diff --git a/groundStation/Makefile b/groundStation/Makefile
index d5ecdc66bc451561e6e149c2479a4aadb00e437a..c3970786e8e22cf7f21643be048600d022e2ee61 100644
--- a/groundStation/Makefile
+++ b/groundStation/Makefile
@@ -7,7 +7,7 @@ CFLAGS= -Wall -pedantic -Wextra -Werror -std=gnu99 -g -Wno-unused-parameter -Wno
CXXFLAGS= -Wall -pedantic -Wextra -Werror -Wno-reorder -Wno-unused-variable -std=c++0x -g
INCLUDES = $(foreach dir, $(INCDIR), -I$(dir))
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 -lm -lcomputation_graph
+LIBS= -lpthread -lbluetooth -lvrpn -lquat -Lsrc/vrpn/build -Lsrc/vrpn/build/quat -L../quad/lib -lquad_app -lcommands -lgraph_blocks -lcomputation_graph -lm
OBJDIR=obj
# Backend Specific Variables
diff --git a/groundStation/scripts/bypass_kill_switch.sh b/groundStation/scripts/bypass_kill_switch.sh
index b1061e271a8bef3effbc2a9e9f7f6acba81d4ab7..183df7b8e30d642e0bf92b8a0fbc7b1ef1949e7f 100755
--- a/groundStation/scripts/bypass_kill_switch.sh
+++ b/groundStation/scripts/bypass_kill_switch.sh
@@ -1,4 +1,9 @@
#! /bin/bash
+
+if [ -z "$1" ]; then
+ echo "No argument supplied"
+ exit 0
+fi
cd ..
while true ; do
./setparam 37 0 $1
diff --git a/groundStation/scripts/eric.sh b/groundStation/scripts/eric.sh
index b84457723c09faed7f8854d47e156010357e7725..0fe0e845ee8d65a003c17b8e6b2aae40d1c1cd61 100755
--- a/groundStation/scripts/eric.sh
+++ b/groundStation/scripts/eric.sh
@@ -18,11 +18,11 @@
#outer loop
./setparam 'X pos PID' 'kp' -0.015
-./setparam 'X pos PID' 'ki' -0.0005
+./setparam 'X pos PID' 'ki' -0
./setparam 'X pos PID' 'kd' -0.25
./setparam 'X pos PID' 'alpha' 0.88
./setparam 'Y pos PID' 'kp' 0.015
-./setparam 'Y pos PID' 'ki' 0.0005
+./setparam 'Y pos PID' 'ki' 0
./setparam 'Y pos PID' 'kd' 0.25
./setparam 'Y pos PID' 'alpha' 0.88
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index 9ebf7752ba869da017f552a28efa43b5dd213a9b..d6b49449d6ca33b2a3727e06d0fdbccc2cfe5696 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -27,6 +27,8 @@
#include <sys/ioctl.h>
#include <sys/types.h>
#include <netinet/tcp.h>
+#include <fcntl.h>
+#include <sys/stat.h>
//user created includes
#include "commands.h"
@@ -88,6 +90,9 @@ char * create_log_name(char * buffer, size_t max);
pthread_mutex_t quadSocketMutex;
static ssize_t writeQuad(const uint8_t * buf, size_t count);
static ssize_t readQuad(char * buf, size_t count);
+static int local_comm_channel;
+static int zybo_fifo_rx;
+static int zybo_fifo_tx;
/* Functions for recording Latencies */
void findTimeDiff(int respID);
@@ -120,6 +125,10 @@ pthread_mutex_t quadResponseMutex, cliInputMutex ;
unsigned char *commandBuf;
int newQuadResponse = 0, newCliInput = 0;
+static void sig_handler(int s) {
+ printf("Caught SIGPIPE from quad fifo..\n");
+}
+
// Callback to be ran whenever the tracker receives data.
// Currently doing much more than it should. It will be slimmed down
// in the future.
