From ee6a0850753e5d7a476e872cc8f797b65fb0873a Mon Sep 17 00:00:00 2001
From: burneykb <burneykb@iastate.edu>
Date: Sun, 26 Mar 2017 23:35:52 -0500
Subject: [PATCH] removing multiple defs of meta data
---
groundStation/src/backend/packet.c | 4 +-
groundStation/src/backend/packet.h | 7 +-
groundStation/src/backend/type_def.h | 360 -------------------------
quad/src/commands/commands.h | 10 +-
quad/src/quad_app/callbacks.c | 28 +-
quad/src/quad_app/callbacks.h | 2 +-
quad/src/quad_app/communication.c | 3 +-
quad/src/quad_app/quad_app.c | 1 -
quad/src/quad_app/type_def.h | 7 -
quad/src/virt_quad/hw_impl_unix_uart.c | 11 +-
10 files changed, 35 insertions(+), 398 deletions(-)
delete mode 100644 groundStation/src/backend/type_def.h
diff --git a/groundStation/src/backend/packet.c b/groundStation/src/backend/packet.c
index 7ddbb5363..abcb42490 100644
--- a/groundStation/src/backend/packet.c
+++ b/groundStation/src/backend/packet.c
@@ -14,7 +14,7 @@ ssize_t EncodePacket(
const struct metadata * m, /* Metadata to encode */
const uint8_t * data) /* Data to encode */
{
- if (packet_size < (HDR_SIZE + CSUM_SIZE + m->data_len)) {
+ if (packet_size < (size_t)(HDR_SIZE + CSUM_SIZE + m->data_len)) {
return -1;
}
@@ -58,7 +58,7 @@ ssize_t DecodePacket(
m->msg_id = BytesTo16(packet[ID_L], packet[ID_H]);
m->data_len = BytesTo16(packet[DLEN_L], packet[DLEN_H]);
- if (packet_size < (HDR_SIZE + CSUM_SIZE + m->data_len)) {
+ if (packet_size < (size_t)(HDR_SIZE + CSUM_SIZE + m->data_len)) {
return -3;
}
diff --git a/groundStation/src/backend/packet.h b/groundStation/src/backend/packet.h
index 87f8c5c7e..316432797 100644
--- a/groundStation/src/backend/packet.h
+++ b/groundStation/src/backend/packet.h
@@ -4,6 +4,8 @@
#include <stdint.h>
#include <sys/types.h>
+#include "commands.h"
+
enum PacketHeader {
BEGIN,
MTYPE_L,
@@ -19,11 +21,6 @@ enum ChecksumFormat {
CSUM_L,
CSUM_SIZE
};
-struct metadata {
- int msg_type;
- int msg_id;
- size_t data_len;
-};
/* Combine metadata and data to form a wire-sendable packet.
* Returns the size of the encoded packet
diff --git a/groundStation/src/backend/type_def.h b/groundStation/src/backend/type_def.h
deleted file mode 100644
index 27b5d192e..000000000
--- a/groundStation/src/backend/type_def.h
+++ /dev/null
@@ -1,360 +0,0 @@
-/*
- * struct_def.h
- *
- * Created on: Mar 2, 2016
- * Author: ucart
- */
-
-#ifndef __TYPE_DEF_H
-#define __TYPE_DEF_H
-
-/**
- * @brief
- * The modes for autonomous and manual flight.
