diff --git a/groundStation/README.md b/groundStation/README.md
index f9902a1c4b154c3862e52dd71a220caabf871b40..586465beddb0ec00447dfabd55c902d303da0f89 100644
--- a/groundStation/README.md
+++ b/groundStation/README.md
@@ -2,13 +2,13 @@
## Make Process
-First, if submodules were not recursevly added through git. Run this command if you have made any attempt to make vrpn manually.
+First, if submodules were not recursively added through git. Run this command if you have made any attempt to make vrpn manually.
run
```bash
git submodule update --init --recursive
```
-Now that you have all of the files necissary.
+Now that you have all of the files necessary.
cd into the groundstation folder.
```bash
@@ -17,17 +17,17 @@ cd into the groundstation folder.
make
```
-run the program with privledges
+run the program with privileges
```bash
./BackEnd
```
## Changing Defaults
-If you wish to change the way the backend communicates to the quad and vice versa, look at `src/config.h`.
+If you wish to change the way the backend communicates to the quad and vice versa, look at `src/config.h`.
This provides a list of environment variables which you can set and use for your computer or time of use.
-
+
## Using
-First, the backend daemon must be running. Run the backend with
+First, the backend daemon must be running. Run the backend with
```bash
./BackEnd
```
@@ -44,7 +44,7 @@ running the `getoutput` program will effectively run `cli getoutput`.
The names of the binaries is subject to change.
-For a list of cli commands and more in depth usage explainations, use the `--help` flag.
+For a list of cli commands and more in depth usage explanations, use the `--help` flag.
```bash
./Cli --help
```
@@ -77,8 +77,13 @@ or alternatively with symlinks
This will fetch the `block_id`, `type_id` and name of every node in the current graph
-You can run any number of any combination of frontend tools at the same time.
-If you find it helpful, with this setup you can create a bash script that simply
+You can run any number of any combination of frontend tools at the same time.
+If you find it helpful, with this setup you can create a bash script that simply
runs the same commands. This has been found to be of use when we are tuning.
-There are a couple of already written bash scripts in the `scripts/` folder.
\ No newline at end of file
+There are a couple of already written bash scripts in the `scripts/` folder.
+
+## Documentation
+
+ - [Getting Started](./documentation/getting_started.md)
+ - [Packet Information](./documentation/packets.md)
diff --git a/groundStation/documentation/getting_started.md b/groundStation/documentation/getting_started.md
new file mode 100644
index 0000000000000000000000000000000000000000..5786378444d151853d5b90c6ab0f359d3bed1317
--- /dev/null
+++ b/groundStation/documentation/getting_started.md
@@ -0,0 +1,65 @@
+Getting Started - Ground Station
+================================
+
+The Ground Station as a whole allows all the different systems and hardware to
+communicate with each other. The Ground Station has four main components including:
+
+ - Command Line Interface (CLI)
+ - Graphical User Interface (GUI)
+ - Frontend
+ - Backend
+
+Both the CLI and GUI are user interfaces. The GUI uses all the same commands as the
+CLI but has extra functionality. The GUI shows the controls graph, provides extra
+navigation help, and will soon support real time graphing of the data. The Frontend
+does all the reading from and writing to the backend via a socket connected to the
+backend. The backend is primarily a server that manages all connections and where all
+data passes through between the VRPN (Camera System), the quad, and user interfaces.
+**Figure 1** shows the main components and their interaction. Both user interfaces use
+the frontend to manage the writing and parsing of return messages from the backend.
+
+
+
+**Figure 1** Ground Station main components
+
+**Figure 2** Shows a sample connection with the VRPN system, a packet sent or recieved
+from the quad, an initialization file, and the Crazyflie adapter. The initialization file
+and Crazyflie adapter are both proposed changes to the system. The VRPN connection gets
+trackable information from the camera system with an identifier for the trackable object.
+This allows for distinguishing between multiple trackables. The packets used between the
+quad and the ground station are custom packets created specifically for reliable communication
+over wifi to the quad. The initialization file will help with connecting multiple quads, or
+other flying machines to be connected into the lab setup. The Crazyflie adapter will allow
+the Crazyflies to work with the MicroCART system.
