diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index e0b8b843400b2b5c8bca0230eeb351b19dc5c60a..db4ec5d7380a793658809d7b6547c028a1272632 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -624,7 +624,6 @@ static void client_recv(int fd) {
break;
}
buffer[newline] = '\0';
-
printf("Client(%d) : '%s'\n",fd, buffer);
struct controller_message cm;
@@ -668,7 +667,6 @@ static void client_recv(int fd) {
uint8_t data[128];
ssize_t result;
-
if (strncmp(buffer, "set", 3) == 0) {
result = EncodeSetparam(&m, data, 128, &cm);
} else if (strncmp(buffer, "get", 3) == 0) {
@@ -696,6 +694,12 @@ static void client_recv(int fd) {
warnx("Ran out of room! Consider increasing CLIENT_MAX_PENDING_RESPONSES!\n");
}
}
+
+ // printf("packet = '");
+ // for(int i = 0; i < (int)psize; ++i) {
+ // printf(" %.2x ", packet[i]);
+ // }
+ // printf("'\n");
writeQuad(packet, psize);
@@ -776,7 +780,6 @@ static void quad_recv() {
printf("(Backend): Command '%s' ignored\n", MessageTypes[m.msg_type].cmdText);
break;
case RESPPARAM_ID:
- printf("(Backend): response param id found\n");
handleResponseParam(&m, data);
break;
default:
diff --git a/groundStation/src/backend/cmHandler.c b/groundStation/src/backend/cmHandler.c
index 36946112118494137a2e31866255c6a16268ff39..062cae960abc4d87595fe6fba828f51fadcc8c2e 100644
--- a/groundStation/src/backend/cmHandler.c
+++ b/groundStation/src/backend/cmHandler.c
@@ -108,20 +108,30 @@ const char * cmToString(int msgType, const struct controller_message *cm)
struct controller_message * stringToCm(const char * string, struct controller_message *cm)
{
- char st[128];
- strncpy(st, string, strlen(string));
- size_t i;
int result;
+ size_t i;
+ char cmdString[strlen(string)];
+ strncpy(cmdString, string, strlen(string));
+
float cmdValue;
- char * cmdString = strtok(st, " ");
- cm->value = strtof(&string[strlen(cmdString)],NULL);
+ for (i = 0; i < strlen(string) + 1; ++i) {
+ if (string[i] == ' ' || string[i] == '\n' || string[i] == '\0') {
+ cmdString[i] = '\0';
+ break;
+ }
+ }
+
int index = -1;
for(i = 0; i < MAX_PARAM_COMMANDS; ++i) {
- if((result = strncmp(cmdString, respParamStrings[i], strlen(respParamStrings[i]))) == 0) {
+
+ if((result = strncmp(cmdString, respParamStrings[i], strlen(respParamStrings[i]))) == 0 &&
+ strlen(cmdString) == strlen(respParamStrings[i])) {
index = i;
break;
- } else if ((result = strncmp(cmdString, setParamStrings[i], strlen(setParamStrings[i]))) == 0) {
+ } else if ((result = strncmp(cmdString, setParamStrings[i], strlen(setParamStrings[i]))) == 0 &&
+ strlen(cmdString) == strlen(setParamStrings[i])) {
+ cm->value = strtof(&string[strlen(cmdString)],NULL);
index = i;
break;
}
diff --git a/groundStation/src/backend/getparam.c b/groundStation/src/backend/getparam.c
index 34c90fa289f35361d49a8b6e1920581b81b3b2a3..98580741766e6187596c4519b6a8f3e2d1c0d3f5 100644
--- a/groundStation/src/backend/getparam.c
+++ b/groundStation/src/backend/getparam.c
@@ -47,7 +47,6 @@ int DecodeGetparam(
return -1;
}
-
cm->id = data[CTRL_ID];
cm->value_id = data[CTRLVAL_ID];
diff --git a/groundStation/src/cli/cli.c b/groundStation/src/cli/cli.c
index 8eed2381b6a8440635adbce3a5dcf78460f05cde..acec4dbc6352ca971b84289eb24cfc918da98bbd 100644
--- a/groundStation/src/cli/cli.c
