined_block(graph, BLOCK_MIXER, "Signal Mixer");
- ps->angle_time = graph_add_node_const(graph, "Ts_IMU");
- ps->pos_time = graph_add_node_const(graph, "Ts_VRPN");
+ ps->angle_time = graph_add_defined_block(graph, BLOCK_CONSTANT, "Ts_IMU");
+ ps->pos_time = graph_add_defined_block(graph, BLOCK_CONSTANT, "Ts_VRPN");
// Connect pitch PID chain
graph_set_source(graph, ps->pitch_r_pid, PID_SETPOINT, ps->pitch_pid, PID_CORRECTION);
diff --git a/quad/src/quad_app/log_data.c b/quad/src/quad_app/log_data.c
index d7a361dfe69963339efd502e89cf697446bfe5eb..4ad8410b526249d0499b33095a249183e187df04 100644
--- a/quad/src/quad_app/log_data.c
+++ b/quad/src/quad_app/log_data.c
@@ -14,9 +14,7 @@
#include "log_data.h"
#include "communication.h"
#include "computation_graph.h"
-#include "node_pid.h"
-#include "node_constant.h"
-#include "node_mixer.h"
+#include "graph_blocks.h"
// Current index of the log array
int arrayIndex = 0;
@@ -187,7 +185,7 @@ void printLogging(hardware_t *hardware_struct, log_t* log_struct, parameter_t* p
// Comment header
safe_sprintf_cat(&buf, "# MicroCART On-board Quad Log\n# Sample size: %d\n", arrayIndex);
// Header names for the pre-defined values
- safe_sprintf_cat(&buf, "time\taccel_x\taccel_y\taccel_z\tgyro_x\tgyro_y\tgyro_z");
+ safe_sprintf_cat(&buf, "%Time\taccel_x\taccel_y\taccel_z\tgyro_x\tgyro_y\tgyro_z");
int i;
// Print all the recorded block parameters
@@ -209,7 +207,7 @@ void printLogging(hardware_t *hardware_struct, log_t* log_struct, parameter_t* p
// Send units header
buf.size = 0;
- safe_sprintf_cat(&buf, "s\tG\tG\tG\trad/s\trad/s\trad/s"); // The pre-defined ones
+ safe_sprintf_cat(&buf, "&s\tG\tG\tG\trad/s\trad/s\trad/s"); // The pre-defined ones
safe_sprintf_cat(&buf, units_output.str);
safe_sprintf_cat(&buf, units_param.str);
safe_sprintf_cat(&buf, "\n");
diff --git a/quad/src/quad_app/util.c b/quad/src/quad_app/util.c
index 25a8dae95cce20ef69fd5d3e71302269aac1b513..c021fef37cc1daeb6adafe20a75b25e1ec99e558 100644
--- a/quad/src/quad_app/util.c
+++ b/quad/src/quad_app/util.c
@@ -93,3 +93,16 @@ float build_float(u8 *buff) {
| buff[0];
return x.f;
}
+
+int16_t build_short(u8* buff) {
+ return (buff[0] & 0xFF) | ((buff[1] & 0xFF) << 8);
+}
+
+void pack_short(int16_t val, u8* buff) {
+ buff[0] = val & 0xFF;
+ buff[1] = (val >> 8) & 0xFF;
+}
+
+void pack_float(float val, u8* buff) {
+ memcpy(buff, &val, sizeof(val));
+}
diff --git a/quad/src/quad_app/util.h b/quad/src/quad_app/util.h
index 0d06e5fe0075b5c0808a2bca4e8746e57ecf7dcf..643498afc53753720c8f4295fc88918ad5eae4db 100644
--- a/quad/src/quad_app/util.h
+++ b/quad/src/quad_app/util.h
@@ -18,5 +18,9 @@ void kill_motors(struct PWMOutputDriver *pwm_outputs);
int build_int(u8 *buff);
float build_float(u8 *buff);
+int16_t build_short(u8* buff);
+
+void pack_short(int16_t val, u8* buff);
+void pack_float(float val, u8* buff);
#endif //_UTIL_H
diff --git a/quad/src/virt_quad/Makefile b/quad/src/virt_quad/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..3626790b07efec7ea75a039491b6078a8c6918df
--- /dev/null
+++ b/quad/src/virt_quad/Makefile
@@ -0,0 +1,6 @@
+TOP=../..
+
+NAME = virt_quad
+REQLIBS = -lquad_app -lcomputation_graph -lm -lcommands -lgraph_blocks
+
+include $(TOP)/executable.mk
diff --git a/quad/src/virt_quad/hw_impl_unix.c b/quad/src/virt_quad/hw_impl_unix.c
new file mode 100644
index 0000000000000000000000000000000000000000..fea231c35e963f5321b35665e4c3c2feac961383
--- /dev/null
+++ b/quad/src/virt_quad/hw_impl_unix.c
@@ -0,0 +1,70 @@
+#include "hw_impl_unix.h"
+
+struct UARTDriver create_unix_uart() {
+ struct UARTDriver uart;
+ uart.state = NULL;
+ uart.reset = unix_uart_reset;
+ uart.write = unix_uart_write;
+ uart.read = unix_uart_read;
+ return uart;
+}
+
+struct PWMOutputDriver create_unix_pwm_outputs() {
+ struct PWMOutputDriver pwm_outputs;
+ pwm_outputs.state = NULL;
+ pwm_outputs.reset = unix_pwm_output_reset;
+ pwm_outputs.write = unix_pwm_output_write;
+ return pwm_outputs;
+}
+
+struct PWMInputDriver create_unix_pwm_inputs() {
+ struct PWMInputDriver pwm_inputs;
+ pwm_inputs.state = NULL;
+ pwm_inputs.reset = unix_pwm_input_reset;
+ pwm_inputs.read = unix_pwm_input_read;
+ return pwm_inputs;
+}
+
+struct I2CDriver create_unix_i2c() {
+ struct I2CDriver i2c;
+ i2c.state = NULL;
+ i2c.reset = unix_i2c_reset;
+ i2c.write = unix_i2c_write;
+ i2c.read = unix_i2c_read;
+ return i2c;
+}
+
+struct TimerDriver create_unix_global_timer() {
+ struct TimerDriver global_timer;
+ global_timer.state = NULL;
+ global_timer.reset = unix_global_timer_reset;
+ global_timer.restart = unix_global_timer_restart;
+ global_timer.read = unix_global_timer_read;
+ return global_timer;
+}
+
+struct TimerDriver create_unix_axi_timer() {
+ struct TimerDriver axi_timer;
+ axi_timer.state = NULL;
+ axi_timer.reset = unix_axi_timer_reset;
+ axi_timer.restart = unix_axi_timer_restart;
+ axi_timer.read = unix_axi_timer_read;
+ return axi_timer;
+}
+
+struct LEDDriver create_unix_mio7_led() {
+ struct LEDDriver mio7_led;
+ mio7_led.state = NULL;
+ mio7_led.reset = unix_mio7_led_reset;
+ mio7_led.turn_on = unix_mio7_led_turn_on;
+ mio7_led.turn_off = unix_mio7_led_turn_off;
+ return mio7_led;
+}
+
+struct SystemDriver create_unix_system() {
+ struct SystemDriver sys;
+ sys.state = NULL;
+ sys.reset = unix_system_reset;
+ sys.sleep = unix_system_sleep;
+ return sys;
+}
diff --git a/quad/src/virt_quad/hw_impl_unix.h b/quad/src/virt_quad/hw_impl_unix.h
new file mode 100644
index 0000000000000000000000000000000000000000..c7e3659dffcfb0b1094c26f41ffe3b4d792962b8
--- /dev/null
+++ b/quad/src/virt_quad/hw_impl_unix.h
@@ -0,0 +1,61 @@
+#ifndef HW_IMPL_UNIX
+#define HW_IMPL_UNIX
+
+#include "hw_iface.h"
+#include "type_def.h"
+
+#include <sys/time.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <time.h>
+
+int unix_uart_reset(struct UARTDriver *self);
+int unix_uart_write(struct UARTDriver *self, unsigned char c);
+int unix_uart_read(struct UARTDriver *self, unsigned char *c);
+
+int unix_pwm_output_reset(struct PWMOutputDriver *self);
+int unix_pwm_output_write(struct PWMOutputDriver *self, unsigned int channel, unsigned long pulse_width_us);
+
+int unix_pwm_input_reset(struct PWMInputDriver *self);
+int unix_pwm_input_read(struct PWMInputDriver *self, unsigned int channel, unsigned long *pulse_width_us);
+
+int unix_i2c_reset(struct I2CDriver *self);
+int unix_i2c_write(struct I2CDriver *self,
+ unsigned short device_addr,
+ unsigned char *data,
+ unsigned int length);
+int unix_i2c_read(struct I2CDriver *self,
+ unsigned short device_addr,
+ unsigned char *buff,
+ unsigned int length);
+
+int unix_global_timer_reset(struct TimerDriver *self);
+int unix_global_timer_restart(struct TimerDriver *self);
+int unix_global_timer_read(struct TimerDriver *self, u64 *us);
+
+int unix_axi_timer_reset(struct TimerDriver *self);
+int unix_axi_timer_restart(struct TimerDriver *self);