+
+
+
+
+**Figure 2** Ground Station connections and packets
+
+Ground Station Commands
+-----------------------
+
+All commands can be used directly when using the CLI rather than the GUI. Shown below are the main commands
+as symbolic links, they can also be used by the CLI like follows `./Cli getsource`.
+
+```
+./getsource
+./setsource
+./getparam
+./setparam
+./getouput
+./getnode
+./addnode
+```
+
+Example Command and Flow through Ground Station
+-----------------------------------------------
+
+Here is an example of how a press of the "Send to quad" button in the GUI is processed and the command sent to the quad.
+
+
+
+
+**Figure 3** Ground Station call stack flowchart
+
diff --git a/groundStation/documentation/images/buttonPressCallStackFlowchart.png b/groundStation/documentation/images/buttonPressCallStackFlowchart.png
new file mode 100644
index 0000000000000000000000000000000000000000..134b935de0a88e14fe1cd10749482b7121638bb2
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diff --git a/groundStation/documentation/images/groundStationComponents.jpg b/groundStation/documentation/images/groundStationComponents.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..e692266b30918a387e2efc06a4d7a4f7a92dd0cf
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diff --git a/groundStation/documentation/images/groundStationDiagram.jpg b/groundStation/documentation/images/groundStationDiagram.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..bdd4fbe0b8e1a8ae6cca5f5cb6345c9c9b1381dd
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diff --git a/groundStation/documentation/images/src/groundStationComponents.vsdx b/groundStation/documentation/images/src/groundStationComponents.vsdx
new file mode 100644
index 0000000000000000000000000000000000000000..84df0f7f1304df9aae87dcafae5ff84a0697c107
Binary files /dev/null and b/groundStation/documentation/images/src/groundStationComponents.vsdx differ
diff --git a/groundStation/documentation/images/src/groundStationDiagram.vsdx b/groundStation/documentation/images/src/groundStationDiagram.vsdx
new file mode 100644
index 0000000000000000000000000000000000000000..c92ab539a1580a6f689c5b89543dfa06fec00594
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diff --git a/groundStation/documentation/packets.md b/groundStation/documentation/packets.md
new file mode 100644
index 0000000000000000000000000000000000000000..290d29d7ecde5975f66f979f72b83e158046e59a
--- /dev/null
+++ b/groundStation/documentation/packets.md
@@ -0,0 +1,196 @@
+# Packet Information #
+
+The MicroCART project uses custom packets to communicate with the quad. This may seem complex at first,
+but the structure of all packets is the same, only the formatting of the data differs
+between packets.
+
+## Introduction ##
+All packets are the same in the sense that they have consistent headers with a start character and all end with a checksum.
+The basic structure is shown below.
+
+| Index | 0 | 1 | 2 | 3 | 4 | 5 |
+|:-----------------:|:---------------:|:------------:|:----------:|:-----------:|:----:|:--------:|
+| Message Parameter | Begin Character | Message Type | Message ID | Data Length | Data | Checksum |
+| Bytes | 1 | 2 | 2 | 2 | var | 1 |
+
+The begin character is defined in the Message enum in [commands.h](../../quad/src/commands/commands.h). Message types
+are defined within the MessageTypeID enum in [commands.h](../../quad/src/commands/commands.h). Message ID is managed within the backend
+[backend.c](../../groundStation/src/backend/backend.c) and is just a counter that is used in client_recv to number packets. Data length
+varies with the command that is being sent, but the length of a command is constant. The data is sent in a specific format set by commands.
+Lastly, checksum is computed within [packet.c](../../groundStation/src/backend/packet.c).
+
+All packets sent within the system are commands, defined by the MessageTypeID enum referenced earlier, or a VPRN packet. Much of the time when
+flying autonomously the commands that the user is responsible for are the getparam and setparam packets that are used to set waypoints or change
+values within the computation graph, see [control_algorithm.c](../../quad/src/quad_app/control_algorithm.c) for the PID blocks.
