diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index a0ea26cfbaa2079aacca4fb28e5bf68b6a6c70e6..3a686e8c1c0cf83dcd74e2fbd7aa188cfc4e6fc9 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -33,10 +33,10 @@
#include "commands.h"
#include "vrpn_tracker.hpp"
#include "type_def.h"
-#include "logger.h"
#include "packet.h"
#include "respcontrol.h"
#include "config.h"
+#include "cmHandler.h"
#define QUAD_BT_ADDR "00:06:66:64:61:D6"
#define QUAD_BT_CHANNEL 0x01
@@ -78,7 +78,7 @@ static int wasDisconnected(int fd);
/* Thread-safe wrappers */
pthread_mutex_t quadSocketMutex;
-static ssize_t writeQuad(const char * buf, size_t count);
+static ssize_t writeQuad(const uint8_t * buf, size_t count);
static ssize_t readQuad(char * buf, size_t count);
/* Functions for recording Latencies */
@@ -120,7 +120,6 @@ static void cb(struct ucart_vrpn_TrackerData * td) {
if(!(count % 10)) {
sendVrpnPacket(td);
- //updateLogFile(td);
}
count++;
}
@@ -165,7 +164,6 @@ int main(int argc, char **argv)
/* Add to socket set */
safe_fd_set(backendSocket, &rfds_master, &max_fd);
-
/* Initialize client buffers */
for (int i = 0; i < MAX_CLIENTS; i++) {
@@ -191,13 +189,6 @@ int main(int argc, char **argv)
err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
}
- // open the log file
- if(createLogFile(argc, argv[1]))
- {
- perror("Error creating log file...");
- exit(1);
- }
-
// watch for input from stdin (fd 0) to see when it has input
safe_fd_set(fileno(stdin), &rfds_master, &max_fd);
@@ -266,10 +257,7 @@ int main(int argc, char **argv)
}
ucart_vrpn_tracker_freeInstance(tracker);
-
safe_close_fd(zyboSocket, &quadSocketMutex);
-
- closeLogFile();
return 0;
}
@@ -280,7 +268,7 @@ void sendStartPacket() {
m.data_len = 0;
m.msg_id = currMessageID++;
- size_t psize;
+ ssize_t psize;
if ((psize = EncodePacket(packet, 64, &m, NULL)) < 0) {
warnx("Big problems");
@@ -424,7 +412,7 @@ int safe_fd_clr(int fd, fd_set* fds, int* max_fd) {
return 0;
}
-static ssize_t writeQuad(const char * buf, size_t count) {
+static ssize_t writeQuad(const uint8_t * buf, size_t count) {
ssize_t retval;
if (getenv(NOQUAD_ENV)) {
return count;
@@ -735,8 +723,4 @@ void findTimeDiff(int respID) {
gettimeofday(&tend, NULL);
timeval_subtract(&result, &tend, &timeArr[respID%MAX_HASH_SIZE]);
printf("(BackEnd): Elapsed time = %ld ms\n", result.tv_usec/1000);
- // printf("print to log\n");
- // char tmp[8];
- // snprintf(tmp, 8, "%ld \tms\n", result.tv_usec/1000);
- // writeStringToLog(tmp);
}
diff --git a/groundStation/src/backend/cmHandler.c b/groundStation/src/backend/cmHandler.c
new file mode 100644
index 0000000000000000000000000000000000000000..22bf01656f861a3238aa55b7ff26a3c014b048fc
--- /dev/null
+++ b/groundStation/src/backend/cmHandler.c
@@ -0,0 +1 @@
+#include "cmHandler.h"
\ No newline at end of file
diff --git a/groundStation/src/backend/cmHandler.h b/groundStation/src/backend/cmHandler.h
new file mode 100644
index 0000000000000000000000000000000000000000..a977c5bed22282d70b0e3e36804e448426771a22
--- /dev/null
+++ b/groundStation/src/backend/cmHandler.h
@@ -0,0 +1,7 @@
+#ifndef _CMHANDLER_H
+#define _CMHANDLER_H
+
+
+
+
+#endif /* _CMHANDLER_H */
\ No newline at end of file
diff --git a/groundStation/src/backend/logger.c b/groundStation/src/backend/logger.c
deleted file mode 100644
index 028cfeac16c173e59154a1c9c8321eeba29d0344..0000000000000000000000000000000000000000
--- a/groundStation/src/backend/logger.c
+++ /dev/null
@@ -1,108 +0,0 @@
-/* Author: Kris Burney
- *
- * Logger file for holding functions pertaining to loging to a file.