+int unix_axi_timer_read(struct TimerDriver *self, u64 *us);
+
+int unix_mio7_led_reset(struct LEDDriver *self);
+int unix_mio7_led_turn_on(struct LEDDriver *self);
+int unix_mio7_led_turn_off(struct LEDDriver *self);
+
+int unix_system_reset(struct SystemDriver *self);
+int unix_system_sleep(struct SystemDriver *self, unsigned long us);
+
+struct UARTDriver create_unix_uart();
+struct PWMOutputDriver create_unix_pwm_outputs();
+struct PWMInputDriver create_unix_pwm_inputs();
+struct I2CDriver create_unix_i2c();
+struct TimerDriver create_unix_global_timer();
+struct TimerDriver create_unix_axi_timer();
+struct LEDDriver create_unix_mio7_led();
+struct SystemDriver create_unix_system();
+
+int test_unix_i2c();
+int test_unix_mio7_led_and_system();
+int test_unix_pwm_inputs();
+
+#endif
diff --git a/quad/src/virt_quad/hw_impl_unix_axi_timer.c b/quad/src/virt_quad/hw_impl_unix_axi_timer.c
new file mode 100644
index 0000000000000000000000000000000000000000..73e9acc281110e6453bfba625976af852eeac351
--- /dev/null
+++ b/quad/src/virt_quad/hw_impl_unix_axi_timer.c
@@ -0,0 +1,24 @@
+#include "hw_impl_unix.h"
+
+int unix_axi_timer_reset(struct TimerDriver *self) {
+ if (self->state == NULL) {
+ self->state = malloc(sizeof(struct timeval));
+ }
+ return 0;
+}
+
+int unix_axi_timer_restart(struct TimerDriver *self) {
+ struct timeval *start = self->state;
+ struct timezone tz;
+ gettimeofday(start, &tz);
+ return 0;
+}
+
+int unix_axi_timer_read(struct TimerDriver *self, u64 *us) {
+ struct timeval *start = self->state;
+ struct timeval end;
+ struct timezone tz;
+ gettimeofday(&end, &tz);
+ *us = end.tv_usec - start->tv_usec;
+ return 0;
+}
diff --git a/quad/src/virt_quad/hw_impl_unix_global_timer.c b/quad/src/virt_quad/hw_impl_unix_global_timer.c
new file mode 100644
index 0000000000000000000000000000000000000000..be752b774eb55cb17f3c481947f44b76fc2ec124
--- /dev/null
+++ b/quad/src/virt_quad/hw_impl_unix_global_timer.c
@@ -0,0 +1,24 @@
+#include "hw_impl_unix.h"
+
+int unix_global_timer_reset(struct TimerDriver *self) {
+ if (self->state == NULL) {
+ self->state = malloc(sizeof(struct timeval));
+ }
+ return 0;
+}
+
+int unix_global_timer_restart(struct TimerDriver *self) {
+ struct timeval *start = self->state;
+ struct timezone tz;
+ gettimeofday(start, &tz);
+ return 0;
+}
+
+int unix_global_timer_read(struct TimerDriver *self, u64 *us) {
+ struct timeval *start = self->state;
+ struct timeval end;
+ struct timezone tz;
+ gettimeofday(&end, &tz);
+ *us = end.tv_usec - start->tv_usec;
+ return 0;
+}
diff --git a/quad/src/virt_quad/hw_impl_unix_i2c.c b/quad/src/virt_quad/hw_impl_unix_i2c.c
new file mode 100644
index 0000000000000000000000000000000000000000..09ab43c8b83b82d60dff7623a31efb1d29c3fd60
--- /dev/null
+++ b/quad/src/virt_quad/hw_impl_unix_i2c.c
@@ -0,0 +1,19 @@
+#include "hw_impl_unix.h"
+
+int unix_i2c_reset(struct I2CDriver *self) {
+ return 0;
+}
+
+int unix_i2c_write(struct I2CDriver *self,
+ unsigned short device_addr,
+ unsigned char *data,
+ unsigned int length) {
+ return 0;
+}
+
+int unix_i2c_read(struct I2CDriver *self,
+ unsigned short device_addr,
+ unsigned char *buff,
+ unsigned int length) {
+ return 0;
+}
diff --git a/quad/src/virt_quad/hw_impl_unix_mio7_led.c b/quad/src/virt_quad/hw_impl_unix_mio7_led.c
new file mode 100644
index 0000000000000000000000000000000000000000..f96fda029e0c0a9664be8bd81e76a93af606e7ba
--- /dev/null
+++ b/quad/src/virt_quad/hw_impl_unix_mio7_led.c
@@ -0,0 +1,23 @@
+#include "hw_impl_unix.h"
+
+int on;
+
+int unix_mio7_led_reset(struct LEDDriver *self) {
+ return 0;
+}
+
+int unix_mio7_led_turn_on(struct LEDDriver *self) {
+ if (!on) {
+ puts("LED ON");
+ on = 1;
+ }
+ return 0;
+}
+
+int unix_mio7_led_turn_off(struct LEDDriver *self) {
+ if (on) {
+ puts("LED OFF");
+ on = 0;
+ }
+ return 0;
+}
diff --git a/quad/src/virt_quad/hw_impl_unix_pwm_input.c b/quad/src/virt_quad/hw_impl_unix_pwm_input.c
new file mode 100644
index 0000000000000000000000000000000000000000..8881f5f3815f063fb2ce365a6b07c79d7a2eaf44
--- /dev/null
+++ b/quad/src/virt_quad/hw_impl_unix_pwm_input.c
@@ -0,0 +1,50 @@
+#include "hw_impl_unix.h"
+
+int unix_pwm_input_reset(struct PWMInputDriver *self) {
+ return 0;
+}
+
+int unix_pwm_input_read(struct PWMInputDriver *self,
+ unsigned int channel,
+ unsigned long *pulse_width_us) {
+ static int inc = 0;
+ unsigned long gear;
+
+ switch (channel) {
+ case 0:
+ *pulse_width_us = 100000;
+ break;
+ case 1:
+ *pulse_width_us = 100000;
+ break;
+ case 2:
+ *pulse_width_us = 100000;
+ break;
+ case 3:
+ *pulse_width_us = 100000;
+ break;
+ case 4:
+ if (inc == 0) {
+ inc += 1;
+ puts("GEAR OFF");
+ }
+ if (inc < 20) {
+ inc += 1;
+ gear = 120000;
+ }
+ else if (inc == 20) {
+ puts("GEAR ON");
+ inc += 1;
+ }
+ else {
+ gear = 140000;
+ }
+ *pulse_width_us = gear;
+ break;
+ case 5:
+ // flap 1
+ *pulse_width_us = 192000;
+ break;
+ }
+ return 0;
+}
diff --git a/quad/src/virt_quad/hw_impl_unix_pwm_output.c b/quad/src/virt_quad/hw_impl_unix_pwm_output.c
new file mode 100644
index 0000000000000000000000000000000000000000..b549cd4367af0a5ebfe8a50cd7af97e94daf16bb
--- /dev/null
+++ b/quad/src/virt_quad/hw_impl_unix_pwm_output.c
@@ -0,0 +1,12 @@
+#include "hw_impl_unix.h"
+
+int unix_pwm_output_reset(struct PWMOutputDriver *self) {
+ return 0;
+}
+
+int unix_pwm_output_write(struct PWMOutputDriver *self,
+ unsigned int channel,
+ unsigned long pulse_width_us) {
+ //printf("PWM OUTPUT: %d %d\n", channel, pulse_width_us);
+ return 0;
+}
diff --git a/quad/src/virt_quad/hw_impl_unix_system.c b/quad/src/virt_quad/hw_impl_unix_system.c
new file mode 100644
index 0000000000000000000000000000000000000000..27f1a691ee92f46f6be0e029245dfba51bfb9de0
--- /dev/null
+++ b/quad/src/virt_quad/hw_impl_unix_system.c
@@ -0,0 +1,14 @@
+#include "hw_impl_unix.h"
+
+int unix_system_reset(struct SystemDriver *sys) {
+ return 0;
+}
+
+int unix_system_sleep(struct SystemDriver *sys, unsigned long us) {
+ struct timespec time;
+ struct timespec time2;
+ time.tv_sec = 0;
+ time.tv_nsec = us * 1000;
+ nanosleep(&time, &time2);
+ return 0;
+}
diff --git a/quad/src/virt_quad/hw_impl_unix_uart.c b/quad/src/virt_quad/hw_impl_unix_uart.c
new file mode 100644
index 0000000000000000000000000000000000000000..c4f024ff282e6038f4ef63bd88a615fc14e9673f
--- /dev/null
+++ b/quad/src/virt_quad/hw_impl_unix_uart.c
@@ -0,0 +1,70 @@
+#include "hw_impl_unix.h"
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <stdio.h>
+#include <sys/un.h>
+#include <sys/ioctl.h>
+#include <err.h>
+#include <netinet/in.h>
+
+#define DEFAULT_SOCKET "../../groundStation/virtquad.socket"
+#define SOCKET_ENV "VIRT_QUAD_SOCKET"
+
+static int backendSocket;
+static int client;
+
+int unix_uart_reset(struct UARTDriver *self) {
+ char * backend_socket_path = DEFAULT_SOCKET;
+ if (getenv(SOCKET_ENV)) {
+ backend_socket_path = getenv(SOCKET_ENV);
+ }
+
+ /* Unlink if it exists */
