From c76cba50c532857f40323f3fe6eb60f3b03f32bf Mon Sep 17 00:00:00 2001
From: burneykb <burneykb@iastate.edu>
Date: Wed, 22 Mar 2017 17:36:39 -0500
Subject: [PATCH] Communication from FE -> BE seems to be in order.
Next I will implement a local socket to act as the receiving from the BE and responding to the BE
---
groundStation/Makefile | 4 +-
groundStation/getoutput | 1 -
groundStation/getparam | 1 -
groundStation/getsource | 1 -
groundStation/setparam | 1 -
groundStation/setsource | 1 -
groundStation/src/backend/backend.c | 35 +++--
groundStation/src/backend/nodes.c | 153 +++++++++++++++++++
groundStation/src/backend/nodes.h | 47 ++++++
groundStation/src/backend/output.c | 8 +-
groundStation/src/backend/output.h | 1 +
groundStation/src/backend/param.c | 14 +-
groundStation/src/backend/param.h | 1 +
groundStation/src/backend/source.c | 14 +-
groundStation/src/backend/source.h | 1 +
groundStation/src/cli/cli.h | 11 +-
groundStation/src/cli/cli_nodes.c | 66 ++++++++
groundStation/src/cli/cli_nodes.h | 9 ++
groundStation/src/cli/cli_output.c | 3 +-
groundStation/src/cli/cli_param.c | 3 +-
groundStation/src/cli/cli_source.c | 3 +-
groundStation/src/frontend/frontend_common.h | 22 ++-
groundStation/src/frontend/frontend_nodes.c | 107 +++++++++++++
groundStation/src/frontend/frontend_nodes.h | 25 +++
groundStation/src/frontend/frontend_output.c | 5 +-
groundStation/src/frontend/frontend_param.c | 7 +-
groundStation/src/frontend/frontend_source.c | 7 +-
27 files changed, 498 insertions(+), 53 deletions(-)
delete mode 120000 groundStation/getoutput
delete mode 120000 groundStation/getparam
delete mode 120000 groundStation/getsource
delete mode 120000 groundStation/setparam
delete mode 120000 groundStation/setsource
create mode 100644 groundStation/src/backend/nodes.c
create mode 100644 groundStation/src/backend/nodes.h
create mode 100644 groundStation/src/cli/cli_nodes.c
create mode 100644 groundStation/src/cli/cli_nodes.h
create mode 100644 groundStation/src/frontend/frontend_nodes.c
create mode 100644 groundStation/src/frontend/frontend_nodes.h
diff --git a/groundStation/Makefile b/groundStation/Makefile
index 7a62e3752..47356c05d 100644
--- a/groundStation/Makefile
+++ b/groundStation/Makefile
@@ -28,7 +28,7 @@ CLIBINARY=Cli
CLISRCDIR=src/cli
CLISOURCES := $(wildcard $(CLISRCDIR)/*.c)
CLIOBJECTS = $(CLISOURCES:$(CLISRCDIR)/%.c=$(OBJDIR)/%.o)
-SYMLINKS= getparam setparam getsource setsource getoutput
+SYMLINKS= getnodes addnode getparam setparam getsource setsource getoutput
# Frontend-common stuff
FESRCDIR=src/frontend
@@ -82,7 +82,7 @@ clean_logs:
rm -f logs/*
clean:
- rm -rf $(OBJDIR)/ $(BEBINARY) $(CLIBINARY)
+ rm -rf $(OBJDIR)/ $(BEBINARY) $(CLIBINARY) $(SYMLINKS)
debug:
@echo $(COMOBJECTS)
diff --git a/groundStation/getoutput b/groundStation/getoutput
deleted file mode 120000
index 83c63a5d9..000000000
--- a/groundStation/getoutput
+++ /dev/null
@@ -1 +0,0 @@
-Cli
\ No newline at end of file
diff --git a/groundStation/getparam b/groundStation/getparam
deleted file mode 120000
index 83c63a5d9..000000000
--- a/groundStation/getparam
+++ /dev/null
@@ -1 +0,0 @@
-Cli
\ No newline at end of file
diff --git a/groundStation/getsource b/groundStation/getsource
deleted file mode 120000
index 83c63a5d9..000000000
--- a/groundStation/getsource
+++ /dev/null
@@ -1 +0,0 @@
-Cli
\ No newline at end of file
diff --git a/groundStation/setparam b/groundStation/setparam
deleted file mode 120000
index 83c63a5d9..000000000
--- a/groundStation/setparam
+++ /dev/null
@@ -1 +0,0 @@
-Cli
\ No newline at end of file
diff --git a/groundStation/setsource b/groundStation/setsource
deleted file mode 120000
index 83c63a5d9..000000000
--- a/groundStation/setsource
+++ /dev/null
@@ -1 +0,0 @@
-Cli
\ No newline at end of file
