added commands to commands.h/c

common/commands.c

@@ -62,6 +62,17 @@ command_cb cb_setparam __attribute__((weak, alias("cb_default")));
 command_cb cb_getparam __attribute__((weak, alias("cb_default")));
 command_cb cb_respparam __attribute__((weak, alias("cb_default")));
 
+command_cb cb_setsource __attribute__((weak, alias("cb_default")));
+command_cb cb_getsource __attribute__((weak, alias("cb_default")));
+command_cb cb_respsource __attribute__((weak, alias("cb_default")));
+
+command_cb cb_getoutput __attribute__((weak, alias("cb_default")));
+command_cb cb_respoutput __attribute__((weak, alias("cb_default")));
+
+command_cb cb_getnodes __attribute__((weak, alias("cb_default")));
+command_cb cb_respnodes __attribute__((weak, alias("cb_default")));
+
+
 /*
  * Command structure.
  * This array is used to keep track of the callback functions
@@ -165,6 +176,69 @@ struct MessageType MessageTypes[MAX_TYPE_ID] =
 		// Function pointer
 		&cb_respparam
 	},
+	// SETSOURCE
+	{
+		// Command text
+		"setsource",
+		// Type of the command data
+		floatType,
+		// Function pointer
+		&cb_setsource
+	},
+	// GETSOURCE
+	{
+		// Command text
+		"getsource",
+		// Type of the command data
+		floatType,
+		// Function pointer
+		&cb_getsource
+	},
+	// RESPSOURCE
+	{
+		// Command text
+		"respsource",
+		// Type of the command data
+		floatType,
+		// Function pointer
+		&cb_respsource
+	},
+	// GETOUTPUT
+	{
+		// Command text
+		"getoutput",
+		// Type of the command data
+		floatType,
+		// Function pointer
+		&cb_respoutput
+	},
+	// RESPOUTPUT
+	{
+		// Command text
+		"respoutput",
+		// Type of the command data
+		floatType,
+		// Function pointer
+		&cb_respoutput
+	},
+	// GETNODES
+	{
+		// Command text
+		"getnodes",
+		// Type of the command data
+		floatType,
+		// Function pointer
+		&cb_getnodes
+	},
+	// RESPNODES
+	{
+		// Command text
+		"respnodes",
+		// Type of the command data
+		floatType,
+		// Function pointer
+		&cb_respnodes
+	},
 	// LOG_END
 	{
 		// Command text

common/commands.h

@@ -45,39 +45,16 @@ 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
-	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
+	SETSOURCE_ID,         // 10 - Setting controller source Block & id
+	GETSOURCE_ID,         // 11 - Getting controller source Block & id
+	RESPSOURCE_ID,        // 12 - Responding with controller source Block & id
+	GETOUTPUT_ID,         // 13 - Getting controller block output
+	RESPOUTPUT_ID,        // 14 - Responding with controller block output
+	GETNODES_ID,          // 15 - Getting nodes from current comp_graph
+	RESPNODES_ID,         // 16 - Responding with nodes from current comp_graph 
+	LOG_END_ID,           // 17 - Responding with controller parameters. Example: PID constants
+	MAX_TYPE_ID           // 18 - Just used to keep track of the size. Must remain at the end
 };
-
-/*
- * Controller ID used to know which controller the message is referencing
- */
-enum ControllerID{
-	ROLL_ID,              // 00 - Roll PID
-	PITCH_ID,             // 01 - Pitch PID
-	YAW_ID,               // 02 - Yaw PID
-	ROLL_RATE_ID,         // 03 - Roll rate PID
-	PITCH_RATE_ID,        // 04 - Pitch rate PID
-	YAW_RATE_ID,          // 05 - Yaw rate PID
-	LOCAL_X_ID,           // 06 - Local X PID // lat
-	LOCAL_Y_ID,           // 07 - Local Y PID  //long
-	ALT_ID,               // 08 - Altitude PID 
-	X_SETPOINT_ID,		  // 09 - X Setpoint //lat
-	Y_SETPOINT_ID,		  // 10 - Y Setpoint //long
-	ALT_SETPOINT_ID,	  // 11 - Z Setpoint
-	MAX_CONTROLLER_ID     // 12 - Just used to keep track of the size
-};
-
-/*
- * Enumeration of controller parameters
- */
-enum ControlParamID{
-	KP_ID,                 // 00 - P constant
-	KI_ID,                 // 01 - I constant
-	KD_ID,                 // 02 - D constant
-	MAX_CONTROL_PARAM_ID,  // 03 - Just used to keep track of the size
-};
-
 /*
  * Message type struct used to keep track of the callback function
  * pointers located in commands.c

groundStation/src/backend/responseparam.c

@@ -14,7 +14,7 @@ enum ResponseData {
 	RESP_DATA_SIZE
 };
 
-/* Creates data and metadata for a respcontrol packet
+/* Creates data and metadata for a respparam packet
  * Returns data size.
  */
 ssize_t EncodeResponseParam(