+ unlink(backend_socket_path);
+ printf("using socket '%s'\n", backend_socket_path);
+
+ /* Create socket */
+ backendSocket = socket(AF_UNIX, SOCK_STREAM | SOCK_NONBLOCK, 0);
+
+
+ /* Create sockaddr and bind */
+ struct sockaddr_un sa;
+ sa.sun_family = AF_UNIX;
+ strncpy(sa.sun_path, backend_socket_path, strlen(backend_socket_path));
+ sa.sun_path[strlen(backend_socket_path)+1] = '\0';
+ if (bind(backendSocket, (struct sockaddr *) &sa, sizeof(sa))) {
+ err(-1, "bind");
+ }
+
+ /* Listen */
+ if (listen(backendSocket, 1)) {
+ err(-1, "listen");
+ }
+
+ while (1) {
+ client = accept(backendSocket, NULL, NULL);
+ if (client > 0)
+ break;
+ }
+ printf(" accpet() returned with %d\n", client);
+ return 0;
+}
+
+int unix_uart_write(struct UARTDriver *self, unsigned char c) {
+ return send(client, &c, 1, MSG_DONTWAIT);
+ // return write(client, &c, 1);
+}
+
+int unix_uart_read(struct UARTDriver *self, unsigned char *c) {
+ int bytes_available;
+ ioctl(client,FIONREAD,&bytes_available);
+
+ if (bytes_available > 0) {
+ int bytes = recv(client, c, 1, 0);
+ printf("read in %d byte [%x]\n", bytes, *c);
+ return bytes;
+ } else {
+ return 0;
+ }
+
+}
\ No newline at end of file
diff --git a/quad/src/virt_quad/main.c b/quad/src/virt_quad/main.c
new file mode 100644
index 0000000000000000000000000000000000000000..a87b8013f5037d6a2db5badd74c7166f681e3e8c
--- /dev/null
+++ b/quad/src/virt_quad/main.c
@@ -0,0 +1,21 @@
+#include <stdio.h>
+#include "hw_impl_unix.h"
+#include "quad_app.h"
+
+int setup_hardware(hardware_t *hardware) {
+ hardware->i2c = create_unix_i2c();
+ hardware->pwm_inputs = create_unix_pwm_inputs();
+ hardware->pwm_outputs = create_unix_pwm_outputs();
+ hardware->uart = create_unix_uart();
+ hardware->global_timer = create_unix_global_timer();
+ hardware->axi_timer = create_unix_axi_timer();
+ hardware->mio7_led = create_unix_mio7_led();
+ hardware->sys = create_unix_system();
+ return 0;
+}
+
+int main()
+{
+ quad_main(setup_hardware);
+ return 0;
+}
diff --git a/quad/test_logging/Makefile b/quad/test_logging/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..d30eb0102cea878e910d440437f4c185e2562b30
--- /dev/null
+++ b/quad/test_logging/Makefile
@@ -0,0 +1,3 @@
+CC=gcc
+test: test.c
+ $(CC) -o test_log -I. -I../src/quad_app -I../src/computation_graph test.c ../src/quad_app/*.c ../src/computation_graph/*.c -lm
diff --git a/quad/test_logging/log.txt b/quad/test_logging/log.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c66e5152c66693e82bc287674ba3359ab6710dd4
--- /dev/null
+++ b/quad/test_logging/log.txt
@@ -0,0 +1,7 @@
+# MicroCART On-board Quad Log
+# Sample size: 3
+time accel_x accel_y accel_z gyro_x gyro_y gyro_z Altitude PID_Correction X pos PID_Correction Y pos PID_Correction Pitch PID_Correction Roll PID_Correction Yaw PID_Correction Pitch Rate PID_Correction Roll Rate PID_Correction Yaw Rate PID_Correction Pitch_Constant Roll_Constant Yaw_Constant VRPN X_Constant VRPN Y_Constant VRPN Alt_Constant VRPN Pitch_Constant VRPN Roll_Constant X Setpoint_Constant Y Setpoint_Constant Alt Setpoint_Constant Yaw Setpoint_Constant Signal Mixer_PWM 0 Signal Mixer_PWM 1 Signal Mixer_PWM 2 Signal Mixer_PWM 3
+s G G G rad/s rad/s rad/s 10ns_dutycycle rad rad rad/s rad/s rad/s 10ns_dutycycle 10ns_dutycycle 10ns_dutycycle rad rad rad m m m rad rad m m m rad 10ns_dutycycle 10ns_dutycycle 10ns_dutycycle 10ns_dutycycle
+0.000000 0.000000 0.000000 0.000000 0.000000 4722366482869645213696.000000 -nan 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
+0.000000 0.000000 0.000000 0.000000 0.000000 4722366482869645213696.000000 -nan 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
+0.000000 0.000000 0.000000 0.000000 0.000000 4722366482869645213696.000000 -nan 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
diff --git a/quad/test_logging/test.c b/quad/test_logging/test.c
new file mode 100644
index 0000000000000000000000000000000000000000..7fd26a97d187f96630e209fa04f5364fdbdcef58
--- /dev/null
+++ b/quad/test_logging/test.c
@@ -0,0 +1,22 @@
+#include <stddef.h>
+#include "type_def.h"
+#include "log_data.h"
+#include "control_algorithm.h"
+
+int zybo_uart_write(struct UARTDriver *self, unsigned char c) {
+ printf("%c", c);
+ return 0;
+}
+
+
+int main() {
+ modular_structs_t structs;
+ structs.hardware_struct.uart.write = zybo_uart_write;
+ control_algorithm_init(&(structs.parameter_struct));
+ initialize_logging(&structs.log_struct, &structs.parameter_struct);
+ log_data(&(structs.log_struct), &(structs.parameter_struct));
+ log_data(&(structs.log_struct), &(structs.parameter_struct));
+ log_data(&(structs.log_struct), &(structs.parameter_struct));
+ printLogging(&structs.hardware_struct, &(structs.log_struct), &(structs.parameter_struct));
+ return 0;
+}
diff --git a/quad/test_logging/test_log b/quad/test_logging/test_log
new file mode 100644
index 0000000000000000000000000000000000000000..e9c0b45a27eb1eb96d051a7ec6738d3c8ff5adba
Binary files /dev/null and b/quad/test_logging/test_log differ
diff --git a/quad/xsdk_workspace/modular_quad_pid/.cproject b/quad/xsdk_workspace/modular_quad_pid/.cproject
index b6594e32f340de9327b789312fb975bd37009524..f17eeafddf9cc8821dcdd8ee953460b8a2f47b55 100644
--- a/quad/xsdk_workspace/modular_quad_pid/.cproject
+++ b/quad/xsdk_workspace/modular_quad_pid/.cproject
@@ -27,15 +27,15 @@
<tool id="xilinx.gnu.arm.c.toolchain.compiler.debug.177835003" name="ARM gcc compiler" superClass="xilinx.gnu.arm.c.toolchain.compiler.debug">
<option defaultValue="gnu.c.optimization.level.none" id="xilinx.gnu.compiler.option.optimization.level.1900496019" name="Optimization Level" superClass="xilinx.gnu.compiler.option.optimization.level" value="gnu.c.optimization.level.none" valueType="enumerated"/>
<option id="xilinx.gnu.compiler.option.debugging.level.1207856754" name="Debug Level" superClass="xilinx.gnu.compiler.option.debugging.level" value="gnu.c.debugging.level.max" valueType="enumerated"/>
- <option id="xilinx.gnu.compiler.inferred.swplatform.includes.2123463819" name="Software Platform Include Path" superClass="xilinx.gnu.compiler.inferred.swplatform.includes" valueType="includePath">
- <listOptionValue builtIn="false" value="../../system_bsp/ps7_cortexa9_0/include"/>
- </option>
+ <option id="xilinx.gnu.compiler.inferred.swplatform.includes.2123463819" name="Software Platform Include Path" superClass="xilinx.gnu.compiler.inferred.swplatform.includes" valueType="includePath"/>
<option id="xilinx.gnu.compiler.symbols.defined.1696008720" name="Defined symbols (-D)" superClass="xilinx.gnu.compiler.symbols.defined"/>
<option id="xilinx.gnu.compiler.dircategory.includes.1211006365" name="Include Paths" superClass="xilinx.gnu.compiler.dircategory.includes" valueType="includePath">
<listOptionValue builtIn="false" value="../../system_bsp/ps7_cortexa9_0/include"/>