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index 5b8535dcc..382a525c0 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -38,6 +38,7 @@
#include "config.h"
#include "source.h"
#include "output.h"
+#include "nodes.h"
#include "bitwise.h"
#define QUAD_BT_ADDR "00:06:66:64:61:D6"
@@ -674,7 +675,7 @@ static void client_recv(int fd) {
} else {
uint8_t packet[64];
struct metadata m;
- uint8_t data[128];
+ uint8_t *data = malloc(sizeof(*data) * 128);
ssize_t result;
ssize_t psize;
@@ -697,8 +698,10 @@ static void client_recv(int fd) {
result = EncodeGetOutput(&m, data, 128, buffer);
break;
case GETNODES_ID:
- result = -1;
- // result = EncodeGetnodes(&m, data, 128, buffer);
+ result = EncodeGetNodes(&m, data, 128, buffer);
+ break;
+ case ADDNODE_ID:
+ result = EncodeAddNode(&m, data, 128, buffer);
break;
default:
result = -1;
@@ -707,6 +710,7 @@ static void client_recv(int fd) {
if (result < 0) {
warnx("Big problems. client_recv. EncodeMetaData");
+ free(data);
return;
}
@@ -714,11 +718,13 @@ static void client_recv(int fd) {
if ((psize = EncodePacket(packet, 64, &m, data)) < 0) {
warnx("Big problems. client_recv. EncodePacket");
+ free(data);
return;
}
/* 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 || m.msg_type == GETSOURCE_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");
}
@@ -731,7 +737,7 @@ static void client_recv(int fd) {
printf("'\n");
writeQuad(packet, psize);
-
+ free(data);
}
char * rest = &buffer[newline] + 1;
@@ -813,9 +819,10 @@ static void quad_recv() {
case RESPPARAM_ID:
case RESPSOURCE_ID:
case RESPOUTPUT_ID:
+ case RESPNODES_ID:
+ case RESPADDNODE_ID:
handleResponse(&m, data);
break;
- case RESPNODES_ID:
default:
printf("(Backend): message type %d ignored from quad\n", m.msg_type);
}
@@ -825,17 +832,23 @@ static void quad_recv() {
static void handleResponse(struct metadata *m, uint8_t * data)
{
ssize_t result;
- char buffer[128];
+ char *buffer = malloc(sizeof(*buffer) * 128);
switch (m->msg_type) {
case RESPPARAM_ID:
- result = DecodeResponseParam(buffer, m, data);
+ result = DecodeResponseParam(buffer, 128, m, data);
break;
case RESPSOURCE_ID:
- result = DecodeResponseSource(buffer, m, data);
+ result = DecodeResponseSource(buffer, 128, m, data);
break;
case RESPOUTPUT_ID:
- result = DecodeResponseOutput(buffer, m, data);
+ result = DecodeResponseOutput(buffer, 128, m, data);
+ break;
+ case RESPNODES_ID:
+ result = DecodeResponseGetNodes(buffer, 128, m, data);
+ break;
+ case RESPADDNODE_ID:
+ result = DecodeResponseAddNode(buffer, 128, m, data);
break;
default:
result = -1;
@@ -843,6 +856,7 @@ static void handleResponse(struct metadata *m, uint8_t * data)
if (result < 0) {
warnx("DecodeResponse error");
+ free(buffer);
return;
}
@@ -852,6 +866,7 @@ static void handleResponse(struct metadata *m, uint8_t * data)
write(fd, buffer, result);
}
}
+ free(buffer);
}
static int wasDisconnected(int fd) {
diff --git a/groundStation/src/backend/nodes.c b/groundStation/src/backend/nodes.c
new file mode 100644
index 000000000..4db73c6f4
--- /dev/null
+++ b/groundStation/src/backend/nodes.c
@@ -0,0 +1,153 @@
+#include <sys/types.h>
+#include <inttypes.h>
+
+#include "nodes.h"
+#include "../../../common/commands.h"
+#include "bitwise.h"
+
+
+enum GetnodeData {
+ GN_DATA_SIZE
+};
+
+
+/* Creates data and metadata for a getnodes packet.
+ * Returns data size.
+ */
+ssize_t EncodeGetNodes(
+ struct metadata *m, /* Out */
+ uint8_t *data, /* Out */
+ size_t data_size, /* Data buffer max size */
+ const char * msg) /* Value is not used; only IDs */
+{
+ m->msg_type = GETNODES_ID;
+ m->data_len = GN_DATA_SIZE;
+
+ return GN_DATA_SIZE;
+}
+
+enum AddnodeData {
+ AN_TYPE_ID_L,
+ AN_TYPE_ID_H,
+ AN_NAME,
+ AN_MIN_DATA_SIZE
+};
+
+/* Creates data and metadata for a addnode packet
+ * Returns data size.