- *
- */
-enum flight_mode{
- AUTO_FLIGHT_MODE,
- MANUAL_FLIGHT_MODE
-};
-
-//----------------------------------------------------------------------------------------------
-// index|| 0 | 1 | 2 | 3 & 4 | 5 & 6 | 7+ | end |
-//---------------------------------------------------------------------------------------------|
-// msg param|| beg char | msg type | msg subtype | msg id | data len (bytes) | data | checksum |
-//-------------------------------------------------------------------------------------------- |
-// bytes|| 1 | 1 | 1 | 2 | 2 | var | 1 |
-//----------------------------------------------------------------------------------------------
-typedef struct {
- char begin_char;
- int msg_type;
- int msg_id;
- int data_len;
-} metadata_t;
-
-
-// String builder data type
-typedef struct stringBuilder_s {
- char* buf;
- int length;
- int capacity;
- int maxCapacity;
-
- // Methods
- int (*addStr)(struct stringBuilder_s*, char*);
- int (*addStrAt)(struct stringBuilder_s*, char*, int);
- int (*addChar)(struct stringBuilder_s*, char);
- int (*addCharAt)(struct stringBuilder_s*, char, int);
- int (*removeCharAt)(struct stringBuilder_s*, int);
- void (*clear)(struct stringBuilder_s*);
-} stringBuilder_t;
-
-typedef struct {
- char** tokens;
- int numTokens;
-} tokenList_t;
-
-typedef struct commands{
- int pitch, roll, yaw, throttle;
-}commands;
-
-typedef struct raw{
- int x,y,z;
-}raw;
-typedef struct PID_Consts{
- float P, I, D;
-}PID_Consts;
-
-//Camera system info
-typedef struct {
- int packetId;
-
- double y_pos;
- double x_pos;
- double alt_pos;
-
- double yaw;
- double roll;
- double pitch;
-} quadPosition_t;
-
-typedef struct {
- float yaw;
- float roll;
- float pitch;
- float throttle;
-} quadTrims_t;
-
-//Gyro, accelerometer, and magnetometer data structure
-//Used for reading an instance of the sensor data
-typedef struct {
-
- // GYRO
- //Xint16 raw_gyro_x, raw_gyro_y, raw_gyro_z;
-
- float gyro_xVel_p; // In degrees per second
- float gyro_yVel_q;
- float gyro_zVel_r;
-
- // ACCELEROMETER
- //Xint16 raw_accel_x, raw_accel_y, raw_accel_z;
-
- float accel_x; //In g
- float accel_y;
- float accel_z;
-
- float accel_roll;
- float accel_pitch;
-
-
- // MAG
- //Xint16 raw_mag_x, raw_mag_y, raw_mag_z;
-
- float heading; // In degrees
-
- float mag_x; //Magnetic north: ~50 uT
- float mag_y;
- float mag_z;
-
-
-
-}gam_t;
-
-typedef struct PID_t {
- double current_point; // Current value of the system
- double setpoint; // Desired value of the system
- float Kp; // Proportional constant
- float Ki; // Integral constant
- float Kd; // Derivative constant
- double prev_error; // Previous error
- double acc_error; // Accumulated error
- double pid_correction; // Correction factor computed by the PID
- float dt; // sample period
-} PID_t;
-
-typedef struct PID_values{
- float P; // The P component contribution to the correction output
- float I; // The I component contribution to the correction output
- float D; // The D component contribution to the correction output
- float error; // the error of this PID calculation
- float change_in_error; // error change from the previous calc. to this one
- float pid_correction; // the correction output (P + I + D)
-} PID_values;
-
-///////// MAIN MODULAR STRUCTS
-/**
- * @brief
- * Holds the data inputed by the user
- *
- */
-typedef struct user_input_t {
- int rc_commands[6]; // Commands from the RC transmitter
-
-
-// float cam_x_pos; // Current x position from the camera system
-// float cam_y_pos; // Current y position from the camera system
-// float cam_z_pos; // Current z position from the camera system
-// float cam_roll; // Current roll angle from the camera system
-// float cam_pitch; // Current pitch angle from the camera system
-// float cam_yaw; // Current yaw angle from the camera system
-
- float yaw_manual_setpoint;
- float roll_angle_manual_setpoint;
- float pitch_angle_manual_setpoint;
-
- int hasPacket;
- stringBuilder_t * sb;
-} user_input_t;
-
-/**
- * @brief
- * Holds the log data to be sent to the ground station. It may hold the
- * timestamp of when a sensor's data was obtained.