+
+## Adding a new packet and/or command (CLI or GUI to Backend/Quad) ##
+
+There are many files that need to be created and changed to add a packet and/or a command. If only adding a command that does not send a packet only
+the CLI and GUI, frontend, and backend must be changed. If also sending a packet then commands and quad_app must also be changed. The instructions below
+will take you through what must be changed in all the different areas to support new functionality. Many times a good method to creating the new files is
+to copy the files from another command and change what you need.
+
+### CLI and GUI ###
+
+**CLI**
+
+Adding to the CLI is an easy process as most of the code is used to display help messages to the user. First, create a c file and c header file for your new commands. The [cli.c](../../groundStation/src/cli/cli.c) does not need to be edited
+at all, but the header [cli.h](../../groundStation/src/cli/cli.h) needs to be changed to recognize the command that you enter. Include your new header file and add to
+CommandNameIds, cli_functions, and commandsNames. The header file you create only needs the functions your intend to create. Inside the c write the functions declared in the
+h file and make sure that you have all the checks for help and display the correct usage if need be. Then call the frontend function you create in the next step and print
+out the return if there is one.
+
+**GUI**
+
+The GUI is programmed using QT as such it is written in C++ and uses a thread to do communication with the backend. The main files of the GUI to edit are
+[controlworker.h](../../groundStation/gui/MicroCART/controlworker.h) and [mainwindow.h](../../groundStation/gui/MicroCART/mainwindow.h) and the corresponding
+source files. To add connectivity to the backend add a slot and signal to the controlworker.h file and add a corresponding signal and slot on the mainwindow.h. Next,
+connect the slots and signals in the [mainwindow.cpp](../../groundStation/gui/MicroCART/mainwindow.cpp) file and add any additional UI to the mainwindow.ui form.
+
+
+### Frontend ###
+
+The frontend handles the writing of the command to the backend. You must create a new c file and c header file with the new functions that will be called from
+the clients.
+
+The frontend functions always take in a connection to the backend from the client and can be configured to take in the other parameters you desire.
+Functions in [frontend_common.h](../../groundStation/src/frontend/frontend_common.h) handle physically writing to the backend connection, meaning that your functions
+must only structure your commands to be parsed in the backend later. If this command expects a response then your method must execute a blocking condition until the
+response is obtained, parsed, and whatever action you plan for it taken. Also if you will be defining structs for the data passed into your method, add the structs to
+either your header file or [frontend_common.h](../../groundStation/src/frontend/frontend_common.h).
+
+### Backend ###
+
+The file that contains the main function in the backend is [backend.c](../../groundStation/src/backend/backend.c) and the message that is written by the frontend
+is passed here. If a client connection sent the message that is being called, the function client_recv() will be called to handle the request. This function decides how
+to process the data based upon the first word. If it is a command that is meant for the quadcopter a different path will be taken than if it is data being sent from
+the VRPN system. If you intend to send a packet this is where the first difference comes in, a command for the quadcopter should be declared in commands in the
+quad directory (discussed later) so that it is recognized by the findCommand() function. If your function is not intended to send a packet, your changes should be made
+in the condition that has msg_type = -1, otherwise take a look at the else condition.
+
+**The rest of the description is only needed when sending a packet**. You must create a file for encoding your new command. This will require a c file and c header
+file. The function that should be made is an Encode<Name> for your new command. If also expecting a response from the quadcopter a Decode<Name> function will also
+have to be made. The main point of the encode function is to take the written command and parse it so that the values can be added to the data of the packet, decode
+reads the response data and populates a string for the frontend to parse.
+
+If getting a response the backend will call the quad_recv() function in [backend.c](../../groundStation/src/backend/backend.c) which must be configured for your new msg_type.
+The backend uses the handle_response() function to call the correct decode function and the return of the decode function will be written back to the frontend.
+
+**Note: If not sending a packet you should not make the changes that the below areas suggest, as stated in the intro.**
+
+### Commands ###
+
+From this point onword you will be working in the quad/src directory instead of the backend/src directory. The commands files are meant to define commands that the quadcopter
+and backend will be communicating with. Inside [commands.h](../../quad/src/commands/commands.h) add a MessageTypeID for your new command that will be used to distinguish
+the message sent from all the others. Inside [commands.c](../../quad/src/commands/commands.c) is where a callback must be defined for the new message type and you must also
+add to the MessageTypes array so that the command, data type, and callback are all connected.