<listOptionValue builtIn="false" value=""${workspace_loc:/modular_quad_pid/ext/computation_graph}""/>
<listOptionValue builtIn="false" value=""${workspace_loc:/modular_quad_pid/ext/quad_app}""/>
<listOptionValue builtIn="false" value=""${workspace_loc:/modular_quad_pid/ext/queue}""/>
+ <listOptionValue builtIn="false" value=""${workspace_loc:/modular_quad_pid/ext/commands}""/>
+ <listOptionValue builtIn="false" value=""${workspace_loc:/modular_quad_pid/ext/graph_blocks}""/>
</option>
<inputType id="xilinx.gnu.arm.c.compiler.input.909725989" name="C source files" superClass="xilinx.gnu.arm.c.compiler.input"/>
</tool>
@@ -108,9 +108,7 @@
<tool id="xilinx.gnu.arm.c.toolchain.compiler.release.85270120" name="ARM gcc compiler" superClass="xilinx.gnu.arm.c.toolchain.compiler.release">
<option defaultValue="gnu.c.optimization.level.more" id="xilinx.gnu.compiler.option.optimization.level.515686013" name="Optimization Level" superClass="xilinx.gnu.compiler.option.optimization.level" valueType="enumerated"/>
<option id="xilinx.gnu.compiler.option.debugging.level.1121150517" name="Debug Level" superClass="xilinx.gnu.compiler.option.debugging.level" value="gnu.c.debugging.level.none" valueType="enumerated"/>
- <option id="xilinx.gnu.compiler.inferred.swplatform.includes.687694973" name="Software Platform Include Path" superClass="xilinx.gnu.compiler.inferred.swplatform.includes" valueType="includePath">
- <listOptionValue builtIn="false" value="../../system_bsp/ps7_cortexa9_0/include"/>
- </option>
+ <option id="xilinx.gnu.compiler.inferred.swplatform.includes.687694973" name="Software Platform Include Path" superClass="xilinx.gnu.compiler.inferred.swplatform.includes"/>
<option id="xilinx.gnu.compiler.symbols.defined.1562495938" name="Defined symbols (-D)" superClass="xilinx.gnu.compiler.symbols.defined" valueType="definedSymbols">
<listOptionValue builtIn="false" value="NDEBUG=1"/>
</option>
@@ -119,6 +117,8 @@
<listOptionValue builtIn="false" value=""${workspace_loc:/modular_quad_pid/ext/computation_graph}""/>
<listOptionValue builtIn="false" value=""${workspace_loc:/modular_quad_pid/ext/quad_app}""/>
<listOptionValue builtIn="false" value=""${workspace_loc:/modular_quad_pid/ext/queue}""/>
+ <listOptionValue builtIn="false" value=""${workspace_loc:/modular_quad_pid/ext/commands}""/>
+ <listOptionValue builtIn="false" value=""${workspace_loc:/modular_quad_pid/ext/graph_blocks}""/>
</option>
<inputType id="xilinx.gnu.arm.c.compiler.input.846429887" name="C source files" superClass="xilinx.gnu.arm.c.compiler.input"/>
</tool>
diff --git a/quad/xsdk_workspace/modular_quad_pid/.project b/quad/xsdk_workspace/modular_quad_pid/.project
index 7ae4ca25c0f0cd671784aad1590a7cc52299f7f1..734130fb55d695ee28de0b41cc6b8f0f4bccd05e 100644
--- a/quad/xsdk_workspace/modular_quad_pid/.project
+++ b/quad/xsdk_workspace/modular_quad_pid/.project
@@ -25,11 +25,21 @@
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
</natures>
<linkedResources>
+ <link>
+ <name>ext/commands</name>
+ <type>2</type>
+ <location>/local/ucart/MicroCART_17-18/quad/src/commands</location>
+ </link>
<link>
<name>ext/computation_graph</name>
<type>2</type>
<locationURI>QUAD_LOC/src/computation_graph</locationURI>
</link>
+ <link>
+ <name>ext/graph_blocks</name>
+ <type>2</type>
+ <location>/local/ucart/MicroCART_17-18/quad/src/graph_blocks</location>
+ </link>
<link>
<name>ext/quad_app</name>
<type>2</type>
diff --git a/quad/xsdk_workspace/modular_quad_pid/Debug/ext/commands/subdir.mk b/quad/xsdk_workspace/modular_quad_pid/Debug/ext/commands/subdir.mk
new file mode 100644
index 0000000000000000000000000000000000000000..f7ba0a3012665b52d4f33945aeb8058b155fa295
--- /dev/null
+++ b/quad/xsdk_workspace/modular_quad_pid/Debug/ext/commands/subdir.mk
@@ -0,0 +1,24 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+# Add inputs and outputs from these tool invocations to the build variables
+C_SRCS += \
+/local/ucart/MicroCART_17-18/quad/src/commands/commands.c
+
+OBJS += \
+./ext/commands/commands.o
+
+C_DEPS += \
+./ext/commands/commands.d
+
+
+# Each subdirectory must supply rules for building sources it contributes
+ext/commands/commands.o: /local/ucart/MicroCART_17-18/quad/src/commands/commands.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+
diff --git a/quad/xsdk_workspace/modular_quad_pid/Debug/ext/computation_graph/subdir.mk b/quad/xsdk_workspace/modular_quad_pid/Debug/ext/computation_graph/subdir.mk
index 5ca516e5ff888247e3f9eb3163662686f2e09f4f..6e59c9cee0577a04e7ea23b17ff244588d9e762d 100644
--- a/quad/xsdk_workspace/modular_quad_pid/Debug/ext/computation_graph/subdir.mk
+++ b/quad/xsdk_workspace/modular_quad_pid/Debug/ext/computation_graph/subdir.mk
@@ -4,80 +4,20 @@
# Add inputs and outputs from these tool invocations to the build variables
C_SRCS += \
-/local/ucart/MicroCART_17-18/quad/src/computation_graph/computation_graph.c \
-/local/ucart/MicroCART_17-18/quad/src/computation_graph/node_accumulator.c \
-/local/ucart/MicroCART_17-18/quad/src/computation_graph/node_add.c \
-/local/ucart/MicroCART_17-18/quad/src/computation_graph/node_constant.c \
-/local/ucart/MicroCART_17-18/quad/src/computation_graph/node_gain.c \
-/local/ucart/MicroCART_17-18/quad/src/computation_graph/node_mult.c \
-/local/ucart/MicroCART_17-18/quad/src/computation_graph/node_pow.c
+/local/ucart/MicroCART_17-18/quad/src/computation_graph/computation_graph.c
OBJS += \
-./ext/computation_graph/computation_graph.o \
-./ext/computation_graph/node_accumulator.o \
-./ext/computation_graph/node_add.o \
-./ext/computation_graph/node_constant.o \
-./ext/computation_graph/node_gain.o \
-./ext/computation_graph/node_mult.o \
-./ext/computation_graph/node_pow.o
+./ext/computation_graph/computation_graph.o
C_DEPS += \
-./ext/computation_graph/computation_graph.d \
-./ext/computation_graph/node_accumulator.d \
-./ext/computation_graph/node_add.d \
-./ext/computation_graph/node_constant.d \
-./ext/computation_graph/node_gain.d \
-./ext/computation_graph/node_mult.d \
-./ext/computation_graph/node_pow.d
+./ext/computation_graph/computation_graph.d
# Each subdirectory must supply rules for building sources it contributes
ext/computation_graph/computation_graph.o: /local/ucart/MicroCART_17-18/quad/src/computation_graph/computation_graph.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/computation_graph/node_accumulator.o: /local/ucart/MicroCART_17-18/quad/src/computation_graph/node_accumulator.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/computation_graph/node_add.o: /local/ucart/MicroCART_17-18/quad/src/computation_graph/node_add.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/computation_graph/node_constant.o: /local/ucart/MicroCART_17-18/quad/src/computation_graph/node_constant.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/computation_graph/node_gain.o: /local/ucart/MicroCART_17-18/quad/src/computation_graph/node_gain.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/computation_graph/node_mult.o: /local/ucart/MicroCART_17-18/quad/src/computation_graph/node_mult.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/computation_graph/node_pow.o: /local/ucart/MicroCART_17-18/quad/src/computation_graph/node_pow.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