+ */
+ssize_t EncodeAddNode(
+ 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 */
+{
+ m->msg_type = ADDNODE_ID;
+
+ if (data_size < AN_MIN_DATA_SIZE) {
+ return -1;
+ }
+
+ int16_t type;
+ char name[512];
+
+ sscanf(msg, "addnode %" SCNd16 "%s\n", &type, name);
+
+ data[AN_TYPE_ID_L] = LSByte16(type);
+ data[AN_TYPE_ID_H] = MSByte16(type);
+
+ memcpy(&data[AN_NAME], name, strlen(name) + 1); // We want to include the null byte
+
+ m->data_len = AN_MIN_DATA_SIZE + strlen(name);
+
+ return m->data_len;
+}
+
+enum ResponseGetnodesData {
+ RESP_GN_NUM_NODES_L,
+ RESP_GN_NUM_NODES_H,
+ RESP_GN_MIN_DATA_SIZE
+};
+
+/* Decode a metadata and data to populate a.
+ * Returns bytes written to msg, -1 on failure.
+ */
+int DecodeResponseGetNodes(
+ char * msg, /* Out */
+ size_t max_len, /* msg buffer max size */
+ const struct metadata *m, /* In */
+ const uint8_t * data) /* In */
+{
+ /* See if we have the min. amount */
+ if (m->data_len < RESP_GN_MIN_DATA_SIZE) {
+ return -1;
+ }
+ if (m->msg_type != RESPNODES_ID) {
+ return -1;
+ }
+
+ uint16_t num_nodes = BytesTo16(data[RESP_GN_NUM_NODES_L], data[RESP_GN_NUM_NODES_H]);
+
+ /* resize the msg if necessary */
+ if (max_len < (m->data_len * 2)) {
+ max_len = max_len * 2;
+ msg = realloc(msg, sizeof(*msg) * max_len);
+ if (!msg) {
+ return -1;
+ }
+ }
+
+
+
+ int16_t val;
+ char name[512]; /* Corresponding to the maximum name len that the frontend will accept */
+ size_t i;
+ int msg_offset = 0;
+ int data_offset = RESP_GN_MIN_DATA_SIZE;
+
+
+ sprintf(msg, "getnodes %hu %n", num_nodes, &msg_offset);
+ msg += msg_offset;
+
+ for(i = 0; i < num_nodes * 3; ++i) {
+ if (i < num_nodes * 2) {
+ val = BytesTo16(data[data_offset], data[data_offset+1]);
+ data_offset += 2;
+ sprintf(msg, "%" PRId16 " %n", val, &msg_offset);
+ } else {
+ strncpy(name, (char *) &data[data_offset], 512);
+ data_offset += strlen(name) + 1;
+ sprintf(msg, "%s %n", name, &msg_offset);
+ }
+
+ msg += msg_offset;
+ }
+
+ return strlen(msg);
+}
+
+enum ResponseAddnodeData {
+ RESP_AN_BLOCK_ID_L,
+ RESP_AN_BLOCK_ID_H,
+ RESP_AN_DATA_SIZE
+};
+
+/* Decode a metadata and data to populate a controller.
+ * Returns bytes written to msg, -1 on failure.
+ */
+int DecodeResponseAddNode(
+ char * msg, /* Out */
+ size_t max_len, /* msg buffer max size */
+ const struct metadata *m, /* In */
+ const uint8_t * data) /* In */
+{
+ if (m->data_len < RESP_AN_DATA_SIZE) {
+ return -1;
+ }
+ if (m->msg_type != RESPADDNODE_ID) {
+ return -1;
+ }
+
+ return sprintf(msg, "addnode %d",
+ BytesTo16(data[RESP_AN_BLOCK_ID_L], data[RESP_AN_BLOCK_ID_H]));
+}
\ No newline at end of file
diff --git a/groundStation/src/backend/nodes.h b/groundStation/src/backend/nodes.h
new file mode 100644
index 000000000..18f57c9a3
--- /dev/null
+++ b/groundStation/src/backend/nodes.h
@@ -0,0 +1,47 @@
+#ifndef _nodes_h
+#define _nodes_h
+
+#include "packet.h"
+
+#include <sys/types.h>
+
+
+/* Creates data and metadata for a getnodes packet.
+ * Returns data size.
+ */
+ssize_t EncodeGetNodes(
+ struct metadata *m, /* Out */
+ uint8_t *data, /* Out */
+ size_t data_size, /* Data buffer max size */
+ const char * msg); /* Value is not used; only IDs */
+
+/* Creates data and metadata for a addnode packet
+ * Returns data size.
+ */
+ssize_t EncodeAddNode(
+ 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 */
+
+
+/* Decode a metadata and data to populate a.
+ * Returns bytes written to msg, -1 on failure.
