From d376f75f6c5ac4a2ab136675b80af947439d0a94 Mon Sep 17 00:00:00 2001
From: ucart <ucart_groundstation@iastate.edu>
Date: Mon, 3 Apr 2017 05:29:01 -0500
Subject: [PATCH] found memory issue on quad side. Creating branch to handle
fixes.
---
groundStation/scripts/bypass_kill_switch.sh | 5 ++
groundStation/scripts/eric.sh | 4 +-
groundStation/src/backend/backend.c | 87 ++++++++++++++++-----
groundStation/src/backend/config.h | 8 +-
4 files changed, 81 insertions(+), 23 deletions(-)
diff --git a/groundStation/scripts/bypass_kill_switch.sh b/groundStation/scripts/bypass_kill_switch.sh
index b1061e271..183df7b8e 100755
--- a/groundStation/scripts/bypass_kill_switch.sh
+++ b/groundStation/scripts/bypass_kill_switch.sh
@@ -1,4 +1,9 @@
#! /bin/bash
+
+if [ -z "$1" ]; then
+ echo "No argument supplied"
+ exit 0
+fi
cd ..
while true ; do
./setparam 37 0 $1
diff --git a/groundStation/scripts/eric.sh b/groundStation/scripts/eric.sh
index b84457723..0fe0e845e 100755
--- a/groundStation/scripts/eric.sh
+++ b/groundStation/scripts/eric.sh
@@ -18,11 +18,11 @@
#outer loop
./setparam 'X pos PID' 'kp' -0.015
-./setparam 'X pos PID' 'ki' -0.0005
+./setparam 'X pos PID' 'ki' -0
./setparam 'X pos PID' 'kd' -0.25
./setparam 'X pos PID' 'alpha' 0.88
./setparam 'Y pos PID' 'kp' 0.015
-./setparam 'Y pos PID' 'ki' 0.0005
+./setparam 'Y pos PID' 'ki' 0
./setparam 'Y pos PID' 'kd' 0.25
./setparam 'Y pos PID' 'alpha' 0.88
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index 9ebf7752b..d6b49449d 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -27,6 +27,8 @@
#include <sys/ioctl.h>
#include <sys/types.h>
#include <netinet/tcp.h>
+#include <fcntl.h>
+#include <sys/stat.h>
//user created includes
#include "commands.h"
@@ -88,6 +90,9 @@ char * create_log_name(char * buffer, size_t max);
pthread_mutex_t quadSocketMutex;
static ssize_t writeQuad(const uint8_t * buf, size_t count);
static ssize_t readQuad(char * buf, size_t count);
+static int local_comm_channel;
+static int zybo_fifo_rx;
+static int zybo_fifo_tx;
/* Functions for recording Latencies */
void findTimeDiff(int respID);
@@ -120,6 +125,10 @@ pthread_mutex_t quadResponseMutex, cliInputMutex ;
unsigned char *commandBuf;
int newQuadResponse = 0, newCliInput = 0;
+static void sig_handler(int s) {
+ printf("Caught SIGPIPE from quad fifo..\n");
+}
+
// Callback to be ran whenever the tracker receives data.
// Currently doing much more than it should. It will be slimmed down
// in the future.
@@ -191,7 +200,13 @@ int main(int argc, char **argv)
exit(1);
}
- printf("zyboSocket = %d\n", zyboSocket);
+ if (!local_comm_channel) {
+ printf("zyboSocket = %d\n", zyboSocket);
+ } else {
+ /* if we are using fifo's we don't want the quad to be able to shut us down. */
+ signal(SIGPIPE, sig_handler);
+ printf("zybo_fifo_rx = %d\nzybo_fifo_tx = %d\n", zybo_fifo_rx, zybo_fifo_tx);
+ }
if (pthread_mutex_unlock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
@@ -268,9 +283,18 @@ int main(int argc, char **argv)
}
}
+
ucart_vrpn_tracker_freeInstance(tracker);
- safe_close_fd(zyboSocket, &quadSocketMutex);
+
+ if (!local_comm_channel) {
+ safe_close_fd(zyboSocket, &quadSocketMutex);
+ } else {
+ safe_close_fd(zybo_fifo_rx, &quadSocketMutex);
+ safe_close_fd(zybo_fifo_tx, &quadSocketMutex);
+ }
+
fclose(quadlog_file);
+
return 0;
}
@@ -329,22 +353,33 @@ int connectToZybo() {
if (getenv(QUAD_COMM_ENV)) {
/* Determine if we are using bluetooth or local */
if(strcmp(getenv(QUAD_COMM_ENV), "local") == 0) {
- printf("Using Local Socket Settings\n");