- */
-#include "logger.h"
-#include <stdio.h>
-#include <err.h>
-#include <pthread.h>
-
-static FILE * quadlog_file = NULL;
-static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
-
-int createLogFile(int argc, char* argv)
-{
- if (quadlog_file != NULL) {
- return -1;
- }
-
- if (pthread_mutex_lock(&mutex)) {
- err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
- }
-
- char log_file[300];
- strcpy(log_file, "logs/");
- if(argc >= 2)
- {
- strncat(log_file, argv, 294);
- printf("Creating log file '%s'...\n",log_file);
- quadlog_file = fopen(log_file, "a");
- } else {
- time_t rawtime;
- char timestr [30];
- time(&rawtime);
- sprintf(timestr,"%s",ctime(&rawtime));
-
- // Lets convert space to _ in
- char *p = timestr;
- size_t i = 0;
- while(i < strlen(timestr))
- {
- if (*p == ' ')
- *p = '_';
- i++;
- p++;
- }
-
- // timestr has a weird char at the end of it.
- // we will not include it in our file name
- strncat(log_file, timestr, strlen(timestr) -1 );
- strcat(log_file, ".txt");
- printf("Creating log file '%s'...\n",log_file);
- quadlog_file = fopen(log_file, "a");
- }
- if (pthread_mutex_unlock(&mutex)) {
- err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
- }
- return 0;
-}
-
-int updateLogFile(const struct ucart_vrpn_TrackerData * td)
-{
- int retval;
-
- if (pthread_mutex_lock(&mutex)) {
- err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
- }
-
- retval = fprintf(quadlog_file,
- "FPS: %lf Pos (xyz): (%lf %lf %lf) Att (pry): (%lf %lf %lf)\n",
- td->fps, td->x, td->y, td->z, td->pitch, td->roll, td->yaw);
-
- if (pthread_mutex_unlock(&mutex)) {
- err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
- }
-
- return retval;
-}
-
-int writeStringToLog(const char * string)
-{
- int retval;
-
- if (pthread_mutex_lock(&mutex)) {
- err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
- }
-
- retval = fprintf(quadlog_file, "%s", string);
-
- if (pthread_mutex_unlock(&mutex)) {
- err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
- }
-
- return retval;
-}
-
-void closeLogFile(void)
-{
- if (pthread_mutex_lock(&mutex)) {
- err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
- }
-
- fclose(quadlog_file);
-
- if (pthread_mutex_unlock(&mutex)) {
- err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
- }
-
-}
diff --git a/groundStation/src/backend/logger.h b/groundStation/src/backend/logger.h
deleted file mode 100644
index 9bbd068116482e4d693fdb519f27dffd7bc2fff7..0000000000000000000000000000000000000000
--- a/groundStation/src/backend/logger.h
+++ /dev/null
@@ -1,21 +0,0 @@
-/* Author: Kris Burney
- *
- * Logger header file for holding info pertaining to loging to a file.
- */
-#ifndef __LOGGER_H
-#define __LOGGER_H
-
-#include <fcntl.h>
-#include <time.h>
-#include <stdio.h>
-#include <string.h>
-
-#include "vrpn_tracker.hpp"
-
-int createLogFile(int, char*);
-int writeStringToLog(const char*);
-int updateLogFile(const struct ucart_vrpn_TrackerData* );
-void closeLogFile();
-
-
-#endif /* __LOGGER_H */
\ No newline at end of file
diff --git a/groundStation/src/backend/packet.c b/groundStation/src/backend/packet.c
index 2830f5902376c4b9282fd79d72f76ad402c34742..f29e946e5515cc1ae638ebd29f4ad61d3224d919 100644
--- a/groundStation/src/backend/packet.c
+++ b/groundStation/src/backend/packet.c
@@ -96,5 +96,5 @@ uint8_t PacketChecksum(const uint8_t * packet, size_t packet_size)
size_t PacketSize(const struct metadata *m)
{
- return m.data_len + HDR_SIZE + CSUM_SIZE;
+ return m->data_len + HDR_SIZE + CSUM_SIZE;
}
\ No newline at end of file