+ */
+int DecodeResponseGetNodes(
+ char * msg, /* Out */
+ size_t max_len, /* msg buffer max size */
+ const struct metadata *m, /* In */
+ const uint8_t * data); /* In */
+
+
+/* Decode a metadata and data to populate a controller.
+ * Returns bytes written to msg, -1 on failure.
+ */
+int DecodeResponseAddNode(
+ char * msg, /* Out */
+ size_t max_len, /* msg buffer max size */
+ const struct metadata *m, /* In */
+ const uint8_t * data); /* In */
+
+#endif
\ No newline at end of file
diff --git a/groundStation/src/backend/output.c b/groundStation/src/backend/output.c
index 0c3195c95..f293f3ec7 100644
--- a/groundStation/src/backend/output.c
+++ b/groundStation/src/backend/output.c
@@ -1,4 +1,5 @@
#include <sys/types.h>
+#include <inttypes.h>
#include "output.h"
#include "../../../common/commands.h"
@@ -29,9 +30,9 @@ ssize_t EncodeGetOutput(
return -1;
}
- uint16_t block, output;
+ int16_t block, output;
- sscanf(msg, "getoutput %hu %hu", &block, &output);
+ sscanf(msg, "getoutput %" SCNd16 " %" SCNd16, &block, &output);
data[GO_BLOCK_ID_L] = LSByte16(block);
data[GO_BLOCK_ID_H] = MSByte16(block);
@@ -58,6 +59,7 @@ enum ResponseData {
*/
int DecodeResponseOutput(
char * msg, /* Decoded controller message */
+ size_t max_len, /* msg buffer max size */
const struct metadata * m, /* Metadata to aid in decoding */
const uint8_t * data) /* Data to decode */
{
@@ -68,7 +70,7 @@ int DecodeResponseOutput(
return -1;
}
- return sprintf(msg, "getoutput %hu %hu %f\n",
+ return snprintf(msg, max_len, "getoutput %" PRId16 " %" PRId16 " %f",
BytesTo16(data[RESP_BLOCK_ID_L], data[RESP_BLOCK_ID_H]),
BytesTo16(data[RESP_OUTPUT_ID_L], data[RESP_OUTPUT_ID_H]),
BytesToFloat(data[RESP_VAL_1], data[RESP_VAL_2],
diff --git a/groundStation/src/backend/output.h b/groundStation/src/backend/output.h
index 034d6ec15..df923ab54 100644
--- a/groundStation/src/backend/output.h
+++ b/groundStation/src/backend/output.h
@@ -21,6 +21,7 @@ ssize_t EncodeGetOutput(
*/
int DecodeResponseOutput(
char * msg, /* Out */
+ size_t max_len, /* msg buffer max size */
const struct metadata *m, /* In */
const uint8_t * data); /* In */
diff --git a/groundStation/src/backend/param.c b/groundStation/src/backend/param.c
index 749960fe4..15b049dba 100644
--- a/groundStation/src/backend/param.c
+++ b/groundStation/src/backend/param.c
@@ -1,4 +1,5 @@
#include <sys/types.h>
+#include <inttypes.h>
#include "param.h"
#include "../../../common/commands.h"
@@ -28,8 +29,8 @@ ssize_t EncodeGetParam(
return -1;
}
- uint16_t block, param;
- sscanf(msg, "getparam %hu %hu", &block, ¶m);
+ int16_t block, param;
+ sscanf(msg, "getparam %" SCNd16 " %" SCNd16, &block, ¶m);
data[GP_BLOCK_ID_L] = LSByte16(block);
@@ -69,10 +70,10 @@ ssize_t EncodeSetParam(
return -1;
}
- uint16_t block, param;
+ int16_t block, param;
float val;
- sscanf(msg, "setparam %hu %hu %f", &block, ¶m, &val);
+ sscanf(msg, "setparam %" SCNd16 " %" SCNd16 " %f", &block, ¶m, &val);
data[SP_BLOCK_ID_L] = LSByte16(block);
data[SP_BLOCK_ID_H] = MSByte16(block);
@@ -107,7 +108,8 @@ enum ResponseData {
* Returns bytes written to msg, -1 on failure.
