diff --git a/quad/src/commands/cb_default.h b/quad/src/commands/cb_default.h
index 5581c442c29af074806052203d4e18e76d263d5c..c1b95ebed399b76f53f91a128b623c85d94cf332 100644
--- a/quad/src/commands/cb_default.h
+++ b/quad/src/commands/cb_default.h
@@ -1,10 +1,9 @@
#include "commands.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(struct modular_structs *structs)
+int cb_default(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length)
{
return 0;
}
diff --git a/quad/src/quad_app/callbacks.c b/quad/src/quad_app/callbacks.c
index 75e91e6bff28f9a8c74ef0fd22409c6e2c9692c2..2eef7ca789aaca099aa4d195e4c4b707817abbdf 100644
--- a/quad/src/quad_app/callbacks.c
+++ b/quad/src/quad_app/callbacks.c
@@ -16,7 +16,7 @@ static size_t total_payload_received = 0;
/**
* Currently does nothing.
*/
-int cb_debug(modular_structs_t *structs, struct metadata *meta, u8 *data, u16 length)
+int cb_debug(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length)
{
char buf[255];
@@ -33,7 +33,7 @@ int cb_debug(modular_structs_t *structs, struct metadata *meta, u8 *data, u16 le
/**
* counts the number of packet logs.
*/
-int cb_packetlog(modular_structs_t* structs, struct metadata *meta, u8 *data, u16 length) {
+int cb_packetlog(struct modular_structs* structs, struct metadata *meta, u8 *data, u16 length) {
n_msg_received += 1;
total_payload_received += length;
return 0;
@@ -43,7 +43,7 @@ int cb_packetlog(modular_structs_t* structs, struct metadata *meta, u8 *data, u1
* Handles a get packet logs request and sends a response
* with the packet log data.
*/
-int cb_getpacketlogs(modular_structs_t* structs, struct metadata *meta, u8 *data, u16 length) {
+int cb_getpacketlogs(struct modular_structs* structs, struct metadata *meta, u8 *data, u16 length) {
char buf[255];
// Message logging number of messages received and size of payload received
@@ -56,7 +56,7 @@ int cb_getpacketlogs(modular_structs_t* structs, struct metadata *meta, u8 *data
/*
* Handles receiving new location updates.
*/
-int cb_update(modular_structs_t *structs, struct metadata *meta, u8 *data, u16 length)
+int cb_update(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length)
{
//processUpdate(packet, &(structs->raw_sensor_struct.currentQuadPosition));
@@ -94,7 +94,7 @@ int cb_update(modular_structs_t *structs, struct metadata *meta, u8 *data, u16 l
/**
* This is called on the ground station to begin sending VRPN to the quad.
*/
-int cb_beginupdate(modular_structs_t *structs, struct metadata *meta, u8 *data, u16 length) {
+int cb_beginupdate(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length) {
structs->user_input_struct.receivedBeginUpdate = 1;
return 0;
}
@@ -137,7 +137,7 @@ struct node_ids get_node_ids(u8 *data) {
*
* Does not send anything in response.
*/
-int cb_setparam(modular_structs_t *structs, struct metadata *meta, u8 *data, u16 length)
+int cb_setparam(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length)
{
// Check if the data length is correct
if (length != 8) {return -1;}
@@ -176,7 +176,7 @@ int cb_setparam(modular_structs_t *structs, struct metadata *meta, u8 *data, u16
* | bytes || 2 | 2 | 4 |
* |--------------------------------------------------------|
*/
-int cb_getparam(modular_structs_t* structs, struct metadata *meta, u8 *data, u16 length)
+int cb_getparam(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length)
{
// Check if the data length is correct
if (length != 4) {return -1;}
@@ -217,7 +217,7 @@ int cb_getparam(modular_structs_t* structs, struct metadata *meta, u8 *data, u1
*
* Does not send anything in response.
*/
-int cb_setsource(modular_structs_t* structs, struct metadata *meta, u8 *data, u16 length) {
+int cb_setsource(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length) {
if (length != 8) {return -1;}
int16_t dest_node = build_short(data);
int16_t dest_input = build_short(data + 2);
@@ -254,7 +254,7 @@ int cb_setsource(modular_structs_t* structs, struct metadata *meta, u8 *data, u
* | bytes || 2 | 2 | 2 | 2 |
* |---------------------------------------------------------------------------|
*/
-int cb_getsource(modular_structs_t* structs, struct metadata *meta, u8 *data, u16 length) {
+int cb_getsource(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length) {
if (length != 4) {return -1;}
u16 msg_id = meta->msg_id;
// Get requested IDs
@@ -276,7 +276,7 @@ int cb_getsource(modular_structs_t* structs, struct metadata *meta, u8 *data, u
* 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, struct metadata *meta, u8 *data, u16 length)
+int cb_getoutput(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length)
{
// Check if the data length is correct
if (length != 4) {return -1;}
@@ -315,7 +315,7 @@ int cb_getoutput(modular_structs_t* structs, struct metadata *meta, u8 *data, u
* | bytes || 2*N | 2*N | < 4096 |
* |---------------------------------------------------------------|
*/
-int cb_getnodes(modular_structs_t* structs, struct metadata *meta, u8 *data, u16 length) {
+int cb_getnodes(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short 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.";
@@ -381,7 +381,8 @@ int cb_getnodes(modular_structs_t* structs, struct metadata *meta, u8 *data, u1
* | bytes || 2 |
* |-----------------------------|
*/
-int cb_addnode(modular_structs_t* structs, struct metadata *meta, u8 *data, u16 length) {
+int cb_addnode(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length) {
+ const struct computation_graph* graph = structs->parameter_struct.graph;
if (length < 2) {return -1;}
// Size of name
size_t name_len = length - 2;