diff --git a/quad/xsdk_workspace/modular_quad_pid/Debug/ext/graph_blocks/subdir.mk b/quad/xsdk_workspace/modular_quad_pid/Debug/ext/graph_blocks/subdir.mk
new file mode 100644
index 0000000000000000000000000000000000000000..2bb4dfce904ba88353ba7f556474171b44d79857
--- /dev/null
+++ b/quad/xsdk_workspace/modular_quad_pid/Debug/ext/graph_blocks/subdir.mk
@@ -0,0 +1,114 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+# Add inputs and outputs from these tool invocations to the build variables
+C_SRCS += \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/graph_blocks.c \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_accumulator.c \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_add.c \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_bounds.c \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_constant.c \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_gain.c \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_mixer.c \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_mult.c \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_pid.c \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_pow.c
+
+OBJS += \
+./ext/graph_blocks/graph_blocks.o \
+./ext/graph_blocks/node_accumulator.o \
+./ext/graph_blocks/node_add.o \
+./ext/graph_blocks/node_bounds.o \
+./ext/graph_blocks/node_constant.o \
+./ext/graph_blocks/node_gain.o \
+./ext/graph_blocks/node_mixer.o \
+./ext/graph_blocks/node_mult.o \
+./ext/graph_blocks/node_pid.o \
+./ext/graph_blocks/node_pow.o
+
+C_DEPS += \
+./ext/graph_blocks/graph_blocks.d \
+./ext/graph_blocks/node_accumulator.d \
+./ext/graph_blocks/node_add.d \
+./ext/graph_blocks/node_bounds.d \
+./ext/graph_blocks/node_constant.d \
+./ext/graph_blocks/node_gain.d \
+./ext/graph_blocks/node_mixer.d \
+./ext/graph_blocks/node_mult.d \
+./ext/graph_blocks/node_pid.d \
+./ext/graph_blocks/node_pow.d
+
+
+# Each subdirectory must supply rules for building sources it contributes
+ext/graph_blocks/graph_blocks.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/graph_blocks.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+ext/graph_blocks/node_accumulator.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_accumulator.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+ext/graph_blocks/node_add.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_add.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+ext/graph_blocks/node_bounds.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_bounds.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+ext/graph_blocks/node_constant.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_constant.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+ext/graph_blocks/node_gain.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_gain.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+ext/graph_blocks/node_mixer.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_mixer.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+ext/graph_blocks/node_mult.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_mult.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+ext/graph_blocks/node_pid.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_pid.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+ext/graph_blocks/node_pow.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_pow.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+
diff --git a/quad/xsdk_workspace/modular_quad_pid/Debug/ext/quad_app/subdir.mk b/quad/xsdk_workspace/modular_quad_pid/Debug/ext/quad_app/subdir.mk
index aa98b08cd518adce7126a0d547300de93bc0dae8..c3cc8861eb96ad0f808c5de24c00d27b8d74a657 100644
--- a/quad/xsdk_workspace/modular_quad_pid/Debug/ext/quad_app/subdir.mk
+++ b/quad/xsdk_workspace/modular_quad_pid/Debug/ext/quad_app/subdir.mk
@@ -7,7 +7,6 @@ C_SRCS += \
/local/ucart/MicroCART_17-18/quad/src/quad_app/PID.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/actuator_command_processing.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/callbacks.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/commands.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/communication.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/control_algorithm.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/controllers.c \
@@ -17,9 +16,6 @@ C_SRCS += \
/local/ucart/MicroCART_17-18/quad/src/quad_app/log_data.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/mio7_led.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/new_log_data.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/node_bounds.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/node_mixer.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/node_pid.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/packet_processing.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/quad_app.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/send_actuator_commands.c \
@@ -34,7 +30,6 @@ OBJS += \
./ext/quad_app/PID.o \
./ext/quad_app/actuator_command_processing.o \
./ext/quad_app/callbacks.o \
-./ext/quad_app/commands.o \
./ext/quad_app/communication.o \
./ext/quad_app/control_algorithm.o \
./ext/quad_app/controllers.o \
@@ -44,9 +39,6 @@ OBJS += \
./ext/quad_app/log_data.o \
./ext/quad_app/mio7_led.o \
./ext/quad_app/new_log_data.o \
-./ext/quad_app/node_bounds.o \
-./ext/quad_app/node_mixer.o \
-./ext/quad_app/node_pid.o \
./ext/quad_app/packet_processing.o \
./ext/quad_app/quad_app.o \
./ext/quad_app/send_actuator_commands.o \
@@ -61,7 +53,6 @@ C_DEPS += \
./ext/quad_app/PID.d \
./ext/quad_app/actuator_command_processing.d \
./ext/quad_app/callbacks.d \
-./ext/quad_app/commands.d \
./ext/quad_app/communication.d \
./ext/quad_app/control_algorithm.d \
./ext/quad_app/controllers.d \
@@ -71,9 +62,6 @@ C_DEPS += \
./ext/quad_app/log_data.d \
./ext/quad_app/mio7_led.d \
./ext/quad_app/new_log_data.d \
-./ext/quad_app/node_bounds.d \
-./ext/quad_app/node_mixer.d \
-./ext/quad_app/node_pid.d \
./ext/quad_app/packet_processing.d \
./ext/quad_app/quad_app.d \
./ext/quad_app/send_actuator_commands.d \
@@ -89,175 +77,147 @@ C_DEPS += \