*/
int DecodeResponseParam(
- char * msg, /* Decoded controller message */
+ char * msg, /* Decoded controller message */
+ size_t max_len, /* msg buffer max size */
const struct metadata * m, /* Metadata to aid in decoding */
const uint8_t * data) /* Data to decode */
{
@@ -118,7 +120,7 @@ int DecodeResponseParam(
return -1;
}
- return sprintf(msg, "getparam %hu %hu %f\n",
+ return snprintf(msg, max_len, "getparam %" PRId16 " %" PRId16 " %f",
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],
diff --git a/groundStation/src/backend/param.h b/groundStation/src/backend/param.h
index 96ecc6332..b8b03429e 100644
--- a/groundStation/src/backend/param.h
+++ b/groundStation/src/backend/param.h
@@ -29,6 +29,7 @@ ssize_t EncodeSetParam(
*/
int DecodeResponseParam(
char * msg, /* Out */
+ size_t max_len, /* msg buffer max size */
const struct metadata *m, /* In */
const uint8_t * data); /* In */
diff --git a/groundStation/src/backend/source.c b/groundStation/src/backend/source.c
index a0e5ed9c3..ab319d251 100644
--- a/groundStation/src/backend/source.c
+++ b/groundStation/src/backend/source.c
@@ -1,4 +1,5 @@
#include <sys/types.h>
+#include <inttypes.h>
#include "source.h"
#include "../../../common/commands.h"
@@ -28,9 +29,9 @@ ssize_t EncodeGetSource(
if (data_size < GS_DATA_SIZE) {
return -1;
}
- uint16_t block, input;
+ int16_t block, input;
- sscanf(msg, "getsource %hu %hu", &block, &input);
+ sscanf(msg, "getsource %" SCNd16 " %" SCNd16, &block, &input);
data[GS_BLOCK_ID_L] = LSByte16(block);
data[GS_BLOCK_ID_H] = MSByte16(block);
@@ -68,10 +69,10 @@ ssize_t EncodeSetSource(
return -1;
}
- uint16_t dst_block, dst_input;
- uint16_t src_block, src_output;
+ int16_t dst_block, dst_input;
+ int16_t src_block, src_output;
- sscanf(msg, "setsource %hu %hu %hu %hu", &dst_block, &dst_input, &src_block, &src_output);
+ sscanf(msg, "setsource %" SCNd16 " %" SCNd16 " %" SCNd16 " %" SCNd16, &dst_block, &dst_input, &src_block, &src_output);
data[SS_DST_BLOCK_ID_L] = LSByte16(dst_block);
data[SS_DST_BLOCK_ID_H] = MSByte16(dst_block);
@@ -104,6 +105,7 @@ enum ResponseData {
*/
int DecodeResponseSource(
char * msg, /* Decoded controller message */
+ size_t max_len, /* msg buffer max size */
const struct metadata * m, /* Metadata to aid in decoding */
const uint8_t * data) /* Data to decode */
{
@@ -114,7 +116,7 @@ int DecodeResponseSource(
return -1;
}
- return sprintf(msg, "getsource %hu %hu %hu %hu\n",
+ return snprintf(msg, max_len, "getsource %" PRId16 " %" PRId16 " %" PRId16" %" PRId16,
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]),
diff --git a/groundStation/src/backend/source.h b/groundStation/src/backend/source.h
index 577f27717..40a78f0c3 100644
--- a/groundStation/src/backend/source.h
+++ b/groundStation/src/backend/source.h
@@ -29,6 +29,7 @@ ssize_t EncodeSetSource(
*/
int DecodeResponseSource(
char * msg, /* Out */
+ size_t max_len, /* msg buffer max size */
const struct metadata *m, /* In */
const uint8_t * data); /* In */
diff --git a/groundStation/src/cli/cli.h b/groundStation/src/cli/cli.h
index edd3ebc85..7a7d4fdf8 100644
--- a/groundStation/src/cli/cli.h
+++ b/groundStation/src/cli/cli.h
@@ -5,6 +5,7 @@
#include "cli_source.h"
#include "cli_param.h"
#include "cli_output.h"
+#include "cli_nodes.h"
struct backend_conn;
@@ -14,6 +15,8 @@ enum CommandNameIds{
CMD_GETPARAM,
CMD_SETPARAM,
CMD_GETOUTPUT,
+ CMD_GETNODES,
+ CMD_ADDNODE,
MAX_COMMANDS
};
@@ -23,7 +26,9 @@ static cli_function_ptr cli_functions[] = {
&cli_setsource,
&cli_getparam,
&cli_setparam,
- &cli_getoutput
+ &cli_getoutput,
+ &cli_getnodes,
+ &cli_addnode
};
static char* commandNames[MAX_COMMANDS] = {
@@ -31,7 +36,9 @@ static char* commandNames[MAX_COMMANDS] = {
"setsource",
"getparam",
"setparam",
- "getoutput"
+ "getoutput",
+ "getnodes",
+ "addnode"
};
/* This function is called by other cli functions to check for a help condition */
int help_check(int argc, char ** argv);
diff --git a/groundStation/src/cli/cli_nodes.c b/groundStation/src/cli/cli_nodes.c
