From 9a8459c76c9a17bec68ad17be9013fde8a0a8c97 Mon Sep 17 00:00:00 2001
From: "ucart@co3050-12" <dawehr@iastate.edu>
Date: Wed, 15 Mar 2017 15:17:50 -0500
Subject: [PATCH] Added LOG_END message type on quadcopter and in shared
commands.
---
groundStation/src/backend/commands.c | 10 ++++++++++
groundStation/src/backend/commands.h | 6 ++++--
quad/sw/modular_quad_pid/src/main.c | 2 ++
3 files changed, 16 insertions(+), 2 deletions(-)
diff --git a/groundStation/src/backend/commands.c b/groundStation/src/backend/commands.c
index 4bba28735..8c64c0efc 100644
--- a/groundStation/src/backend/commands.c
+++ b/groundStation/src/backend/commands.c
@@ -55,6 +55,7 @@ command_cb cb_update __attribute__((weak, alias("cb_default")));
command_cb cb_beginupdate __attribute__((weak, alias("cb_default")));
command_cb cb_log __attribute__((weak, alias("cb_default")));
command_cb cb_response __attribute__((weak, alias("cb_default")));
+command_cb cb_logend __attribute__((weak, alias("cb_default")));
/* Callbacks for configuration */
command_cb cb_setparam __attribute__((weak, alias("cb_default")));
@@ -163,6 +164,15 @@ struct MessageType MessageTypes[MAX_TYPE_ID] =
floatType,
// Function pointer
&cb_respparam
+ },
+ // LOG_END
+ {
+ // Command text
+ "logend",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_logend
}
};
diff --git a/groundStation/src/backend/commands.h b/groundStation/src/backend/commands.h
index 73ec98f95..08218e6ff 100644
--- a/groundStation/src/backend/commands.h
+++ b/groundStation/src/backend/commands.h
@@ -29,7 +29,8 @@ enum DataType
* Message type IDs used to know what kind of message we are dealing with
* Enumeration used to index the MessageTypes array in commands.c
*
- * DO NOT change this enum or you will break backwards compatibility.
+ * DO NOT change items in the middle of this enum or you will break backwards compatibility.
+ * - Add new message types in the slot between MAX_TYPE_ID and the one before it
* DO NOT change this enum without also updating the "MessageTypes" array
* in commands.c to match.
*/
@@ -44,7 +45,8 @@ enum MessageTypeID{
SETPARAM_ID, // 07 - Setting controller parameters. Example: PID constants
GETPARAM_ID, // 08 - Getting controller parameters. Example: PID constants
RESPPARAM_ID, // 09 - Responding with controller parameters. Example: PID constants
- MAX_TYPE_ID // 10 - Just used to keep track of the size
+ LOG_END_ID, // 10 - Responding with controller parameters. Example: PID constants
+ MAX_TYPE_ID // 11 - Just used to keep track of the size. Must remain at the end
};
/*
diff --git a/quad/sw/modular_quad_pid/src/main.c b/quad/sw/modular_quad_pid/src/main.c
index 52f8c0a83..790dc32f3 100644
--- a/quad/sw/modular_quad_pid/src/main.c
+++ b/quad/sw/modular_quad_pid/src/main.c
@@ -129,6 +129,8 @@ int main()
printLogging(&(structs.log_struct), &(structs.parameter_struct));
resetLogging();
MIO7_led_off();
+ char data[1] = {0}; // 1 byte to make compilers happy
+ send_data(LOG_END_ID, 0, data, 0);
}
last_kill_condition = this_kill_condition;
--
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