diff --git a/groundStation/src/backend/bitwise.h b/groundStation/src/backend/bitwise.h
new file mode 100644
index 0000000000000000000000000000000000000000..9d630707e95f7b6e15fba74d188c18119b7bc489
--- /dev/null
+++ b/groundStation/src/backend/bitwise.h
@@ -0,0 +1,29 @@
+#ifndef _bitwise_h
+#define _bitwise_h
+
+/* Bit shifting for endianness of 16-bit numbers */
+#define LSByte16(x) (x & 0xff)
+#define MSByte16(x) ((x >> 8) & 0xff)
+
+/* Build a 16-bit integer out of two bytes */
+#define BytesTo16(lsb, msb) ((lsb & 0xff) | ((msb << 8) & 0xff))
+
+/* Break apart a float. Sadly this is UB, but the "correct" way
+ * to do this involves actually implementing
+ * IEEE 754 in software to do so
+ */
+#define FloatByte1(x) (((char *) x)[0])
+#define FloatByte2(x) (((char *) x)[1])
+#define FloatByte3(x) (((char *) x)[2])
+#define FloatByte4(x) (((char *) x)[3])
+
+/* This is so much UB it hurts to write */
+#define BytesToFloat(f, b1, b2, b3, b4) \
+ do { \
+ ((char *) f)[0] = b1; \
+ ((char *) f)[1] = b2; \
+ ((char *) f)[2] = b3; \
+ ((char *) f)[3] = b4; \
+ } while (0);
+
+#endif
diff --git a/groundStation/src/backend/callbacks.h b/groundStation/src/backend/callbacks.h
index fff664df6829966d36e0d950d0743b45edcd7514..69510e0a8165c7cc99f99a8e4aeb7e6eab3ffb0c 100644
--- a/groundStation/src/backend/callbacks.h
+++ b/groundStation/src/backend/callbacks.h
@@ -5,8 +5,7 @@
#include "type_def.h"
/* Make commands.c happy */
-typedef void (command_cb)(unsigned char *command,
- int dataLen, modular_structs_t *structs);
+typedef void (command_cb)(void);
float getFloat(unsigned char * str, int pos);
diff --git a/groundStation/src/backend/common/bitwise.h b/groundStation/src/backend/common/bitwise.h
deleted file mode 100644
index 54f1de43d824342485cd94c92561341e3db23252..0000000000000000000000000000000000000000
--- a/groundStation/src/backend/common/bitwise.h
+++ /dev/null
@@ -1,11 +0,0 @@
-#ifndef _bitwise_h
-#define _bitwise_h
-
-/* Bit shifting for endianness of 16-bit numbers */
-#define LSByte16(x) (x & 0xff)
-#define MSByte16(x) ((x >> 8) & 0xff)
-
-/* Build a 16-bit integer out of two bytes */
-#define BytesTo16(lsb, msb) ((lsb & 0xff) | ((msb << 8) & 0xff))
-
-#endif
diff --git a/groundStation/src/backend/common/examples.c b/groundStation/src/backend/common_examples.txt
similarity index 100%
rename from groundStation/src/backend/common/examples.c
rename to groundStation/src/backend/common_examples.txt
diff --git a/groundStation/src/backend/communication.c b/groundStation/src/backend/communication.c
index af5d92a2db9a0332497edffa16bd448d0ccfeca7..924f7d82934de3d54c920526d2f31d62f1491aa6 100644
--- a/groundStation/src/backend/communication.c
+++ b/groundStation/src/backend/communication.c
@@ -188,8 +188,7 @@ int processCommand(unsigned char *packet, modular_structs_t *structs) {
}
if(metadata.data_len >= 0) {
- (* (MessageTypes[(unsigned char)metadata.msg_type].functionPtr))(
- data, metadata.data_len, structs);
+ (* (MessageTypes[(unsigned char)metadata.msg_type].functionPtr))();
return 0;
}
diff --git a/groundStation/src/backend/common/controller.h b/groundStation/src/backend/controller.h
similarity index 100%
rename from groundStation/src/backend/common/controller.h
rename to groundStation/src/backend/controller.h
diff --git a/groundStation/src/backend/common/packet.c b/groundStation/src/backend/packet.c
similarity index 100%
rename from groundStation/src/backend/common/packet.c
rename to groundStation/src/backend/packet.c
diff --git a/groundStation/src/backend/common/packet.h b/groundStation/src/backend/packet.h
similarity index 100%
rename from groundStation/src/backend/common/packet.h
rename to groundStation/src/backend/packet.h
diff --git a/groundStation/src/backend/setcontrol.c b/groundStation/src/backend/setcontrol.c
new file mode 100644
index 0000000000000000000000000000000000000000..0cbe22d570bb3580c4d6ab78fff564bf15f16d04
--- /dev/null
+++ b/groundStation/src/backend/setcontrol.c
@@ -0,0 +1,66 @@
+#include "setcontrol.h"
+#include "../commands.h"
+
+#include <sys/types.h>
+
+enum SetcontrolData {
+ CTRL_ID,
+ CTRLVAL_ID,
+ VAL_1,
+ VAL_2,
+ VAL_3,
+ VAL_4,
+ SC_DATA_SIZE
+};
+
+/* Creates data and metadata for a setcontrol packet
+ * Returns data size.
+ */
+ssize_t EncodeSetcontrol(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const struct controller_message * cm) /* Message to encode */
+{
+ m->msg_type = SETCONTROL_ID;
+ m->data_len = SC_DATA_SIZE;
+
+ if (data_size < SC_DATA_SIZE) {
+ return -1;
+ }
+
+ data[CTRL_ID] = cm->id;
+ data[CTRLVAL_ID] = cm->value_id;
+ data[VAL_1] = FloatByte1(cm->value);
+ data[VAL_2] = FloatByte2(cm->value);
+ data[VAL_3] = FloatByte3(cm->value);
+ data[VAL_4] = FloatByte4(cm->value);
+
+ return SC_DATA_SIZE;
+}
+
+/* Decode a metadata and data to populate a controller.
+ * Returns 0 on success, -1 on failure.
+ */
+int DecodeSetcontrol(
+ struct controller_message * cm, /* Decoded controller message */
+ const struct metadata * m, /* Metadata to aid in decoding */
+ const uint8_t * data) /* Data to decode */
+{
+ if (m->data_len < SC_DATA_SIZE) {
+ return -1;
+ }
+ if (m->msg_type != SETCONTROL_ID) {
+ return -1;
+ }
+
+ /* Would violate strict aliasing to work directly on the struct member */
+ float val;
+ BytesToFloat(val, data[VAL_1], data[VAL_2], data[VAL_3], data[VAL_4]);
+
+ cm->id = data[CTRL_ID];
+ cm->value_id = data[CTRLVAL_ID];
+ cm->value = val;
+
+ return 0;
+}
diff --git a/groundStation/src/backend/common/setcontrol.h b/groundStation/src/backend/setcontrol.h
similarity index 100%
rename from groundStation/src/backend/common/setcontrol.h
rename to groundStation/src/backend/setcontrol.h