diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index ca3e9b8bef5a13523ab2fada71181d0dbe975c63..9bf8aa57b5b3b802c7dd27e093b21b175e66912a 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -616,8 +616,9 @@ static void client_recv(int fd) {
buffer[newline] = '\0';
printf("Client(%d) : '%s'\n",fd, buffer);
- unsigned char * packet;
- if(formatCommand(buffer, &packet) == -1) {
+ unsigned char packet[1024];
+ ssize_t packetSize;
+ if((packetSize = formatCommand(buffer, packet)) == -1) {
/* buffer was not a quad command, handling internally to
* backend instead of forwarding to quad
*/
@@ -658,13 +659,14 @@ static void client_recv(int fd) {
}
}
+ /* Don't know about this */
int datalen = (packet[6] << 8) | (packet[5]);
printf("sending %lf '", getFloat(packet, 7));
for(int i = 0; i < datalen + 8; ++i) {
printf(" 0x%.2x", (signed) packet[i]);
}
printf("'\n");
- writeQuad((char *) packet, datalen +8);
+ writeQuad((char *) packet, packetSize);
}
char * rest = &buffer[newline] + 1;
@@ -680,7 +682,7 @@ static void quad_recv() {
*/
int validPacket;
- unsigned char *data;
+ unsigned char data[256];
metadata_t metadata;
static unsigned char respBuf[2048];
static size_t respBufLen;
@@ -703,7 +705,7 @@ static void quad_recv() {
}
// Validate the message is correctly formatted
- validPacket = parse_packet((unsigned char *) respBuf, &data, &metadata);
+ validPacket = parse_packet((unsigned char *) respBuf, data, &metadata);
if (validPacket == -1) {
warnx("Doesn't have start byte.");
/* nuke packet */
diff --git a/groundStation/src/backend/communication.c b/groundStation/src/backend/communication.c
index 8e328dd7ea149a396a35eeed5e4e75c44137a0db..af5d92a2db9a0332497edffa16bd448d0ccfeca7 100644
--- a/groundStation/src/backend/communication.c
+++ b/groundStation/src/backend/communication.c
@@ -4,151 +4,84 @@
#include <ctype.h>
static int msgNum = 0;
-
-tokenList_t tokenize(char* cmd) {
- int maxTokens = 16;
- tokenList_t ret;
- ret.numTokens = 0;
- ret.tokens = malloc(sizeof(char*) * maxTokens);
- ret.tokens[0] = NULL;
-
- int i = 0;
- char* token = strtok(cmd, " ");
- while (token != NULL && i < maxTokens - 1) {
- ret.tokens[i++] = token;
- ret.tokens[i] = NULL;
- ret.numTokens++;
- token = strtok(NULL, " ");
- }
-
- return ret;
-}
-
-int checkFloat(char *floatString, float *value) {
- char *tmp;
- *value = strtod(floatString, &tmp);
- if(!(isspace(*tmp) || *tmp == 0)) {
- fprintf(stderr, "%s is not a valid floating-point number\n", floatString);
- return 0;
- }
- return 1;
-}
-
-int checkInt(char *intString, int *value) {
- char *tmp;
- long temp_long;
- temp_long = strtol(intString, &tmp, 0); // base 10 number inputted
- if(temp_long < INT_MIN || temp_long > INT_MAX || !(isspace(*tmp) || *tmp == 0)) {
- fprintf(stderr, "%s is not a valid integer number\n", intString);
- return 0;
- }
- printf("temp: %ld\n\n", temp_long);
- *value = (int) temp_long;
- return 1;
-}
-
//--------------------------------
// Ground Station
//--------------------------------
// Formatting commands from ground station CLI
-int formatCommand(char *command, unsigned char **formattedCommand) {
+int formatCommand(char *command, unsigned char *formattedCommand) {
//fprintf(stderr, "length = %li , received '%s'\n", strlen(command), command);
- char cmd[strlen(command)];
- strncpy(cmd, command, strlen(command));
- cmd[strlen(command)] = '\0';
+ char cmd[512];
+ strncpy(cmd, command, 512);
+
+ char * cmdText = strtok(cmd, " ");
- tokenList_t tokens = tokenize(cmd);
- float floatValue = 0.0;
- int intValue = 0;
- int valid;
metadata_t metadata;
// ----------------------------------------------
- if(tokens.numTokens > 0) {
+ if(cmdText != NULL) {
for(int type = 0; type < MAX_TYPE_ID; type++)
{
- if(strcmp(tokens.tokens[0], MessageTypes[type].cmdText) == 0)
+ if(strcmp(cmdText, MessageTypes[type].cmdText) == 0)
{
printf("Sending\n\ttype: %d, \n\tcommand: %s\n", type, MessageTypes[type].cmdText);
+ metadata.begin_char = (char) BEGIN_CHAR;
+ metadata.msg_type = type;
+ metadata.msg_id = msgNum++;
+ metadata.data_len = 0;
+
+
/* TODO: Format data correctly
- * - Switch on Type instead of cmdDataType
* - Implement a case for every type
- * - Format the tokens as appropriate for the type,
+ * - Format the tokens into data as appropriate for the type,
* based on the quad's callbacks.c.