@@ -191,7 +200,13 @@ int main(int argc, char **argv)
exit(1);
}
- printf("zyboSocket = %d\n", zyboSocket);
+ if (!local_comm_channel) {
+ printf("zyboSocket = %d\n", zyboSocket);
+ } else {
+ /* if we are using fifo's we don't want the quad to be able to shut us down. */
+ signal(SIGPIPE, sig_handler);
+ printf("zybo_fifo_rx = %d\nzybo_fifo_tx = %d\n", zybo_fifo_rx, zybo_fifo_tx);
+ }
if (pthread_mutex_unlock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
@@ -268,9 +283,18 @@ int main(int argc, char **argv)
}
}
+
ucart_vrpn_tracker_freeInstance(tracker);
- safe_close_fd(zyboSocket, &quadSocketMutex);
+
+ if (!local_comm_channel) {
+ safe_close_fd(zyboSocket, &quadSocketMutex);
+ } else {
+ safe_close_fd(zybo_fifo_rx, &quadSocketMutex);
+ safe_close_fd(zybo_fifo_tx, &quadSocketMutex);
+ }
+
fclose(quadlog_file);
+
return 0;
}
@@ -329,22 +353,33 @@ int connectToZybo() {
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");
+ printf("Using Local Fifo Settings\n");
+ local_comm_channel = 1;
+ char * fifo_rx = QUAD_LOCAL_DEFAULT_TX;
+ char * fifo_tx = QUAD_LOCAL_DEFAULT_RX;
- struct sockaddr_un remote;
- char str[100];
-
- if ((sock = socket(AF_UNIX, SOCK_STREAM, 0)) == -1) {
- perror("socket");
- exit(1);
+ if (getenv(QUAD_LOCAL_RX)) {
+ fifo_tx = getenv(QUAD_LOCAL_RX);
+ }
+ if (getenv(QUAD_LOCAL_TX)) {
+ fifo_rx = getenv(QUAD_LOCAL_TX);
}
- 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));
+ zybo_fifo_tx = open(fifo_tx, O_WRONLY | O_NONBLOCK);
+ if (zybo_fifo_tx < 0) {
+ warnx("Opening zybo_fifo_tx...");
+ return -1;
+ }
+ /* Must use O_RDWR so that there is at least one writer on the fifo
+ and each subsequent call to select() won't return EOF
+ */
+ zybo_fifo_rx = open(fifo_rx, O_RDWR | O_NONBLOCK);
+ if (zybo_fifo_rx < 0) {
+ warnx("Opening zybo_fifo_rx...");
+ return -1;
+ }
+ status = 0;
+ sock = zybo_fifo_rx;
} else if (strcmp(getenv(QUAD_COMM_ENV), "bluetooth") == 0) {
printf("Using BT Settings\n");
struct sockaddr_rc addr;
@@ -450,7 +485,13 @@ static ssize_t writeQuad(const uint8_t * buf, size_t count) {
if (pthread_mutex_lock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
}
- retval = write(zyboSocket, buf, count);
+
+ if (local_comm_channel) {
+ retval = write(zybo_fifo_tx, buf, count);
+ } else {
+ retval = write(zyboSocket, buf, count);
+ }
+
if (pthread_mutex_unlock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
}
@@ -466,7 +507,13 @@ static ssize_t readQuad(char * buf, size_t count) {
if (pthread_mutex_lock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
}
- retval = read(zyboSocket, buf, count);
+
+ if (local_comm_channel) {
+ retval = read(zybo_fifo_rx, buf, count);
+ } else {
+ retval = read(zyboSocket, buf, count);
+ }
+
if (pthread_mutex_unlock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
}
@@ -722,6 +769,7 @@ static void client_recv(int fd) {
int retval = writeQuad(packet, psize);
// printf("sent %d bytes\n", retval);
+
free(data);
}
@@ -758,7 +806,8 @@ static void quad_recv() {
// }
// printf("'\n");
- while(respBufLen){
+
+ while(respBufLen) {
datalen = DecodePacket(&m, data, CMD_MAX_LENGTH, respBuf, respBufLen);
if (datalen == -1) {
warnx("No start Byte");
@@ -836,7 +885,7 @@ static void quad_recv() {
printf("(Backend): message type %d ignored from quad\n", m.msg_type);
break;
}
- }
+ }
}
static void handleResponse(struct metadata *m, uint8_t * data)
diff --git a/groundStation/src/backend/config.h b/groundStation/src/backend/config.h
index 1e8ad0d20c7959c7465c6ceb4b85c1ab67554782..4236b1328142c9583dee075e92380f499412995e 100644
--- a/groundStation/src/backend/config.h
+++ b/groundStation/src/backend/config.h
@@ -13,8 +13,12 @@
// backend with sudo elevation and with the --preserve-env flag or -E
#define QUAD_COMM_ENV "UCART_COMM_CHANNEL"
-#define QUAD_DEFAULT_LOCAL_SOCKET "./virtquad.socket"
-#define QUAD_LOCAL_SOCKET "VIRT_QUAD_SOCKET"
+#define QUAD_LOCAL_RX "UCART_LOCAL_RX"
+#define QUAD_LOCAL_TX "UCART_LOCAL_TX"
+#define QUAD_LOCAL_DEFAULT_RX "../quad/bin/virt-quad-fifos/uart-rx"
+#define QUAD_LOCAL_DEFAULT_TX "../quad/bin/virt-quad-fifos/uart-tx"
+
+
#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/quad/src/virt_quad/hw_impl_unix_pwm_input.c b/quad/src/virt_quad/hw_impl_unix_pwm_input.c
index 49bf19385f79053a50d58a47965bb81a0f7da6cf..e81e88254b81021d78d9332c93f9e8b9007d27fb 100644
--- a/quad/src/virt_quad/hw_impl_unix_pwm_input.c
+++ b/quad/src/virt_quad/hw_impl_unix_pwm_input.c
@@ -38,7 +38,7 @@ int unix_pwm_input_reset(struct PWMInputDriver *self) {
cache[5] = FLAP_1;
for (i = 0; i < 6; i += 1) {
- printf("%s: %d\n", input_names[i], cache[i]);
+ printf("%s: %lu\n", input_names[i], cache[i]);
}
return 0;
@@ -72,7 +72,7 @@ void * update_input_cache(void *arg) {
unsigned long val = strtoll(buff, NULL, 10);
if (val < max && val > min) {
cache[i] = val;
- printf("%s: %d\n", input_names[i], val);
+ printf("%s: %lu\n", input_names[i], val);
}
else {
printf("%s: Bad value - input not received\n", input_names[i]);