+
+### Quad_app ###
+
+The only thing that needs to be done here is to add the callback you defined in [commands.c](../../quad/src/commands/commands.c) to [callbacks.c](../../quad/src/quad_app/callbacks.c).
+This callback should parse the data sent and also send a response if that is required. Here is also where you should define the data portion of the packet sent in a table so that
+it can be understood by the next MicroCART team. Also remember to add the created tables to this markdown file to provide an easier means of seeing all the packets currently defined
+in the system.
+
+## Data Format ##
+
+For all commands other than the message bundle packet there is a defined length and format for sending and receiving packets. Many of the formats
+will be discussed below. These packet formats are referenced from [callbacks.c](../../quad/src/quad_app/callbacks.c).
+
+**Note:** this document may get out of date. [callbacks.c](../../quad/src/quad_app/callbacks.c) should have all the up to date packet formats.
+
+### setparam ###
+
+**Sent from Ground Station**
+
+| data index | 0 - 1 | 2 - 3 | 4 - 7 |
+|:----------:|:-----------:|:-----------:|:-----------:|
+| parameter | node ID | node parmID | param val |
+| bytes | 2 | 2 | 4 |
+
+Does not send any response.
+
+### getparam and getoutput ###
+
+**Sent from Ground Station**
+
+| data index | 0 - 1 | 2 - 3 |
+|:-----------:|:-------------:|:-----------:|
+| parameter | node ID | node parmID |
+| bytes | 2 | 2 |
+
+**Response to Ground Station**
+
+The response will be of type RESPPARAM_ID.
+
+| data index | 0 - 1 | 2 - 3 | 4 - 7 |
+|:-----------:|:------------:|:-----------:|:-----------:|
+| parameter | node ID | node parmID | param val |
+| bytes | 2 | 2 | 4 |
+
+### setsource ###
+
+**Sent from Ground Station**
+
+| 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 any response.
+
+### getsource ###
+
+**Sent from Ground Station**
+
+| data index | 0 - 1 | 2 - 3 |
+|:-----------:|:-------------:|:-----------:|
+| parameter | node ID | node parmID |
+| bytes | 2 | 2 |
+
+**Response to Ground Station**
+
+The response will be of type RESPSOURCE_ID.
+
+| 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 |
+
+### getnodes ###
+
+**Response to Ground Station**
+
+| data index | 0 - 2*N-1 | 2*N - 4*N-1 | 4*N - (< 4096) |
+|:-----------:|:------------:|:--------------:|:---------------:|
+| parameter | Node IDs | Node type Is | Node names |
+| bytes | 2*N | 2*N | < 4096 |
+
+### addnode ###
+
+**Sent from Ground Station**
+
+| data index | 0 - 1 | 2 + |
+|:-----------:|:------------:|:-------------:|
+| parameter | type ID | New node name |
+| bytes | 2 | var |
+
+**Response to Ground Station**
+
+| data index | 0 - 1 |
+|:-----------:|:------------:|
+| parameter | node ID |
+| bytes | 2 |
+
+### msgbundle ###
+
+**Sent from Ground Station**
+
+| data index | 0+ | var |
+|:----------:|:--------:|:------------------:|
+| parameter | packet 1 | end or next packet |
+| bytes | var | var |
+
+**Response to Ground Station**
+
+Currently msgbundle packets cannot capture packets that give a response back to the backend.
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index 2f49b313c2b47290b3da2f2a9a46d3441f1ba8d5..a32de916f06618d31ead92445686d05bfd0f01ea 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -1,6 +1,8 @@
/* Author: Kris Burney & Jake Drahos
*
- * BlueTooth socket program for passing vrpn data to quad.
+ * Interface between Quad, front end, Virtual and VRPN tracker.
+ * Main uses a standard socket select loop to receive data from any source described above.