- *
- */
-typedef struct log_t {
- // Time
- float time_stamp;
- float time_slice;
-
- // Id
- int packetId;
-
- gam_t gam; // Raw and calculated gyro, accel, and mag values are all in gam_t
- float phi_dot, theta_dot, psi_dot; // gimbal equation values
-
- quadPosition_t currentQuadPosition;
-
- float roll_angle_filtered, pitch_angle_filtered;
- float lidar_altitude;
-
- float pid_P_component, pid_I_component, pid_D_component; // use these generically for any PID that you are testing
-
- // PID coefficients and errors
- PID_t local_x_PID, local_y_PID, altitude_PID;
- PID_t angle_yaw_PID, angle_roll_PID, angle_pitch_PID;
- PID_t ang_vel_yaw_PID, ang_vel_roll_PID, ang_vel_pitch_PID;
-
- PID_values local_x_PID_values, local_y_PID_values, altitude_PID_values;
- PID_values angle_yaw_PID_values, angle_roll_PID_values, angle_pitch_PID_values;
- PID_values ang_vel_yaw_PID_values, ang_vel_roll_PID_values, ang_vel_pitch_PID_values;
-
- // RC commands
- commands commands;
-
- //trimmed values
- quadTrims_t trims;
-
- int motors[4];
-
-} log_t;
-
-/**
- * @brief
- * Holds the raw data from the sensors and the timestamp if available
- *
- */
-typedef struct raw_sensor {
- int acc_x; // accelerometer x data
- int acc_x_t; // time of accelerometer x data
-
- int acc_y; // accelerometer y data
- int acc_y_t; // time of accelerometer y data
-
- int acc_z; // accelerometer z data
- int acc_z_t; // time of accelerometer z data
-
-
- int gyr_x; // gyroscope x data
- int gyr_x_t; // time of gyroscope x data
-
- int gyr_y; // gyroscope y data
- int gyr_y_t; // time of gyroscope y data
-
- int gyr_z; // gyroscope z data
- int gyr_z_t; // time of gyroscope z data
-
- int ldr_z; //lidar z data (altitude)
- int ldr_z_t; //time of lidar z data
-
- gam_t gam;
-
- // Structures to hold the current quad position & orientation
- quadPosition_t currentQuadPosition;
-
-} raw_sensor_t;
-
-/**
- * @brief
- * Holds the processed data from the sensors and the timestamp if available
- *
- */
-typedef struct sensor {
- int acc_x; // accelerometer x data
- int acc_x_t; // time of accelerometer x data
-
- int acc_y; // accelerometer y data
- int acc_y_t; // time of accelerometer y data
-
- int acc_z; // accelerometer z data
- int acc_z_t; // time of accelerometer z data
-
-
- int gyr_x; // gyroscope x data
- int gyr_x_t; // time of gyroscope x data
-
- int gyr_y; // gyroscope y data
- int gyr_y_t; // time of gyroscope y data
-
- int gyr_z; // gyroscope z data
- int gyr_z_t; // time of gyroscope z data
-
- int ldr_z; //lidar z data (altitude)
- int ldr_z_t; //time of lidar z data
-
- float pitch_angle_filtered;
- float roll_angle_filtered;
- float lidar_altitude;
-
- float phi_dot, theta_dot, psi_dot;
-
- // Structures to hold the current quad position & orientation
- quadPosition_t currentQuadPosition;
- quadTrims_t trims;
-
-} sensor_t;
-
-/**
- * @brief
- * Holds the setpoints to be used in the controller
- *
- */
-typedef struct setpoint_t {
- quadPosition_t desiredQuadPosition;
-} setpoint_t;
-
-/**
- * @brief
- * Holds the parameters that are specific to whatever type of
- * control algorithm is being used
- *
- */
-typedef struct parameter_t {
- PID_t roll_angle_pid, roll_ang_vel_pid;
- PID_t pitch_angle_pid, pitch_ang_vel_pid;
- PID_t yaw_ang_vel_pid;
- PID_t local_x_pid;
- PID_t local_y_pid;