ext/quad_app/PID.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/PID.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/actuator_command_processing.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/actuator_command_processing.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/callbacks.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/callbacks.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/commands.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/commands.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/communication.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/communication.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/control_algorithm.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/control_algorithm.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/controllers.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/controllers.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/conversion.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/conversion.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/iic_utils.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/iic_utils.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/initialize_components.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/initialize_components.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/log_data.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/log_data.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/mio7_led.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/mio7_led.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/new_log_data.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/new_log_data.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/node_bounds.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/node_bounds.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/node_mixer.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/node_mixer.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/node_pid.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/node_pid.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/packet_processing.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/packet_processing.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/quad_app.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/quad_app.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/send_actuator_commands.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/send_actuator_commands.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/sensor.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/sensor.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/sensor_processing.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/sensor_processing.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/timer.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/timer.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/update_gui.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/update_gui.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/user_input.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/user_input.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/util.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/util.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
diff --git a/quad/xsdk_workspace/modular_quad_pid/Debug/ext/queue/subdir.mk b/quad/xsdk_workspace/modular_quad_pid/Debug/ext/queue/subdir.mk
index 62a2b5e38e4227b13d52b1f71a3d59ca2c1154a7..8141db2ad3d477fa611ab8cb815bf102a059e2e3 100644
--- a/quad/xsdk_workspace/modular_quad_pid/Debug/ext/queue/subdir.mk
+++ b/quad/xsdk_workspace/modular_quad_pid/Debug/ext/queue/subdir.mk
@@ -17,7 +17,7 @@ C_DEPS += \
ext/queue/queue.o: /local/ucart/MicroCART_17-18/quad/src/queue/queue.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
diff --git a/quad/xsdk_workspace/modular_quad_pid/Debug/makefile b/quad/xsdk_workspace/modular_quad_pid/Debug/makefile
index 1541d5523584e2da44d62a4297e85fb6d6182adf..928243ba307f1025a6d169fd83c3abad121074c9 100644
--- a/quad/xsdk_workspace/modular_quad_pid/Debug/makefile
+++ b/quad/xsdk_workspace/modular_quad_pid/Debug/makefile
@@ -11,7 +11,9 @@ RM := rm -rf
-include src/subdir.mk
-include ext/queue/subdir.mk
-include ext/quad_app/subdir.mk
+-include ext/graph_blocks/subdir.mk
-include ext/computation_graph/subdir.mk
+-include ext/commands/subdir.mk
-include subdir.mk
-include objects.mk
diff --git a/quad/xsdk_workspace/modular_quad_pid/Debug/sources.mk b/quad/xsdk_workspace/modular_quad_pid/Debug/sources.mk
index 2ab3ec257c3d1145b8c6781b871c0e3a9e1f6f8d..9b76509427183193e779ddad577b92f06904d6a9 100644
--- a/quad/xsdk_workspace/modular_quad_pid/Debug/sources.mk
+++ b/quad/xsdk_workspace/modular_quad_pid/Debug/sources.mk
@@ -19,5 +19,7 @@ SUBDIRS := \
src \
ext/queue \
ext/quad_app \
+ext/graph_blocks \
ext/computation_graph \
+ext/commands \
diff --git a/quad/xsdk_workspace/modular_quad_pid/Debug/src/subdir.mk b/quad/xsdk_workspace/modular_quad_pid/Debug/src/subdir.mk
index ad5162ebfedbaea78a20e0ab74d85dd782ccb6dc..342be9a4df75c540826513b7781d20f55cec7e6e 100644
--- a/quad/xsdk_workspace/modular_quad_pid/Debug/src/subdir.mk
+++ b/quad/xsdk_workspace/modular_quad_pid/Debug/src/subdir.mk
@@ -53,7 +53,7 @@ C_DEPS += \
src/%.o: ../src/%.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
diff --git a/quad/xsdk_workspace/modular_quad_pid/Release/ext/commands/subdir.mk b/quad/xsdk_workspace/modular_quad_pid/Release/ext/commands/subdir.mk
new file mode 100644
index 0000000000000000000000000000000000000000..8cdbd185e5ccf1c0be99a0d8fa96060a34e2b513
--- /dev/null
+++ b/quad/xsdk_workspace/modular_quad_pid/Release/ext/commands/subdir.mk
@@ -0,0 +1,24 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+# Add inputs and outputs from these tool invocations to the build variables
+C_SRCS += \
+/local/ucart/MicroCART_17-18/quad/src/commands/commands.c
+
+OBJS += \
+./ext/commands/commands.o
+
+C_DEPS += \
+./ext/commands/commands.d
+
+
+# Each subdirectory must supply rules for building sources it contributes
+ext/commands/commands.o: /local/ucart/MicroCART_17-18/quad/src/commands/commands.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+
diff --git a/quad/xsdk_workspace/modular_quad_pid/Release/ext/computation_graph/subdir.mk b/quad/xsdk_workspace/modular_quad_pid/Release/ext/computation_graph/subdir.mk
index ded259e8facfb900511409b4c0a7bbc52cb3bc30..b7232693ee94ab6bc1248c568cabec7ff1c42604 100644
--- a/quad/xsdk_workspace/modular_quad_pid/Release/ext/computation_graph/subdir.mk
+++ b/quad/xsdk_workspace/modular_quad_pid/Release/ext/computation_graph/subdir.mk
@@ -4,80 +4,20 @@
# Add inputs and outputs from these tool invocations to the build variables
C_SRCS += \
-/local/ucart/MicroCART_17-18/quad/src/computation_graph/computation_graph.c \
-/local/ucart/MicroCART_17-18/quad/src/computation_graph/node_accumulator.c \
-/local/ucart/MicroCART_17-18/quad/src/computation_graph/node_add.c \
-/local/ucart/MicroCART_17-18/quad/src/computation_graph/node_constant.c \
-/local/ucart/MicroCART_17-18/quad/src/computation_graph/node_gain.c \
-/local/ucart/MicroCART_17-18/quad/src/computation_graph/node_mult.c \
-/local/ucart/MicroCART_17-18/quad/src/computation_graph/node_pow.c
+/local/ucart/MicroCART_17-18/quad/src/computation_graph/computation_graph.c
