diff --git a/quad/Makefile b/quad/Makefile
index 0c73163a280352c721413ac4f56e284ce420d9a8..5b25b37be9cca2c8cdb93df1af8de5f4021f861c 100644
--- a/quad/Makefile
+++ b/quad/Makefile
@@ -6,7 +6,7 @@ WS = $(CURDIR)/xsdk_workspace
BOOT = $(OUTDIR)/BOOT.bin
-.PHONY: all libs zybo boot test clean deep-clean
+.PHONY: all libs zybo boot run-virt-quad test clean deep-clean
all: libs bins
@@ -31,6 +31,9 @@ gen_diagram:
boot: $(BOOT)
+run-virt-quad:
+ $(MAKE) -C src/virt_quad run
+
test:
$(MAKE) -C src/queue test
$(MAKE) -C src/computation_graph test
@@ -47,7 +50,6 @@ deep-clean:
$(MAKE) -C src/graph_blocks clean
$(MAKE) -C src/commands clean
$(MAKE) -C src/quad_app clean
- bash scripts/xsdk/clean_xsdk_workspace.sh
$(OUTDIR):
mkdir $(OUTDIR)
diff --git a/quad/executable.mk b/quad/executable.mk
index 0f5f6435227675076c41ae9cdafe964c1bdec8f6..9a5cce878ecb1e0cc55d209dc6acf3c7ec2e6396 100644
--- a/quad/executable.mk
+++ b/quad/executable.mk
@@ -23,7 +23,7 @@ CLEANUP = $(TARGET) $(OBJDIR)
default: $(TARGET)
run: $(TARGET)
- $(EXEDIR)/$(NAME)
+ cd $(EXEDIR) && ./$(NAME)
clean:
rm -rf $(CLEANUP)
diff --git a/quad/scripts/tests/test_unix_uart.py b/quad/scripts/tests/test_unix_uart.py
new file mode 100755
index 0000000000000000000000000000000000000000..760f545a150849fe6131bd783e2ac9b9fef0e77b
--- /dev/null
+++ b/quad/scripts/tests/test_unix_uart.py
@@ -0,0 +1,54 @@
+#!/usr/bin/env python
+
+import sys
+import time
+import os
+
+import threading
+
+path = os.path.dirname(__file__) + '/../../bin/virt-quad-fifos/'
+
+def create_msg():
+ msg = bytes()
+ msg += b'\xBE'
+
+ msg += b'\x01'
+ msg += b'\x00'
+
+ msg += b'\x00'
+ msg += b'\x00'
+
+ msg += b'\x00'
+ msg += b'\x00'
+
+ print msg
+
+ checksum = 0
+ for b in msg:
+ checksum ^= b
+ msg += checksum.to_bytes(1, 'little')
+ return msg
+
+def listen():
+ with open(path + 'uart-tx', 'r') as fifo:
+ while True:
+ c = fifo.read()
+ if c:
+ print c
+
+def do_test():
+ # Start a listener
+ t = threading.Thread(target=listen)
+ t.daemon = True
+ t.start()
+
+ fifo = open(path + 'uart-rx', 'w')
+ fifo.write(b'\xBE\x01\x00\x00\x00\x00\x00\xBF')
+ fifo.write(b'\xBE\x01\x00\x00\x00\x00\x00\xBF')
+ fifo.write(b'\xBE\x01\x00\x00\x00\x00\x00\xBF')
+
+if __name__ == '__main__':
+ for i in range(1):
+ print("Test ", i)
+ do_test()
+ time.sleep(1)
diff --git a/quad/src/quad_app/callbacks.c b/quad/src/quad_app/callbacks.c
index 8acc3cc7c77cf97b3e3d4365d8de546baa382779..cb99d83ad9d108e297121666df94159e96fbaedd 100644
--- a/quad/src/quad_app/callbacks.c
+++ b/quad/src/quad_app/callbacks.c
@@ -36,8 +36,11 @@ int cb_debug(struct modular_structs *structs, struct metadata *meta, unsigned ch
* counts the number of packet logs.
