diff --git a/groundStation/README.md b/groundStation/README.md
index f9902a1c4b154c3862e52dd71a220caabf871b40..422ff8f5092cb727b4c280ba40bb9e069a48c363 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 +77,8 @@ 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.
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index 2f49b313c2b47290b3da2f2a9a46d3441f1ba8d5..43e23cb4df38fa9b9f66d4a0d82a91492f83df70 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -1,6 +1,9 @@
/* 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.
+ * within the receive functions data is parsed using various
*/
#define _GNU_SOURCE
@@ -67,7 +70,7 @@ 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 +134,7 @@ 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 +146,7 @@ int main(int argc, char **argv)
{
int activity;
FD_ZERO(&rfds_master);
- /*
+ /*
* Create backend listening socket
*/
/* Determine socket path */
@@ -212,7 +215,7 @@ 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 +234,7 @@ 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 +361,7 @@ 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 +388,14 @@ 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 +423,7 @@ 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 +492,9 @@ 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 +515,9 @@ 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 +664,7 @@ 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 +685,7 @@ 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 +711,7 @@ 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 +758,7 @@ 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 +770,7 @@ 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 +795,7 @@ 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 +841,7 @@ 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 +850,7 @@ 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 +883,7 @@ 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 +999,10 @@ 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..91170cbb8907b811e286f9c2cf839a953cd50097 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]),