+ * Based on the data received from sockets it calls receive functions based on the socket received from.
*/
#define _GNU_SOURCE
@@ -67,7 +69,7 @@ static int new_client(int fd);
static ssize_t get_client_index(int fd);
/* Returns pointer to client buffer, or -1 */
static char * get_client_buffer(int fd);
-/* Return pointer to client pending responses, or -1*/
+/* Return pointer to client pending responses, or -1*/
static int * get_client_pend_responses(int fd);
/* Return positive integer if successful, -1 otherwise */
static int clientAddPendResponses(int fd, uint16_t packet_id);
@@ -131,7 +133,7 @@ static void sig_handler(int s) {
}
// Callback to be ran whenever the tracker receives data.
-// Currently doing much more than it should. It will be slimmed down
+// Currently doing much more than it should. It will be slimmed down
// in the future.
static void cb(struct ucart_vrpn_TrackerData * td) {
static int count = 0;
@@ -143,7 +145,7 @@ int main(int argc, char **argv)
{
int activity;
FD_ZERO(&rfds_master);
- /*
+ /*
* Create backend listening socket
*/
/* Determine socket path */
@@ -212,7 +214,7 @@ int main(int argc, char **argv)
if (pthread_mutex_unlock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
}
-
+
// watch for input from stdin (fd 0) to see when it has input
safe_fd_set(fileno(stdin), &rfds_master, &max_fd);
@@ -231,7 +233,7 @@ int main(int argc, char **argv)
// 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);
+ ucart_vrpn_tracker_addCallback(tracker, cb);
} else {
printf("Ignoring VRPN information...\n");
}
@@ -358,7 +360,7 @@ int connectToZybo() {
local_comm_channel = 1;
char * fifo_rx = QUAD_LOCAL_DEFAULT_TX;
char * fifo_tx = QUAD_LOCAL_DEFAULT_RX;
-
+
if (getenv(QUAD_LOCAL_RX)) {
fifo_tx = getenv(QUAD_LOCAL_RX);
}
@@ -385,14 +387,14 @@ int connectToZybo() {
printf("Using BT Settings\n");
struct sockaddr_rc addr;
- // allocate a socket
+ // allocate a socket
sock = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
- //set the connection params ie. who to connect to
+ //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));
@@ -420,7 +422,7 @@ int connectToZybo() {
if (getenv(QUAD_PORT_ENV)) {
/* Quick 'n dirty, oh yeah! */
- addr.sin_port = htons(atoi(getenv(QUAD_PORT_ENV)));
+ addr.sin_port = htons(atoi(getenv(QUAD_PORT_ENV)));
} else {
addr.sin_port = htons(QUAD_PORT_DEFAULT);
}
@@ -489,9 +491,9 @@ static ssize_t writeQuad(const uint8_t * buf, size_t count) {
if (local_comm_channel) {
retval = write(zybo_fifo_tx, buf, count);
- } else {
+ } else {
retval = write(zyboSocket, buf, count);
- }
+ }
if (pthread_mutex_unlock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
@@ -512,9 +514,9 @@ static ssize_t readQuad(char * buf, size_t count) {
if (local_comm_channel) {
retval = read(zybo_fifo_rx, buf, count);
} else {
- retval = read(zyboSocket, buf, count);
+ retval = read(zyboSocket, buf, count);
}
-
+
if (pthread_mutex_unlock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
}
@@ -661,7 +663,7 @@ static void client_recv(int fd) {
// printf("tmpbuff = '%s'\n", tmp);
first_word = strtok(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)
@@ -682,7 +684,7 @@ static void client_recv(int fd) {
write(fd, dummy, strlen(dummy));
} else if (ucart_vrpn_tracker_getData(tracker, &td)) {
write(fd, TD_MAGIC " ERROR\n", strlen(TD_MAGIC " ERROR\n"));
- } else {
+ } else {
/* more than sufficient buffer */
char buffer[2048];
/* Map VRPN XYZ to Height Lat Long (right now it's