*/
int cb_packetlog(struct modular_structs* structs, struct metadata *meta, u8 *data, u16 length) {
+ char buf[64];
n_msg_received += 1;
total_payload_received += length;
+ int len = sprintf(buf, "Packets received: %d", n_msg_received);
+ send_data(&structs->hardware_struct.uart, PACKETLOG_ID, 0, buf, len);
return 0;
}
diff --git a/quad/src/virt_quad/hw_impl_unix_pwm_output.c b/quad/src/virt_quad/hw_impl_unix_pwm_output.c
index 3bd757f96d1c146d5bd3e1724dea0e2fe8222618..94ad65f0fb860260c4206bd4210e5913af9f09f1 100644
--- a/quad/src/virt_quad/hw_impl_unix_pwm_output.c
+++ b/quad/src/virt_quad/hw_impl_unix_pwm_output.c
@@ -29,7 +29,7 @@ int unix_pwm_output_write(struct PWMOutputDriver *self,
int fifo = open(output_pwms[channel], O_WRONLY | O_NONBLOCK);
if (fifo >= 0) {
sprintf(buff, "%d\0", pulse_width_us);
- int bytes_read = write(fifo, buff, strlen(buff));
+ write(fifo, buff, strlen(buff));
}
close(fifo);
return 0;
diff --git a/quad/src/virt_quad/hw_impl_unix_uart.c b/quad/src/virt_quad/hw_impl_unix_uart.c
index 27bdfcb8d2c0271ea8a9f4d0c22e131519e866ef..5790bb2f4968ecbdddbcd23570c38feb444e1368 100644
--- a/quad/src/virt_quad/hw_impl_unix_uart.c
+++ b/quad/src/virt_quad/hw_impl_unix_uart.c
@@ -1,70 +1,42 @@
#include "hw_impl_unix.h"
-#include <sys/types.h>
-#include <sys/socket.h>
#include <stdio.h>
-#include <sys/un.h>
-#include <sys/ioctl.h>
-#include <err.h>
-#include <netinet/in.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <fcntl.h>
-#define DEFAULT_SOCKET "../../groundStation/virtquad.socket"
-#define SOCKET_ENV "VIRT_QUAD_SOCKET"
-
-static int backendSocket;
-static int client;
+static char *fifo_name_rx;
+static char *fifo_full_name_rx;
+static char *fifo_full_name_tx;
+static int fifo_rx;
int unix_uart_reset(struct UARTDriver *self) {
- char * backend_socket_path = DEFAULT_SOCKET;
- if (getenv(SOCKET_ENV)) {
- backend_socket_path = getenv(SOCKET_ENV);
- }
-
- /* Unlink if it exists */
- unlink(backend_socket_path);
- printf("using socket '%s'\n", backend_socket_path);
-
- /* Create socket */
- backendSocket = socket(AF_UNIX, SOCK_STREAM | SOCK_NONBLOCK, 0);
+ fifo_name_rx = "uart-rx";
+ fifo_full_name_rx = VIRT_QUAD_FIFOS_DIR "/uart-rx";
+ fifo_full_name_tx = VIRT_QUAD_FIFOS_DIR "/uart-tx";
+ char fifoname[64];
+ mkdir(VIRT_QUAD_FIFOS_DIR, 0777);
- /* Create sockaddr and bind */
- struct sockaddr_un sa;
- sa.sun_family = AF_UNIX;
- strncpy(sa.sun_path, backend_socket_path, strlen(backend_socket_path));
- sa.sun_path[strlen(backend_socket_path)+1] = '\0';
- if (bind(backendSocket, (struct sockaddr *) &sa, sizeof(sa))) {
- err(-1, "bind");
- }
+ unlink(fifo_full_name_rx);
+ mkfifo(fifo_full_name_rx, 0666);
+ fifo_rx = open(fifo_full_name_rx, O_RDONLY | O_NONBLOCK);
- /* Listen */
- if (listen(backendSocket, 1)) {
- err(-1, "listen");
- }
+ unlink(fifo_full_name_tx);
+ mkfifo(fifo_full_name_tx, 0666);
- printf("Waiting for backend to connect\n");
-
- while (1) {
- client = accept(backendSocket, NULL, NULL);
- if (client > 0)
- break;
- }
- printf("backend connection found on socket %d.\n", client);
return 0;
}
int unix_uart_write(struct UARTDriver *self, unsigned char c) {
- send(client, &c, 1, MSG_DONTWAIT);
- return 0;
+ int fifo = open(fifo_full_name_tx, O_WRONLY | O_NONBLOCK);
+ if (fifo >= 0) {
+ write(fifo, &c, 1);
+ }
+ close(fifo);
+ return 0;
}
int unix_uart_read(struct UARTDriver *self, unsigned char *c) {
- int bytes_available;
- ioctl(client,FIONREAD,&bytes_available);
-
- if (bytes_available > 0) {
- int bytes = recv(client, c, 1, 0);
- return 0;
- } else {
- return 1;
- }
-}
\ No newline at end of file
+ int err = read(fifo_rx, c, 1);
+ return err <= 0;
+}