OBJS += \
-./ext/computation_graph/computation_graph.o \
-./ext/computation_graph/node_accumulator.o \
-./ext/computation_graph/node_add.o \
-./ext/computation_graph/node_constant.o \
-./ext/computation_graph/node_gain.o \
-./ext/computation_graph/node_mult.o \
-./ext/computation_graph/node_pow.o
+./ext/computation_graph/computation_graph.o
C_DEPS += \
-./ext/computation_graph/computation_graph.d \
-./ext/computation_graph/node_accumulator.d \
-./ext/computation_graph/node_add.d \
-./ext/computation_graph/node_constant.d \
-./ext/computation_graph/node_gain.d \
-./ext/computation_graph/node_mult.d \
-./ext/computation_graph/node_pow.d
+./ext/computation_graph/computation_graph.d
# Each subdirectory must supply rules for building sources it contributes
ext/computation_graph/computation_graph.o: /local/ucart/MicroCART_17-18/quad/src/computation_graph/computation_graph.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/computation_graph/node_accumulator.o: /local/ucart/MicroCART_17-18/quad/src/computation_graph/node_accumulator.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/computation_graph/node_add.o: /local/ucart/MicroCART_17-18/quad/src/computation_graph/node_add.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/computation_graph/node_constant.o: /local/ucart/MicroCART_17-18/quad/src/computation_graph/node_constant.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/computation_graph/node_gain.o: /local/ucart/MicroCART_17-18/quad/src/computation_graph/node_gain.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/computation_graph/node_mult.o: /local/ucart/MicroCART_17-18/quad/src/computation_graph/node_mult.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/computation_graph/node_pow.o: /local/ucart/MicroCART_17-18/quad/src/computation_graph/node_pow.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
diff --git a/quad/xsdk_workspace/modular_quad_pid/Release/ext/graph_blocks/subdir.mk b/quad/xsdk_workspace/modular_quad_pid/Release/ext/graph_blocks/subdir.mk
new file mode 100644
index 0000000000000000000000000000000000000000..eb92d2e47df69bfc075f7f9f5e9eecc8d7a9f365
--- /dev/null
+++ b/quad/xsdk_workspace/modular_quad_pid/Release/ext/graph_blocks/subdir.mk
@@ -0,0 +1,114 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+# Add inputs and outputs from these tool invocations to the build variables
+C_SRCS += \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/graph_blocks.c \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_accumulator.c \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_add.c \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_bounds.c \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_constant.c \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_gain.c \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_mixer.c \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_mult.c \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_pid.c \
+/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_pow.c
+
+OBJS += \
+./ext/graph_blocks/graph_blocks.o \
+./ext/graph_blocks/node_accumulator.o \
+./ext/graph_blocks/node_add.o \
+./ext/graph_blocks/node_bounds.o \
+./ext/graph_blocks/node_constant.o \
+./ext/graph_blocks/node_gain.o \
+./ext/graph_blocks/node_mixer.o \
+./ext/graph_blocks/node_mult.o \
+./ext/graph_blocks/node_pid.o \
+./ext/graph_blocks/node_pow.o
+
+C_DEPS += \
+./ext/graph_blocks/graph_blocks.d \
+./ext/graph_blocks/node_accumulator.d \
+./ext/graph_blocks/node_add.d \
+./ext/graph_blocks/node_bounds.d \
+./ext/graph_blocks/node_constant.d \
+./ext/graph_blocks/node_gain.d \
+./ext/graph_blocks/node_mixer.d \
+./ext/graph_blocks/node_mult.d \
+./ext/graph_blocks/node_pid.d \
+./ext/graph_blocks/node_pow.d
+
+
+# Each subdirectory must supply rules for building sources it contributes
+ext/graph_blocks/graph_blocks.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/graph_blocks.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+ext/graph_blocks/node_accumulator.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_accumulator.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+ext/graph_blocks/node_add.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_add.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+ext/graph_blocks/node_bounds.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_bounds.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+ext/graph_blocks/node_constant.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_constant.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+ext/graph_blocks/node_gain.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_gain.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+ext/graph_blocks/node_mixer.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_mixer.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+ext/graph_blocks/node_mult.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_mult.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+ext/graph_blocks/node_pid.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_pid.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+ext/graph_blocks/node_pow.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_pow.c
+ @echo 'Building file: $<'
+ @echo 'Invoking: ARM gcc compiler'
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ @echo 'Finished building: $<'
+ @echo ' '
+
+
diff --git a/quad/xsdk_workspace/modular_quad_pid/Release/ext/quad_app/subdir.mk b/quad/xsdk_workspace/modular_quad_pid/Release/ext/quad_app/subdir.mk
index e98b994aea2b9cb3a2ba124842a4cf5c74226d9e..d549e80dffda190f971af055c1a0540a81b5d411 100644
--- a/quad/xsdk_workspace/modular_quad_pid/Release/ext/quad_app/subdir.mk
+++ b/quad/xsdk_workspace/modular_quad_pid/Release/ext/quad_app/subdir.mk
@@ -7,7 +7,6 @@ C_SRCS += \
/local/ucart/MicroCART_17-18/quad/src/quad_app/PID.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/actuator_command_processing.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/callbacks.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/commands.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/communication.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/control_algorithm.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/controllers.c \
@@ -17,9 +16,6 @@ C_SRCS += \
/local/ucart/MicroCART_17-18/quad/src/quad_app/log_data.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/mio7_led.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/new_log_data.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/node_bounds.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/node_mixer.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/node_pid.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/packet_processing.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/quad_app.c \
