From c386bffce0b58beae9a05959cf8c93c72ce4628b Mon Sep 17 00:00:00 2001
From: burneykb <burneykb@iastate.edu>
Date: Mon, 20 Mar 2017 15:11:49 -0500
Subject: [PATCH] added commands to commands.h/c
---
common/commands.c | 74 +++++++++++++++++++++++
common/commands.h | 41 +++----------
groundStation/src/backend/responseparam.c | 2 +-
3 files changed, 84 insertions(+), 33 deletions(-)
diff --git a/common/commands.c b/common/commands.c
index 8c64c0efc..0128b8f12 100644
--- a/common/commands.c
+++ b/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
diff --git a/common/commands.h b/common/commands.h
index 08218e6ff..86fa2c897 100644
--- a/common/commands.h
+++ b/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
diff --git a/groundStation/src/backend/responseparam.c b/groundStation/src/backend/responseparam.c
index eee2f05c3..e2f188c29 100644
--- a/groundStation/src/backend/responseparam.c
+++ b/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(
--
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