- PID_t yaw_angle_pid;
- PID_t alt_pid;
-} parameter_t;
-
-/**
- * @brief
- * Holds user defined data for the controller
- *
- */
-typedef struct user_defined_t {
- int flight_mode;
- int engaging_auto;
-} user_defined_t;
-
-/**
- * @brief
- * Holds the raw actuator values before processing
- *
- */
-typedef struct raw_actuator_t {
-
- int controller_corrected_motor_commands[6];
-
-} raw_actuator_t;
-
-/**
- * @brief
- * Holds processed commands to go to the actuators
- *
- */
-typedef struct actuator_command_t {
- int pwms[4];
-} actuator_command_t;
-
-/**
- * @brief
- * Structures to be used throughout
- */
-typedef struct {
- user_input_t user_input_struct;
- log_t log_struct;
- raw_sensor_t raw_sensor_struct;
- sensor_t sensor_struct;
- setpoint_t setpoint_struct;
- parameter_t parameter_struct;
- user_defined_t user_defined_struct;
- raw_actuator_t raw_actuator_struct;
- actuator_command_t actuator_command_struct;
-}modular_structs_t;
-
-//////// END MAIN MODULAR STRUCTS
-
-#endif /* __TYPE_DEF_H */
diff --git a/quad/src/commands/commands.h b/quad/src/commands/commands.h
index 2d41d2e62..194bbaedc 100644
--- a/quad/src/commands/commands.h
+++ b/quad/src/commands/commands.h
@@ -4,6 +4,7 @@
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
+#include <stdint.h>
#define MAX_CMD_TEXT_LENGTH 100
@@ -56,7 +57,14 @@ enum MessageTypeID{
};
struct modular_structs;
-struct metadata;
+
+struct metadata {
+ char begin_char;
+ uint16_t msg_type;
+ uint16_t msg_id;
+ uint16_t data_len;
+};
+
typedef int (command_cb)(struct modular_structs *, struct metadata *, unsigned char *, unsigned short);
/*
diff --git a/quad/src/quad_app/callbacks.c b/quad/src/quad_app/callbacks.c
index 6ddd546a3..75e91e6bf 100644
--- a/quad/src/quad_app/callbacks.c
+++ b/quad/src/quad_app/callbacks.c
@@ -16,7 +16,7 @@ static size_t total_payload_received = 0;
/**
* Currently does nothing.
*/
-int cb_debug(modular_structs_t *structs, metadata_t *meta, u8 *data, u16 length)
+int cb_debug(modular_structs_t *structs, struct metadata *meta, u8 *data, u16 length)
{
char buf[255];
@@ -33,7 +33,7 @@ int cb_debug(modular_structs_t *structs, metadata_t *meta, u8 *data, u16 length)
/**
* counts the number of packet logs.
*/
-int cb_packetlog(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 length) {
+int cb_packetlog(modular_structs_t* structs, struct metadata *meta, u8 *data, u16 length) {
n_msg_received += 1;
total_payload_received += length;
return 0;
@@ -43,11 +43,11 @@ int cb_packetlog(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 len
* Handles a get packet logs request and sends a response
* with the packet log data.
*/
-int cb_getpacketlogs(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 length) {
+int cb_getpacketlogs(modular_structs_t* structs, struct metadata *meta, u8 *data, u16 length) {
char buf[255];
// Message logging number of messages received and size of payload received
- int len = snprintf(buf, sizeof buf, "%d,%d", n_msg_received, total_payload_received);
+ int len = snprintf(buf, sizeof buf, "%d,%lu", n_msg_received, total_payload_received);
send_data(&structs->hardware_struct.uart, LOG_ID, 0, buf, len >= sizeof(buf) ? 255 : len + 1);
return 0;
@@ -56,7 +56,7 @@ int cb_getpacketlogs(modular_structs_t* structs, metadata_t *meta, u8 *data, u16
/*
* Handles receiving new location updates.