/local/ucart/MicroCART_17-18/quad/src/quad_app/send_actuator_commands.c \
@@ -34,7 +30,6 @@ OBJS += \
./ext/quad_app/PID.o \
./ext/quad_app/actuator_command_processing.o \
./ext/quad_app/callbacks.o \
-./ext/quad_app/commands.o \
./ext/quad_app/communication.o \
./ext/quad_app/control_algorithm.o \
./ext/quad_app/controllers.o \
@@ -44,9 +39,6 @@ OBJS += \
./ext/quad_app/log_data.o \
./ext/quad_app/mio7_led.o \
./ext/quad_app/new_log_data.o \
-./ext/quad_app/node_bounds.o \
-./ext/quad_app/node_mixer.o \
-./ext/quad_app/node_pid.o \
./ext/quad_app/packet_processing.o \
./ext/quad_app/quad_app.o \
./ext/quad_app/send_actuator_commands.o \
@@ -61,7 +53,6 @@ C_DEPS += \
./ext/quad_app/PID.d \
./ext/quad_app/actuator_command_processing.d \
./ext/quad_app/callbacks.d \
-./ext/quad_app/commands.d \
./ext/quad_app/communication.d \
./ext/quad_app/control_algorithm.d \
./ext/quad_app/controllers.d \
@@ -71,9 +62,6 @@ C_DEPS += \
./ext/quad_app/log_data.d \
./ext/quad_app/mio7_led.d \
./ext/quad_app/new_log_data.d \
-./ext/quad_app/node_bounds.d \
-./ext/quad_app/node_mixer.d \
-./ext/quad_app/node_pid.d \
./ext/quad_app/packet_processing.d \
./ext/quad_app/quad_app.d \
./ext/quad_app/send_actuator_commands.d \
@@ -89,175 +77,147 @@ C_DEPS += \
ext/quad_app/PID.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/PID.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/actuator_command_processing.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/actuator_command_processing.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/callbacks.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/callbacks.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/commands.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/commands.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/communication.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/communication.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/control_algorithm.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/control_algorithm.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/controllers.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/controllers.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/conversion.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/conversion.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/iic_utils.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/iic_utils.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/initialize_components.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/initialize_components.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/log_data.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/log_data.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/mio7_led.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/mio7_led.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/new_log_data.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/new_log_data.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/node_bounds.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/node_bounds.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/node_mixer.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/node_mixer.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/node_pid.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/node_pid.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/packet_processing.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/packet_processing.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/quad_app.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/quad_app.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/send_actuator_commands.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/send_actuator_commands.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/sensor.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/sensor.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/sensor_processing.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/sensor_processing.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/timer.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/timer.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/update_gui.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/update_gui.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/user_input.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/user_input.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
ext/quad_app/util.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/util.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
diff --git a/quad/xsdk_workspace/modular_quad_pid/Release/ext/queue/subdir.mk b/quad/xsdk_workspace/modular_quad_pid/Release/ext/queue/subdir.mk
index f1f9d0801d552b2bcdec436544b890e0720c5f30..a595cf53e1bd98da9251d9166acf07f43e6f6651 100644
--- a/quad/xsdk_workspace/modular_quad_pid/Release/ext/queue/subdir.mk
+++ b/quad/xsdk_workspace/modular_quad_pid/Release/ext/queue/subdir.mk
@@ -17,7 +17,7 @@ C_DEPS += \
ext/queue/queue.o: /local/ucart/MicroCART_17-18/quad/src/queue/queue.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '
diff --git a/quad/xsdk_workspace/modular_quad_pid/Release/makefile b/quad/xsdk_workspace/modular_quad_pid/Release/makefile
index 1541d5523584e2da44d62a4297e85fb6d6182adf..928243ba307f1025a6d169fd83c3abad121074c9 100644
--- a/quad/xsdk_workspace/modular_quad_pid/Release/makefile
+++ b/quad/xsdk_workspace/modular_quad_pid/Release/makefile
@@ -11,7 +11,9 @@ RM := rm -rf
-include src/subdir.mk
-include ext/queue/subdir.mk
-include ext/quad_app/subdir.mk
+-include ext/graph_blocks/subdir.mk
-include ext/computation_graph/subdir.mk
+-include ext/commands/subdir.mk
-include subdir.mk
-include objects.mk
diff --git a/quad/xsdk_workspace/modular_quad_pid/Release/sources.mk b/quad/xsdk_workspace/modular_quad_pid/Release/sources.mk
index 2ab3ec257c3d1145b8c6781b871c0e3a9e1f6f8d..9b76509427183193e779ddad577b92f06904d6a9 100644
--- a/quad/xsdk_workspace/modular_quad_pid/Release/sources.mk
+++ b/quad/xsdk_workspace/modular_quad_pid/Release/sources.mk
@@ -19,5 +19,7 @@ SUBDIRS := \
src \
ext/queue \
ext/quad_app \
+ext/graph_blocks \
ext/computation_graph \
+ext/commands \
diff --git a/quad/xsdk_workspace/modular_quad_pid/Release/src/subdir.mk b/quad/xsdk_workspace/modular_quad_pid/Release/src/subdir.mk
index 1ea77e8c1f87203439ad7a5f60f37e2828a341cc..d73a8e4edf8f1be1d1cb7bbc2866698e8091f6d0 100644
--- a/quad/xsdk_workspace/modular_quad_pid/Release/src/subdir.mk
+++ b/quad/xsdk_workspace/modular_quad_pid/Release/src/subdir.mk
@@ -53,7 +53,7 @@ C_DEPS += \
src/%.o: ../src/%.c
@echo 'Building file: $<'
@echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -I../../system_bsp/ps7_cortexa9_0/include -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
+ arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
@echo 'Finished building: $<'
@echo ' '