new file mode 100644
index 000000000..ff067dd57
--- /dev/null
+++ b/groundStation/src/cli/cli_nodes.c
@@ -0,0 +1,66 @@
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+#include <inttypes.h>
+
+#include "cli.h"
+#include "cli_nodes.h"
+#include "frontend_nodes.h"
+
+int cli_getnodes(struct backend_conn * conn, int argc, char ** argv) {
+ size_t num_nodes = 0;
+ struct frontend_node_data * node_data;
+
+ int needHelp = 0;
+
+ if ((needHelp = help_check(argc, argv))) {
+ printf("getnodes gets the number of nodes along with the block_id, type_id and name of each node\n");
+ printf("Usage Syntax : \n\t./Cli getnodes\n");
+ printf("Symlink Usage Syntax : \n\t./getnodes\n\n");
+ return 0;
+ }
+
+ if (argc > 1) {
+ printf("Incorrect Usage, run './cli getnodes --help' for correct usage.\n");
+ return 1;
+ }
+
+ node_data = malloc(sizeof(*node_data) * num_nodes);
+
+
+ if (frontend_getnodes(conn, node_data, &num_nodes)) {
+ free(node_data);
+ return 1;
+ }
+
+ printf("unimplemented\n");
+ free(node_data);
+ return 0;
+}
+
+int cli_addnode(struct backend_conn * conn, int argc, char ** argv) {
+ struct frontend_node_data node_data;
+ int needHelp = 0;
+
+ if ((needHelp = help_check(argc, argv))) {
+ printf("addnodes adds a node of specified type_id and name to the comp_graph\n");
+ printf("Usage Syntax : \n\t./Cli addnode type_id name\n");
+ printf("Symlink Usage Syntax : \n\t./addnode type_id name\n\n");
+ return 0;
+ }
+
+ if (argc < 3) {
+ printf("Incorrect Usage, run './cli addnode --help' for correct usage.\n");
+ return 1;
+ }
+
+ node_data.type = atoi(argv[1]);
+ strncpy(node_data.name, argv[2], 512/* this value matches the max space of name */ );
+
+ if (frontend_addnode(conn, &node_data)) {
+ return 1;
+ }
+
+ printf("Node created with block_id : %" PRId16 "\n", node_data.block);
+ return 0;
+}
diff --git a/groundStation/src/cli/cli_nodes.h b/groundStation/src/cli/cli_nodes.h
new file mode 100644
index 000000000..2d9bb1372
--- /dev/null
+++ b/groundStation/src/cli/cli_nodes.h
@@ -0,0 +1,9 @@
+#ifndef _CLI_NODES_H
+#define _CLI_NODES_H
+
+#include "frontend_nodes.h"
+
+int cli_getnodes(struct backend_conn * conn, int argc, char ** argv);
+int cli_addnode(struct backend_conn * conn, int argc, char ** argv);
+
+#endif /* _CLI_NODES_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_output.c b/groundStation/src/cli/cli_output.c
index f48266f41..273b749c3 100644
--- a/groundStation/src/cli/cli_output.c
+++ b/groundStation/src/cli/cli_output.c
@@ -1,5 +1,6 @@
#include <stdio.h>
#include <unistd.h>
+#include <inttypes.h>
#include "cli.h"
#include "cli_output.h"
@@ -29,7 +30,7 @@ int cli_getoutput(struct backend_conn * conn, int argc, char ** argv) {
}
printf("BLOCK.OUTPUT = VAL\n" \
- " %hu.%hu = %lf\n",
+ " %" PRId16 ".%" PRId16 " = %lf\n",
output_data.block,
output_data.output,
output_data.value);
diff --git a/groundStation/src/cli/cli_param.c b/groundStation/src/cli/cli_param.c
index d123a088c..478682cce 100644
--- a/groundStation/src/cli/cli_param.c
+++ b/groundStation/src/cli/cli_param.c
@@ -1,5 +1,6 @@
#include <stdio.h>
#include <unistd.h>
+#include <inttypes.h>
#include "cli.h"
#include "cli_param.h"
@@ -29,7 +30,7 @@ int cli_getparam(struct backend_conn * conn, int argc, char ** argv) {
}
printf("BLOCK.PARAM = VAL\n" \
- " %hu.%hu = %lf\n",
+ " %" PRId16 ".%" PRId16 " = %lf\n",
param_data.block,
param_data.param,
param_data.value);
diff --git a/groundStation/src/cli/cli_source.c b/groundStation/src/cli/cli_source.c
index 86f47a922..c7168a6fb 100644
--- a/groundStation/src/cli/cli_source.c
+++ b/groundStation/src/cli/cli_source.c
@@ -1,5 +1,6 @@
#include <stdio.h>
#include <unistd.h>
+#include <inttypes.h>
#include "cli.h"
#include "cli_source.h"
@@ -29,7 +30,7 @@ int cli_getsource(struct backend_conn * conn, int argc, char ** argv) {
}
printf("SRC BLOCK.OUTPUT ---> DST BLOCK.INPUT\n" \
- " %hu.%hu ---> %hu.%hu\n",
+ " %" PRId16 ".%" PRId16 " ---> %" PRId16 ".%" PRId16 "\n",