*/
-int cb_update(modular_structs_t *structs, metadata_t *meta, u8 *data, u16 length)
+int cb_update(modular_structs_t *structs, struct metadata *meta, u8 *data, u16 length)
{
//processUpdate(packet, &(structs->raw_sensor_struct.currentQuadPosition));
@@ -94,7 +94,7 @@ int cb_update(modular_structs_t *structs, metadata_t *meta, u8 *data, u16 length
/**
* This is called on the ground station to begin sending VRPN to the quad.
*/
-int cb_beginupdate(modular_structs_t *structs, metadata_t *meta, u8 *data, u16 length) {
+int cb_beginupdate(modular_structs_t *structs, struct metadata *meta, u8 *data, u16 length) {
structs->user_input_struct.receivedBeginUpdate = 1;
return 0;
}
@@ -137,7 +137,7 @@ struct node_ids get_node_ids(u8 *data) {
*
* Does not send anything in response.
*/
-int cb_setparam(modular_structs_t *structs, metadata_t *meta, u8 *data, u16 length)
+int cb_setparam(modular_structs_t *structs, struct metadata *meta, u8 *data, u16 length)
{
// Check if the data length is correct
if (length != 8) {return -1;}
@@ -176,7 +176,7 @@ int cb_setparam(modular_structs_t *structs, metadata_t *meta, u8 *data, u16 leng
* | bytes || 2 | 2 | 4 |
* |--------------------------------------------------------|
*/
-int cb_getparam(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 length)
+int cb_getparam(modular_structs_t* structs, struct metadata *meta, u8 *data, u16 length)
{
// Check if the data length is correct
if (length != 4) {return -1;}
@@ -199,7 +199,7 @@ int cb_getparam(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 len
// Send the response
send_data(&structs->hardware_struct.uart, RESPPARAM_ID, msg_id, resp_data, sizeof(resp_data));
- return 0;
+ return 5;
}
/**
@@ -217,7 +217,7 @@ int cb_getparam(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 len
*
* Does not send anything in response.
*/
-int cb_setsource(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 length) {
+int cb_setsource(modular_structs_t* structs, struct metadata *meta, u8 *data, u16 length) {
if (length != 8) {return -1;}
int16_t dest_node = build_short(data);
int16_t dest_input = build_short(data + 2);
@@ -254,7 +254,7 @@ int cb_setsource(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 le
* | bytes || 2 | 2 | 2 | 2 |
* |---------------------------------------------------------------------------|
*/
-int cb_getsource(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 length) {
+int cb_getsource(modular_structs_t* structs, struct metadata *meta, u8 *data, u16 length) {
if (length != 4) {return -1;}
u16 msg_id = meta->msg_id;
// Get requested IDs
@@ -276,7 +276,7 @@ int cb_getsource(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 le
* Handles a command to get a node output value from the quad.