- * - Pass the formatted tokens and metadata into
+ * - Pass the data and metadata into
* formatPacket
* - Purge cmdDataType from existence
*/
- // Make sure the second token is the right type
- switch (MessageTypes[type].cmdDataType)
- {
- // Validate the float input
- case floatType:
- metadata.begin_char = (char) BEGIN_CHAR;
- metadata.msg_type = type;
-
- if(type == 0x01) {
- valid = checkFloat(tokens.tokens[1], &floatValue);
- if(!valid) {
- return -1;
- }
- metadata.data_len = sizeof(floatValue);
- } else {
- metadata.data_len = 0;
- }
- metadata.msg_id = msgNum++;
- formatPacket(&metadata, &floatValue, formattedCommand);
+ /* Static data buffer */
+ char data[256];
+ switch (type) {
+ // In each case, us strtok(NULL, " ") to tokenize,
+ // format,
+ // and append to data buffer (increase
+ // metadat.data_len appropriately).
+ case DEBUG_ID:
break;
-
- // Validate the integer input
- case intType:
- metadata.begin_char = (char) BEGIN_CHAR;
- metadata.msg_type = type;
-
- if(type == 0x01) {
- valid = checkInt(tokens.tokens[1], &intValue);
- if(!valid) {
- return -1;
- }
- metadata.data_len = sizeof(intValue);
- } else {
- metadata.data_len = 0;
- }
-
- metadata.msg_id = msgNum++;
- formatPacket(&metadata, &intValue, formattedCommand);
-
+ case PACKETLOG_ID:
break;
-
- // Validate the string input (doesn't need to happen)
- case stringType:
- metadata.begin_char = (char) BEGIN_CHAR;
- metadata.msg_type = type;
- metadata.msg_id = msgNum++;
- metadata.data_len = strlen(tokens.tokens[1]);
-
- formatPacket(&metadata, &tokens.tokens[1], formattedCommand);
-
+ case GETPACKETLOGS_ID:
+ break;
+ case UPDATE_ID:
+ break;
+ case BEGINUPDATE_ID:
+ break;
+ case LOG_ID:
+ break;
+ case RESPONSE_ID:
+ break;
+ case SETCONTROL_ID:
+ break;
+ case GETCONTROL_ID:
+ break;
+ case RESPCONTROL_ID:
break;
default:
- return -1;
+ break;
+
}
- return 0;
+ return formatPacket(&metadata, data, formattedCommand);
}
}
}
-
// Only gets here if the command does not exist
return -1;
}
// QUAD & Ground Station
// Format the log data from log_message
-//int formatData(unsigned char *log_msg, unsigned char *formattedCommand)
-int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedCommand)
+int formatPacket(metadata_t *metadata, void *data, unsigned char *formattedCommand)
{
- *formattedCommand = malloc(sizeof(unsigned char) * metadata->data_len + 8);
//----------------------------------------------------------------------------------------------
// index|| 0 | 1 | 2 | 3 & 4 | 5 & 6 | 7+ | end |
//---------------------------------------------------------------------------------------------|
@@ -158,21 +91,21 @@ int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedComm
//----------------------------------------------------------------------------------------------
// Begin Char:
- (*formattedCommand)[0] = metadata->begin_char;
+ formattedCommand[0] = metadata->begin_char;
// Msg type:
- (*formattedCommand)[1] = metadata->msg_type;
- (*formattedCommand)[2] = ((metadata->msg_type >> 8) & 0x000000ff);
+ formattedCommand[1] = metadata->msg_type;
+ formattedCommand[2] = ((metadata->msg_type >> 8) & 0x000000ff);
//Msg id (msgNum is 2 bytes)
- (*formattedCommand)[3] = (metadata->msg_id & 0x000000ff);
- (*formattedCommand)[4] = ((metadata->msg_id >> 8) & 0x000000ff);
+ formattedCommand[3] = (metadata->msg_id & 0x000000ff);
+ formattedCommand[4] = ((metadata->msg_id >> 8) & 0x000000ff);
