From 9e5f1e2624b7b9daf7a891f1ecc40a6ed6a5b5c7 Mon Sep 17 00:00:00 2001
From: Kris Burney <burneykb@iastate.edu>
Date: Tue, 15 Nov 2016 13:30:29 -0600
Subject: [PATCH] Fixed backend and getpid communication
---
groundStation/src/backend/backend.c | 22 ++++++--------------
groundStation/src/backend/communication.c | 2 +-
groundStation/src/cli/cli.c | 2 --
groundStation/src/cli/cli_getpid.c | 2 ++
groundStation/src/frontend/frontend_getpid.c | 9 ++++----
5 files changed, 14 insertions(+), 23 deletions(-)
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index b2f201bdc..396c84e52 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -567,6 +567,7 @@ static void client_recv(int fd) {
}
buffer[len_pre + r] = '\0';
+ int index = 0;
/* Parse buffer and handle commands */
while (1) {
/* not using strtok because reasons */
@@ -584,31 +585,20 @@ static void client_recv(int fd) {
break;
}
buffer[newline] = '\0';
+
printf("Client(%d) : '%s'\n",fd, buffer);
unsigned char * packet;
- // printf("newline =%li, Client sent: '%s'\n", newline, buffer);
if(formatCommand(buffer, &packet) == -1) {
printf("Could not recognize command '%s'\n", buffer);
+ } else {
+ int datalen = (packet[6] << 8) | (packet[5]);
+ writeQuad((char *) packet, datalen +7);
}
-
- int datalen = (packet[6] << 8) | (packet[5]);
- printf("data length = %d\n", datalen);
- printf("packet = '");
- for (int i = 0; i < datalen+7+1; ++i)
- {
- printf("%x ", packet[i]);
- }
- printf("'\n");
-
- writeQuad((char *) packet, datalen +7);
- //free(packet);
char * rest = &buffer[newline] + 1;
size_t restLen = (strlen(rest) == 0) ? 1 : strlen(rest);
/* Delete parsed data and move the rest to the left */
- memmove(buffer, rest, restLen);
-
- break;
+ memmove(buffer, rest, restLen + 1);
}
}
diff --git a/groundStation/src/backend/communication.c b/groundStation/src/backend/communication.c
index e62d2a170..86784506d 100644
--- a/groundStation/src/backend/communication.c
+++ b/groundStation/src/backend/communication.c
@@ -182,7 +182,7 @@ int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedComm
{
data_checksum ^= (*formattedCommand)[i];
}
- printf("checksum = %x\n", (unsigned )data_checksum);
+
(*formattedCommand)[7 + metadata->data_len] = data_checksum;
return 0;
diff --git a/groundStation/src/cli/cli.c b/groundStation/src/cli/cli.c
index 556c6d649..17d9f8c8a 100644
--- a/groundStation/src/cli/cli.c
+++ b/groundStation/src/cli/cli.c
@@ -1,7 +1,6 @@
#include <stdio.h>
#include <string.h>
#include <err.h>
-#include <unistd.h>
#include "cli.h"
@@ -47,7 +46,6 @@ int main(int argc, char **argv)
}else {
(*cli_functions[0]) (conn, argc-1, &argv[1]);
}
- sleep(1);
ucart_backendDisconnect(conn);
return 0;
diff --git a/groundStation/src/cli/cli_getpid.c b/groundStation/src/cli/cli_getpid.c
index 92e0fbf3b..55fadb4a3 100644
--- a/groundStation/src/cli/cli_getpid.c
+++ b/groundStation/src/cli/cli_getpid.c
@@ -75,6 +75,8 @@ int getValues(struct backend_conn * conn, struct frontend_pid_data * pid_data) {
return 1;
}
+ return 0;
+
switch(pid_data->pid) {
case PITCH :
printf("Pitch Constants: P = %f\tI = %f\tD = %f\n",
diff --git a/groundStation/src/frontend/frontend_getpid.c b/groundStation/src/frontend/frontend_getpid.c
index 09b2e62b7..0aa064076 100644
--- a/groundStation/src/frontend/frontend_getpid.c
+++ b/groundStation/src/frontend/frontend_getpid.c
@@ -22,22 +22,23 @@
int frontend_getpid(
struct backend_conn * conn, struct frontend_pid_data * pid_data) {
- char line[100];
+ char line[100] = "";
switch (pid_data->pid) {
case PITCH :
- strncpy(line, "getpitchp\ngetpitchd\n\0", 21);
+ strncpy(line, "getpitchp\ngetpitchd\n", 20);
break;
case ROLL :
- strncpy(line, "getrollp\ngetrolld\n\0", 19);
+ strncpy(line, "getrollp\ngetrolld\n", 18);
break;
case YAW :
- strncpy(line, "getyawp\ngetyawd\n\0", 17);
+ strncpy(line, "getyawp\ngetyawd\n", 17);
break;
default :
return 1;
}
int size;
+ printf("sending '%s'\n",line);
if((size = ucart_backendWrite(conn, line)) < 0 ) {
return 1;
}
--
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