* Packet structure is the same as getparam
*/
-int cb_getoutput(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 length)
+int cb_getoutput(modular_structs_t* structs, struct metadata *meta, u8 *data, u16 length)
{
// Check if the data length is correct
if (length != 4) {return -1;}
@@ -315,7 +315,7 @@ int cb_getoutput(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 le
* | bytes || 2*N | 2*N | < 4096 |
* |---------------------------------------------------------------|
*/
-int cb_getnodes(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 length) {
+int cb_getnodes(modular_structs_t* structs, struct metadata *meta, u8 *data, u16 length) {
const struct computation_graph* graph = structs->parameter_struct.graph;
if (graph->n_nodes >= 150) {
static char* error_msg = "Over 150 nodes. Not responding to cb_getnodes for fear of buffer overflow.";
@@ -381,7 +381,7 @@ int cb_getnodes(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 len
* | bytes || 2 |
* |-----------------------------|
*/
-int cb_addnode(modular_structs_t* structs, metadata_t *meta, u8 *data, u16 length) {
+int cb_addnode(modular_structs_t* structs, struct metadata *meta, u8 *data, u16 length) {
if (length < 2) {return -1;}
// Size of name
size_t name_len = length - 2;
diff --git a/quad/src/quad_app/callbacks.h b/quad/src/quad_app/callbacks.h
index 3a13626db..7642fd162 100644
--- a/quad/src/quad_app/callbacks.h
+++ b/quad/src/quad_app/callbacks.h
@@ -1,9 +1,9 @@
#ifndef __callbacks_h
#define __callbacks_h
+#include "commands.h"
/* Grab some stupid stuff from legacy code */
struct modular_structs;
-struct metadata;
typedef int (command_cb)(struct modular_structs *, struct metadata *, unsigned char *, unsigned short);
#endif
diff --git a/quad/src/quad_app/communication.c b/quad/src/quad_app/communication.c
index c0d37659e..32b1e3da0 100644
--- a/quad/src/quad_app/communication.c
+++ b/quad/src/quad_app/communication.c
@@ -22,7 +22,6 @@ u8 packet[MAX_PACKET_SIZE];
int bytes_recv = 0;
int try_receive_packet(struct UARTDriver *uart) {
-
int attempts = 0;
while (attempts++ < MAX_PACKET_SIZE) {
// Find start of packet
@@ -77,7 +76,7 @@ int try_receive_packet(struct UARTDriver *uart) {
}
int process_packet(modular_structs_t *structs) {
- metadata_t meta;
+ struct metadata meta;
// parse metadata
meta.begin_char = packet[0];
meta.msg_type = packet[2] << 8 | packet[1];
diff --git a/quad/src/quad_app/quad_app.c b/quad/src/quad_app/quad_app.c
index 22829b5c8..49386e9b9 100644
--- a/quad/src/quad_app/quad_app.c
+++ b/quad/src/quad_app/quad_app.c
@@ -59,7 +59,6 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
usleep(500000);
u32 start_time = timer_get_count();
#endif
-
process_received(&structs);
#ifdef UART_BENCHMARK
diff --git a/quad/src/quad_app/type_def.h b/quad/src/quad_app/type_def.h
index 8d6363cfa..53af7f2f8 100644
--- a/quad/src/quad_app/type_def.h
+++ b/quad/src/quad_app/type_def.h
@@ -38,13 +38,6 @@ enum flight_mode{
//-------------------------------------------------------------------------------------------- |
// bytes|| 1 | 2 | 2 | 2 | var | 1 |
//----------------------------------------------------------------------------------------------
-typedef struct {
- char begin_char;
- uint16_t msg_type;
- uint16_t msg_id;
- uint16_t data_len;
-} metadata_t;
-
typedef struct {
char** tokens;
diff --git a/quad/src/virt_quad/hw_impl_unix_uart.c b/quad/src/virt_quad/hw_impl_unix_uart.c
index c4f024ff2..9d1001ee2 100644
--- a/quad/src/virt_quad/hw_impl_unix_uart.c
+++ b/quad/src/virt_quad/hw_impl_unix_uart.c
@@ -51,8 +51,9 @@ int unix_uart_reset(struct UARTDriver *self) {
}
int unix_uart_write(struct UARTDriver *self, unsigned char c) {
- return send(client, &c, 1, MSG_DONTWAIT);
- // return write(client, &c, 1);
+ printf("sending [%c]\n", c);
+ send(client, &c, 1, MSG_DONTWAIT);
+ return 0;
}
int unix_uart_read(struct UARTDriver *self, unsigned char *c) {
@@ -61,10 +62,10 @@ int unix_uart_read(struct UARTDriver *self, unsigned char *c) {
if (bytes_available > 0) {
int bytes = recv(client, c, 1, 0);
- printf("read in %d byte [%x]\n", bytes, *c);
- return bytes;
- } else {
+ printf("read in %d byte [%X]\n", bytes, *c);
return 0;
+ } else {
+ return 1;
}
}
\ No newline at end of file
--
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