// Data length and data - bytes 5&6 for len, 7+ for data
- (*formattedCommand)[5] = metadata->data_len & 0x000000ff;
- (*formattedCommand)[6] = (metadata->data_len >> 8) & 0x000000ff;
+ formattedCommand[5] = metadata->data_len & 0x000000ff;
+ formattedCommand[6] = (metadata->data_len >> 8) & 0x000000ff;
- memcpy(&((*formattedCommand)[7]), data, metadata->data_len);
+ memcpy(&(formattedCommand[7]), data, metadata->data_len);
// Checksum
// receive data and calculate checksum
@@ -180,12 +113,13 @@ int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedComm
char data_checksum = 0;
for(i = 0; i < 7 + metadata->data_len; i++)
{
- data_checksum ^= (*formattedCommand)[i];
+ data_checksum ^= formattedCommand[i];
}
- (*formattedCommand)[7 + metadata->data_len] = data_checksum;
+ formattedCommand[7 + metadata->data_len] = data_checksum;
- return 0;
+ /* Return data length */
+ return metadata->data_len + 7;
}
// returns the length of the data in bytes (datalen from packet) and fills data
@@ -196,7 +130,7 @@ int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedComm
// data is an unallocated (char *) (pass it to this function as &data)
// meta_data is a pointer to an instance of metadata_t
//
-int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * meta_data)
+int parse_packet(unsigned char * packet, unsigned char * data, metadata_t * meta_data)
{
//----------------------------------------------------------------------------------------------
// index|| 0 | 1 | 2 | 3 & 4 | 5 & 6 | 7+ | end |
@@ -221,10 +155,9 @@ int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * met
int i;
// receive data
- *data = malloc(meta_data->data_len);
for(i = 0; i < meta_data->data_len; i++)
{
- (*data)[i] = packet[7+i];
+ data[i] = packet[7+i];
}
// calculate checksum
@@ -245,11 +178,11 @@ int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * met
// Process the command received
int processCommand(unsigned char *packet, modular_structs_t *structs) {
int validPacket;
- unsigned char *data;
+ unsigned char data[256];
metadata_t metadata;
// Validate the message is correctly formatted
- validPacket = parse_packet(packet, &data, &metadata);
+ validPacket = parse_packet(packet, data, &metadata);
if(validPacket != 0) {
return -1;
}
diff --git a/groundStation/src/backend/communication.h b/groundStation/src/backend/communication.h
index 364814e3674b25a868e5e516e0bc626dd976b295..f3439f26605357edb7b6575cabfce8ffc6fdb36d 100644
--- a/groundStation/src/backend/communication.h
+++ b/groundStation/src/backend/communication.h
@@ -7,13 +7,10 @@
#include <limits.h>
#include "type_def.h"
-tokenList_t tokenize(char* cmd);
-int checkFloat(char *floatString, float *value);
-int checkInt(char *intString, int *value);
-int formatCommand(char *command, unsigned char **formattedCommand);
-int formatPacket(metadata_t *metadata, void *data, unsigned char **formattedCommand);
-int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * meta_data);
+int formatCommand(char *command, unsigned char *formattedCommand);
+int formatPacket(metadata_t *metadata, void *data, unsigned char *formattedCommand);
+int parse_packet(unsigned char * packet, unsigned char * data, metadata_t * meta_data);
int processCommand(unsigned char *command, modular_structs_t *structs);
int logData(unsigned char *log_msg, unsigned char *formattedCommand);
-#endif /* __COMMUNICATION_H */
\ No newline at end of file
+#endif /* __COMMUNICATION_H */