+++ b/groundStation/src/cli/cli.c
@@ -76,8 +76,6 @@ int main(int argc, char **argv)
needCommandHelp = 1;
}
}
-
- printf("made it\n");
/**
* I the user has asked for help, and we have already found
diff --git a/groundStation/src/cli/cli_monitor.c b/groundStation/src/cli/cli_monitor.c
index 8242c45a0a2801599df2d30d948e3341179b8dda..b435b9117a7fb778047628c508f19c81ee73ee3e 100644
--- a/groundStation/src/cli/cli_monitor.c
+++ b/groundStation/src/cli/cli_monitor.c
@@ -14,6 +14,7 @@
int rate = 10;
static int pidcounter = 0;
+static int monitorcounter = 0;
int cli_monitor(struct backend_conn * conn, int argc, char **argv) {
int c, result;
@@ -109,29 +110,42 @@ int monitor(struct backend_conn * conn) {
errx(1, "Error reading tracker data");
}
- pid_data[pidcounter].controller = pidcounter;
- if (frontend_getpid(conn, &pid_data[pidcounter % PID_NUM_PIDS])) {
- errx(1, "Error reading pid values");
+ if (monitorcounter == 0) {
+ for(int i = 0; i < PID_NUM_PIDS; ++i) {
+ pid_data[i].controller = i;
+ if (frontend_getpid(conn, &pid_data[i])) {
+ errx(1, "Error reading pid values");
+ }
+ }
+ } else {
+ if ((monitorcounter % (rate * 5)) == 0) {
+ pid_data[pidcounter].controller = pidcounter;
+ if (frontend_getpid(conn, &pid_data[pidcounter])) {
+ errx(1, "Error reading pid values");
+ }
+ }
}
+
/* Print stuff on screen */
/* Assuming a tab width of 8 columns */
printf("\033[2J");
printf("STATUS: NA\n");
- printf("CTRLR :\tP\tR\tY\tP_V\tR_V\tY_V\tH\tLAT\tLON\n");
- printf(" P :\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\n",
+ printf("CTRLR : P R Y P_V R_V Y_V H LAT LON\n");
+ printf(" P :%10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf\n",
pid_data[0].p, pid_data[1].p, pid_data[2].p, pid_data[3].p, pid_data[4].p,
pid_data[5].p, pid_data[6].p, pid_data[7].p, pid_data[8].p);
- printf(" I :\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\n",
+ printf(" I :%10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf\n",
pid_data[0].i, pid_data[1].i, pid_data[2].i, pid_data[3].i, pid_data[4].i,
pid_data[5].i, pid_data[6].i, pid_data[7].i, pid_data[8].i);
- printf(" D :\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\n",
+ printf(" D :%10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf\n",
pid_data[0].d, pid_data[1].d, pid_data[2].d, pid_data[3].d, pid_data[4].d,
pid_data[5].d, pid_data[6].d, pid_data[7].d, pid_data[8].d);
- printf("PosAtt:\tH\tLAT\tLON\tP\tR\tY\n");
- printf(" :\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\n",
+ printf("PosAtt: H LAT LON P R Y\n");
+ printf(" :%10.3lf%10.3lf%10.3lf%10.3lf%10.3lf%10.3lf\n",
td.height, td.lateral, td.longitudinal,
td.pitch, td.roll, td.yaw);
- pidcounter = ((pidcounter + 1) % PID_NUM_PIDS);
+ monitorcounter++;
+ pidcounter = ((pidcounter + 1) % PID_NUM_PIDS);
return 0;
-}
+}
\ No newline at end of file
diff --git a/groundStation/src/frontend/pid_common.h b/groundStation/src/frontend/pid_common.h
index b89e3b1cddc85bb8820520e91ea4fa1858becd3a..87e61255fa45f995ff73b212ff076436497e9cca 100644
--- a/groundStation/src/frontend/pid_common.h
+++ b/groundStation/src/frontend/pid_common.h
@@ -9,8 +9,8 @@ enum pid_controller {
PID_ROLL_RATE,
PID_YAW_RATE,
PID_HEIGHT, /* Z */
- PID_LAT, /* X */
PID_LONG, /* Y */
+ PID_LAT, /* X */
PID_NUM_PIDS
};