source_data.src_block, source_data.src_output,
source_data.dst_block, source_data.dst_input);
return 0;
diff --git a/groundStation/src/frontend/frontend_common.h b/groundStation/src/frontend/frontend_common.h
index 4986d859c..f4ed6b740 100644
--- a/groundStation/src/frontend/frontend_common.h
+++ b/groundStation/src/frontend/frontend_common.h
@@ -20,22 +20,28 @@ char * ucart_backendGetline(struct backend_conn * conn);
int ucart_backendWrite(struct backend_conn * backend, const char * line);
struct frontend_output_data {
- unsigned short block;
- unsigned short output;
+ int16_t block;
+ int16_t output;
float value;
};
struct frontend_param_data {
- unsigned short block;
- unsigned short param;
+ int16_t block;
+ int16_t param;
float value;
};
struct frontend_source_data {
- unsigned short dst_block;
- unsigned short dst_input;
- unsigned short src_block;
- unsigned short src_output;
+ int16_t dst_block;
+ int16_t dst_input;
+ int16_t src_block;
+ int16_t src_output;
+};
+
+struct frontend_node_data {
+ int16_t block;
+ int16_t type;
+ char name[512]; /* This should be more than enough room for a node name */
};
#endif /* __FRONTEND_COMMON_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_nodes.c b/groundStation/src/frontend/frontend_nodes.c
new file mode 100644
index 000000000..b1284b409
--- /dev/null
+++ b/groundStation/src/frontend/frontend_nodes.c
@@ -0,0 +1,107 @@
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <err.h>
+#include <inttypes.h>
+
+#include "frontend_nodes.h"
+
+/* Get the block_id, type_id and name of
+ * all of the nodes in the current comp_graph.
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_getnodes(
+ struct backend_conn * conn,
+ struct frontend_node_data * node_data,
+ size_t * num_nodes) {
+
+ char msg[64] = "";
+ int written;
+
+ snprintf(msg, 64, "getnodes\n");
+
+ if((written = ucart_backendWrite(conn, msg)) < 0) {
+ return 1;
+ }
+
+ size_t pendingResponses = 1;
+ char * response;
+
+ while (pendingResponses) {
+ response = ucart_backendGetline(conn);
+ if (response == NULL) {
+ warnx("Line not returned from backend");
+ return 1;
+ }
+
+ if (strncmp(response, "getnodes", 8) != 0) {
+ continue;
+ }
+
+ size_t num_nodes_ret = 0;
+ size_t offset = 0;
+
+ sscanf(response, "getnodes %lu %n", &num_nodes_ret, (int * )&offset);
+ response += offset;
+
+ /* Resize if necessary */
+ if (num_nodes_ret != *num_nodes) {
+ *num_nodes = num_nodes_ret;
+ node_data = realloc(node_data, sizeof(*node_data) * (*num_nodes));
+ if (!node_data) {
+ return 1;
+ }
+ }
+
+ for (size_t i = 0; i < *num_nodes; ++i) {
+ sscanf(response, "%" SCNd16 " %" SCNd16 " %s %n",
+ &node_data[i].block, &node_data[i].type, (char *) &node_data[i].name,
+ (int *)&offset);
+ response += offset;
+ }
+
+ pendingResponses--;
+ }
+
+ return 0;
+}
+
+/* Set the value of block.param
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_addnode(
+ struct backend_conn * conn,
+ struct frontend_node_data * node_data) {
+
+ char msg[16 + strlen(node_data->name)];
+ int written;
+
+ snprintf(msg, 16 + strlen(node_data->name), "addnode %" PRId16 " %s\n", node_data->type, node_data->name);
+
+ if((written = ucart_backendWrite(conn, msg)) < 0) {
+ return 1;
+ }
+
+ size_t pendingResponses = 1;
+ char * response;
+
+ while (pendingResponses) {
+ response = ucart_backendGetline(conn);
+ if (response == NULL) {
+ warnx("Line not returned from backend");
+ return 1;
+ }
+
+ if (strncmp(response, "addnode", 7) != 0) {
+ continue;
+ }
+
+ sscanf(response, "addnode %" SCNd16, &node_data->block);
+
+ pendingResponses--;
+ }
+
+ return 0;
+}
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_nodes.h b/groundStation/src/frontend/frontend_nodes.h
new file mode 100644
index 000000000..430301308
--- /dev/null
+++ b/groundStation/src/frontend/frontend_nodes.h
@@ -0,0 +1,25 @@
+#ifndef _FRONTEND_NODES_H
+#define _FRONTEND_NODES_H
+
+#include "frontend_common.h"
+
+/* Get the block_id, type_id and name of
+ * all of the nodes in the current comp_graph.
