From 71c2555e7dad276174df7a5573e61240929eaa7c Mon Sep 17 00:00:00 2001
From: Jake Drahos <j@kedrahos.com>
Date: Thu, 27 Oct 2016 13:24:00 -0500
Subject: [PATCH] Still kinda broken
---
groundStation/Makefile | 2 +-
groundStation/src/config.h | 1 +
groundStation/src/microcart_cli.c | 34 +++++++++++++++++++++++--------
3 files changed, 27 insertions(+), 10 deletions(-)
diff --git a/groundStation/Makefile b/groundStation/Makefile
index ec54cbcc2..d62850d9b 100644
--- a/groundStation/Makefile
+++ b/groundStation/Makefile
@@ -1,7 +1,7 @@
# Declaration of variables
GCC=gcc
GXX=g++
-CFLAGS= -Wall -Wpedantic -Wextra -Werror -std=c99 -g -Wno-unused-parameter -Wno-unused-variable -Wno-unused-function
+CFLAGS= -Wall -Wpedantic -Wextra -Werror -std=c99 -g -Wno-unused-parameter -Wno-unused-variable -Wno-unused-function -Wno-unused-but-set-variable
CXXFLAGS= -Wall -Wno-reorder -std=c++11 -g
INCLUDES = $(foreach dir, $(INCDIR), -I$(dir))
diff --git a/groundStation/src/config.h b/groundStation/src/config.h
index c5a2582eb..0e2077cca 100644
--- a/groundStation/src/config.h
+++ b/groundStation/src/config.h
@@ -4,6 +4,7 @@
#define DEFAULT_SOCKET "/var/run/ucart.socket"
#define SOCKET_ENV "UCART_SOCKET"
+#define NOQUAD_ENV "UCART_NO_QUAD"
#endif
diff --git a/groundStation/src/microcart_cli.c b/groundStation/src/microcart_cli.c
index db5d24e9e..7589cdb2f 100644
--- a/groundStation/src/microcart_cli.c
+++ b/groundStation/src/microcart_cli.c
@@ -110,10 +110,10 @@ static void cb(struct ucart_vrpn_TrackerData * td)
int main(int argc, char **argv)
{
// pthread_t quadResponse, cliInput;
- fd_set rfds;
+ fd_set rfds_master;
int activity;
int max_fd = 0;
- FD_ZERO(&rfds);
+ FD_ZERO(&rfds_master);
/*
* Create backend listening socket
@@ -147,7 +147,7 @@ int main(int argc, char **argv)
}
/* Add to socket set */
- safe_fd_set(backendSocket, &rfds, &max_fd);
+ safe_fd_set(backendSocket, &rfds_master, &max_fd);
/* Initialize client buffers */
@@ -185,11 +185,10 @@ int main(int argc, char **argv)
}
// writeStringToLog(logHeader);
-
// watch for input from stdin (fd 0) to see when it has input
- safe_fd_set(fileno(stdin), &rfds, &max_fd);
+ safe_fd_set(fileno(stdin), &rfds_master, &max_fd);
// watch for input from the zybo socket
- //safe_fd_set(zyboSocket, &rfds, &max_fd);
+ //safe_fd_set(zyboSocket, &rfds_master, &max_fd);
//printf("zyboSocket = %d, max_fd = %d\n", zyboSocket, max_fd);
@@ -203,14 +202,23 @@ int main(int argc, char **argv)
// start the prompt
fprintf(stdout, "$microcart> ");
+
+ struct timeval timeout = {
+ .tv_sec = 1,
+ .tv_usec = 0
+ };
while(keepRunning)
{
+ fd_set rfds;
+ rfds = rfds_master;
activity = select(max_fd+1, &rfds, NULL, NULL, NULL);
if(activity == -1) {
perror("select() ");
} else if (activity) {
+ fprintf(stderr, "Select activity = %d\n", activity);
for(int fd = 0; fd <= max_fd; ++fd) {
if (FD_ISSET(fd, &rfds)) {
+ fprintf(stderr, "Select woke for fd %d\n", fd);
if (fd == fileno(stdin)) {
unsigned char userCommand[CMD_MAX_LENGTH];
read(fileno(stdin), (char *)userCommand, sizeof(userCommand));
@@ -247,8 +255,10 @@ int main(int argc, char **argv)
if (new_fd < 0) {
warn("accept");
} else {
- if (new_client(fd)) {
- safe_fd_set(fd, &rfds, &max_fd);
+ fprintf(stderr, "Connection\n");
+ if (new_client(new_fd)) {
+ fprintf(stderr, "Added client\n");
+ safe_fd_set(new_fd, &rfds_master, &max_fd);
}
}
} else if (get_client_index(fd) > -1) {
@@ -264,6 +274,8 @@ int main(int argc, char **argv)
remove_client(client_fds[i]);
}
}
+ timeout.tv_sec = 1;
+ timeout.tv_usec = 0;
}
}
@@ -431,6 +443,9 @@ int safe_fd_clr(int fd, fd_set* fds, int* max_fd) {
static ssize_t writeQuad(const char * buf, size_t count) {
ssize_t retval;
+ if (getenv(NOQUAD_ENV)) {
+ return count;
+ }
if (pthread_mutex_lock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
}
@@ -542,8 +557,9 @@ static void client_recv(int fd)
buffer[newline] = '\0';
unsigned char * packet;
+ fprintf(stderr, "Client sent: %s\n", buffer);
formatCommand((unsigned char *) buffer, &packet);
- writeQuad((char *) packet, packet[6] << 8);
+ writeQuad((char *) packet, 4);
free(packet);
char * rest = &buffer[newline] + 1;
--
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