@@ -708,7 +710,7 @@ static void client_recv(int fd) {
uint8_t packet[64];
struct metadata m;
uint8_t *data = malloc(sizeof(*data) * 128);
- ssize_t result;
+ ssize_t result;
ssize_t psize;
printf(" found a msg_type of %ld\n", msg_type);
@@ -755,7 +757,7 @@ static void client_recv(int fd) {
}
/* 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 ||
+ 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");
@@ -767,7 +769,7 @@ static void client_recv(int fd) {
// printf(" %.2x ", packet[i]);
// }
// printf("'\n");
-
+
int retval = writeQuad(packet, psize);
// printf("sent %d bytes\n", retval);
@@ -792,7 +794,7 @@ static void quad_recv() {
ssize_t datalen;
size_t packetlen;
- respLen = readQuad((char *) respBuf + respBufLen,
+ respLen = readQuad((char *) respBuf + respBufLen,
CMD_MAX_LENGTH - respBufLen);
if (respLen <= 0) {
perror("ERROR reading from quad...\n");
@@ -838,7 +840,7 @@ static void quad_recv() {
if (datalen < 0){
/* Not enough data yet. We need to wait for more */
// printf("not enough\n");
- return;
+ return;
}
packetlen = PacketSize(&m);
@@ -847,7 +849,7 @@ static void quad_recv() {
char * debug_string;
switch (m.msg_type) {
- case DEBUG_ID:
+ case DEBUG_ID:
/* in case of debug. Quad send null terminated string in data */
debug_string = strndup((char *)data, m.data_len);
printf(" (Quad) : %s\n", debug_string);
@@ -880,7 +882,7 @@ static void quad_recv() {
case LOG_END_ID:
if (quadlog_file_open) {
fclose(quadlog_file);
- quadlog_file_open = 0;
+ quadlog_file_open = 0;
}
printf("\n(Quad) : Log End found\n");
receiving_logs = 0;
@@ -996,10 +998,10 @@ char * create_log_name(char * buffer, size_t max) {
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++);
+ 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/param.c b/groundStation/src/backend/param.c
index 5fdba8fd5126414be4b8aee2239b3b14f0ce2205..b5e027b0c0142d7ceddcb44cc9f4042172e008a1 100644
--- a/groundStation/src/backend/param.c
+++ b/groundStation/src/backend/param.c
@@ -61,7 +61,7 @@ ssize_t EncodeSetParam(
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 */
+ const char * msg) /* Message to encode */
{
m->msg_type = SETPARAM_ID;
m->data_len = SP_DATA_SIZE;
@@ -120,9 +120,9 @@ int DecodeResponseParam(
return -1;
}
- 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]),
+ 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],
data[RESP_VAL_3], data[RESP_VAL_4]));
}
diff --git a/groundStation/src/backend/source.c b/groundStation/src/backend/source.c
index dd2540e371ee6d8b0d5aa91535e6af13f76145bf..6f3e7fbc4ca389c918bc570dc10393ed7287ca4d 100644
--- a/groundStation/src/backend/source.c
+++ b/groundStation/src/backend/source.c
@@ -68,7 +68,7 @@ ssize_t EncodeSetSource(
if (data_size < SS_DATA_SIZE) {
return -1;
}
-
+
int16_t dst_block, dst_input;
int16_t src_block, src_output;
@@ -116,7 +116,7 @@ int DecodeResponseSource(
return -1;
}
- return snprintf(msg, max_len, "getsource %" PRId16 " %" PRId16 " %" PRId16" %" PRId16 "\n",
+ 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]),
diff --git a/groundStation/src/frontend/frontend_common.h b/groundStation/src/frontend/frontend_common.h
index 2fef5c52ae8978e70b153f0579b063d62d979fe4..827802875d089908631568fa4d1b713e39569c44 100644
--- a/groundStation/src/frontend/frontend_common.h
+++ b/groundStation/src/frontend/frontend_common.h
@@ -1,3 +1,11 @@
+/**
+ * Frontend contains the functions used by both the GUI and CLI to communicate
+ * with the quad and VRPN system.