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_getnodes(
+ struct backend_conn * conn,
+ struct frontend_node_data * node_data,
+ size_t * num_nodes);
+
+
+/* Adds a node of specified type_id
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_addnode(
+ struct backend_conn * conn,
+ struct frontend_node_data * node_data);
+
+#endif /* __FRONTEND_NODES_H */
\ No newline at end of file
diff --git a/groundStation/src/frontend/frontend_output.c b/groundStation/src/frontend/frontend_output.c
index a93bb0403..54cd6cf88 100644
--- a/groundStation/src/frontend/frontend_output.c
+++ b/groundStation/src/frontend/frontend_output.c
@@ -2,6 +2,7 @@
#include <string.h>
#include <stdlib.h>
#include <err.h>
+#include <inttypes.h>
#include "frontend_output.h"
@@ -17,7 +18,7 @@ int frontend_getoutput(
char msg[64] = "";
int written;
- snprintf(msg, 64, "getoutput %hu %hu\n", output_data->block, output_data->output);
+ snprintf(msg, 64, "getoutput %" PRId16 " %" PRId16 "\n", output_data->block, output_data->output);
if((written = ucart_backendWrite(conn, msg)) < 0) {
return 1;
@@ -34,7 +35,7 @@ int frontend_getoutput(
}
if (strncmp(response, "getoutput", 9) == 0) {
- sscanf(response, "getoutput %hu %hu %f\n",
+ sscanf(response, "getoutput %" SCNd16 " %" SCNd16" %f",
&output_data->block, &output_data->output,
&output_data->value);
pendingResponses--;
diff --git a/groundStation/src/frontend/frontend_param.c b/groundStation/src/frontend/frontend_param.c
index c98972031..d16faa644 100644
--- a/groundStation/src/frontend/frontend_param.c
+++ b/groundStation/src/frontend/frontend_param.c
@@ -2,6 +2,7 @@
#include <string.h>
#include <stdlib.h>
#include <err.h>
+#include <inttypes.h>
#include "frontend_param.h"
@@ -17,7 +18,7 @@ int frontend_getparam(
char msg[64] = "";
int written;
- snprintf(msg, 64, "getparam %hu %hu\n", param_data->block, param_data->param);
+ snprintf(msg, 64, "getparam %" PRId16 " %" PRId16 "\n", param_data->block, param_data->param);
if((written = ucart_backendWrite(conn, msg)) < 0) {
return 1;
@@ -34,7 +35,7 @@ int frontend_getparam(
}
if (strncmp(response, "getparam", 8) == 0) {
- sscanf(response, "getparam %hu %hu %f\n",
+ sscanf(response, "getparam %" SCNd16 " %" SCNd16 " %f",
¶m_data->block, ¶m_data->param,
¶m_data->value);
pendingResponses--;
@@ -55,7 +56,7 @@ int frontend_setparam(
char msg[64] = "";
int written;
- snprintf(msg, 64, "setparam %hu %hu %f\n", param_data->block, param_data->param, param_data->value);
+ snprintf(msg, 64, "setparam %" PRId16 " %" PRId16 " %f\n", param_data->block, param_data->param, param_data->value);
if((written = ucart_backendWrite(conn, msg)) < 0) {
return 1;
diff --git a/groundStation/src/frontend/frontend_source.c b/groundStation/src/frontend/frontend_source.c
index 4016de3e1..809696fc0 100644
--- a/groundStation/src/frontend/frontend_source.c
+++ b/groundStation/src/frontend/frontend_source.c
@@ -2,6 +2,7 @@
#include <string.h>
#include <stdlib.h>
#include <err.h>
+#include <inttypes.h>
#include "frontend_source.h"
@@ -18,7 +19,7 @@ int frontend_getsource(
char msg[64] = "";
int written;
- snprintf(msg, 64, "getsource %hu %hu\n", source_data->dst_block, source_data->dst_input);
+ snprintf(msg, 64, "getsource %" PRId16 " %" PRId16 "\n", source_data->dst_block, source_data->dst_input);
if((written = ucart_backendWrite(conn, msg)) < 0) {
return 1;
@@ -35,7 +36,7 @@ int frontend_getsource(
}
if (strncmp(response, "getsource", 9) == 0) {
- sscanf(response, "getsource %hu %hu %hu %hu\n",
+ sscanf(response, "getsource %" SCNd16 " %" SCNd16 " %" SCNd16 " %" SCNd16,
&source_data->dst_block, &source_data->dst_input,
&source_data->src_block, &source_data->src_output);
pendingResponses--;
@@ -56,7 +57,7 @@ int frontend_setsource(
char msg[64] = "";
int written;
- snprintf(msg, 64, "setsource %hu %hu %hu %hu\n",
+ snprintf(msg, 64, "setsource %" PRId16 " %" PRId16 " %" PRId16 " %" PRId16 "\n",
source_data->dst_block, source_data->dst_input,
source_data->src_block, source_data->src_output);
--
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