+ printf("Using Local Fifo Settings\n");
+ local_comm_channel = 1;
+ char * fifo_rx = QUAD_LOCAL_DEFAULT_TX;
+ char * fifo_tx = QUAD_LOCAL_DEFAULT_RX;
- struct sockaddr_un remote;
- char str[100];
-
- if ((sock = socket(AF_UNIX, SOCK_STREAM, 0)) == -1) {
- perror("socket");
- exit(1);
+ if (getenv(QUAD_LOCAL_RX)) {
+ fifo_tx = getenv(QUAD_LOCAL_RX);
+ }
+ if (getenv(QUAD_LOCAL_TX)) {
+ fifo_rx = getenv(QUAD_LOCAL_TX);
}
- remote.sun_family = AF_UNIX;
- char * sock_env = getenv(QUAD_LOCAL_SOCKET);
- strcpy(remote.sun_path, sock_env ? sock_env : QUAD_DEFAULT_LOCAL_SOCKET);
- printf("Attempting to connect to local socket at '%s'. please be patiend.\n", remote.sun_path);
-
- status = connect(sock, (struct sockaddr *)&remote, sizeof(remote));
+ zybo_fifo_tx = open(fifo_tx, O_WRONLY | O_NONBLOCK);
+ if (zybo_fifo_tx < 0) {
+ warnx("Opening zybo_fifo_tx...");
+ return -1;
+ }
+ /* Must use O_RDWR so that there is at least one writer on the fifo
+ and each subsequent call to select() won't return EOF
+ */
+ zybo_fifo_rx = open(fifo_rx, O_RDWR | O_NONBLOCK);
+ if (zybo_fifo_rx < 0) {
+ warnx("Opening zybo_fifo_rx...");
+ return -1;
+ }
+ status = 0;
+ sock = zybo_fifo_rx;
} else if (strcmp(getenv(QUAD_COMM_ENV), "bluetooth") == 0) {
printf("Using BT Settings\n");
struct sockaddr_rc addr;
@@ -450,7 +485,13 @@ static ssize_t writeQuad(const uint8_t * buf, size_t count) {
if (pthread_mutex_lock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
}
- retval = write(zyboSocket, buf, count);
+
+ if (local_comm_channel) {
+ retval = write(zybo_fifo_tx, buf, count);
+ } else {
+ retval = write(zyboSocket, buf, count);
+ }
+
if (pthread_mutex_unlock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
}
@@ -466,7 +507,13 @@ static ssize_t readQuad(char * buf, size_t count) {
if (pthread_mutex_lock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
}
- retval = read(zyboSocket, buf, count);
+
+ if (local_comm_channel) {
+ retval = read(zybo_fifo_rx, buf, count);
+ } else {
+ retval = read(zyboSocket, buf, count);
+ }
+
if (pthread_mutex_unlock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
}
@@ -722,6 +769,7 @@ static void client_recv(int fd) {
int retval = writeQuad(packet, psize);
// printf("sent %d bytes\n", retval);
+
free(data);
}
@@ -758,7 +806,8 @@ static void quad_recv() {
// }
// printf("'\n");
- while(respBufLen){
+
+ while(respBufLen) {
datalen = DecodePacket(&m, data, CMD_MAX_LENGTH, respBuf, respBufLen);
if (datalen == -1) {
warnx("No start Byte");
@@ -836,7 +885,7 @@ static void quad_recv() {
printf("(Backend): message type %d ignored from quad\n", m.msg_type);
break;
}
- }
+ }
}
static void handleResponse(struct metadata *m, uint8_t * data)
diff --git a/groundStation/src/backend/config.h b/groundStation/src/backend/config.h
index 1e8ad0d20..4236b1328 100644
--- a/groundStation/src/backend/config.h
+++ b/groundStation/src/backend/config.h
@@ -13,8 +13,12 @@
// backend with sudo elevation and with the --preserve-env flag or -E
#define QUAD_COMM_ENV "UCART_COMM_CHANNEL"
-#define QUAD_DEFAULT_LOCAL_SOCKET "./virtquad.socket"
-#define QUAD_LOCAL_SOCKET "VIRT_QUAD_SOCKET"
+#define QUAD_LOCAL_RX "UCART_LOCAL_RX"
+#define QUAD_LOCAL_TX "UCART_LOCAL_TX"
+#define QUAD_LOCAL_DEFAULT_RX "../quad/bin/virt-quad-fifos/uart-rx"
+#define QUAD_LOCAL_DEFAULT_TX "../quad/bin/virt-quad-fifos/uart-tx"
+
+
#define QUAD_IP_ENV "UCART_QUAD_IP"
#define QUAD_IP_DEFAULT "192.168.1.1"
#define QUAD_PORT_ENV "UCART_QUAD_PORT"
--
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