+ *
+ * frontend_common.c has the varius structs used within the frontend to pass
+ * data between the system. It also contains the methods to connect, disconnect,
+ * and write from/to the quad.
+ */
#ifndef _FRONTEND_COMMON_H
#define _FRONTEND_COMMON_H
#include <stdlib.h>
diff --git a/groundStation/src/frontend/frontend_nodes.h b/groundStation/src/frontend/frontend_nodes.h
index fa7d57f14c6123ad04f6b07ab114a3deee2006aa..74bedc547bb154cf1ee887411e0e16ea742272d0 100644
--- a/groundStation/src/frontend/frontend_nodes.h
+++ b/groundStation/src/frontend/frontend_nodes.h
@@ -1,3 +1,7 @@
+/**
+ * frontend_nodes writes the getnodes or setnodes command to the backend connection.
+ */
+
#ifndef _FRONTEND_NODES_H
#define _FRONTEND_NODES_H
diff --git a/groundStation/src/frontend/frontend_output.h b/groundStation/src/frontend/frontend_output.h
index f0e2fbaea121bf7a5c726501c187640d9d1d2434..8552abe63305752a0d5532406199bec8debaf96c 100644
--- a/groundStation/src/frontend/frontend_output.h
+++ b/groundStation/src/frontend/frontend_output.h
@@ -1,3 +1,7 @@
+/**
+ * frontend_output writes the getoutput command to the backend connection.
+ */
+
#ifndef _FRONTEND_OUTPUT_H
#define _FRONTEND_OUTPUT_H
diff --git a/groundStation/src/frontend/frontend_param.h b/groundStation/src/frontend/frontend_param.h
index 392fbd83bf6d02424d0f6d54bb0187c579105eab..adf6ff06186c8cd7505ebb082d3566ffeb8ec2ea 100644
--- a/groundStation/src/frontend/frontend_param.h
+++ b/groundStation/src/frontend/frontend_param.h
@@ -1,3 +1,7 @@
+/**
+ * frontend_param writes the getparam or setparam command to the backend connection.
+ */
+
#ifndef _FRONTEND_PARAM_H
#define _FRONTEND_PARAM_H
diff --git a/groundStation/src/frontend/frontend_source.h b/groundStation/src/frontend/frontend_source.h
index 9488869efdef60d46e7ab06b33e52d42ef1928c8..3de04fea68447bf3de515ac5d817c08f7a7fe4dd 100644
--- a/groundStation/src/frontend/frontend_source.h
+++ b/groundStation/src/frontend/frontend_source.h
@@ -1,3 +1,8 @@
+/**
+ * frontend_source writes the getsource and setsource command to the backend
+ * connection.
+ */
+
#ifndef _FRONTEND_SOURCE_H
#define _FRONTEND_SOURCE_H
diff --git a/groundStation/src/frontend/frontend_tracker.h b/groundStation/src/frontend/frontend_tracker.h
index cbf56dbb33beae39e43e2ef5e31c623a938b9001..6a80a822f6b01151a22364b417367d6bcbf33bda 100644
--- a/groundStation/src/frontend/frontend_tracker.h
+++ b/groundStation/src/frontend/frontend_tracker.h
@@ -1,3 +1,8 @@
+/**
+ * frontend_tracker contains the struct for VRPN data and provides the method to
+ * get the data from the frontend by writing TRACKERDATA to the backend.
+ */
+
#ifndef __FRONTEND_TRACKER_H
#define __FRONTEND_TRACKER_H
diff --git a/quad/src/quad_app/callbacks.c b/quad/src/quad_app/callbacks.c
index 8c06e3bdd5283a234578398a2246a1a322291ba5..d4c839bef19746020afe887433a3e0616adea8d7 100644
--- a/quad/src/quad_app/callbacks.c
+++ b/quad/src/quad_app/callbacks.c
@@ -389,7 +389,7 @@ int cb_getnodes(struct modular_structs *structs, struct metadata *meta, unsigned
* | data index || 0 - 1 |
* |-----------------------------|
* | parameter || node ID |
- * |------------------------------
+ * |-----------------------------|
* | bytes || 2 |
* |-----------------------------|
*/