Adding cmToString function

groundStation/src/backend/backend.c

@@ -627,16 +627,14 @@ static void client_recv(int fd) {
 }
 
 static void quad_recv() {
-	/* Check to see which command we are receiving. If it is one that needs to be passed on
-		onto  the clients, do so.
-	 */
-	
 	static unsigned char respBuf[2048];
 	static size_t respBufLen;
 
 	struct metadata m;
-	uint8_t data[256];
+	uint8_t data[1024];
 	size_t respLen;
+	size_t datalen;
+	size_t packetlen;
 
 	respLen = readQuad((char *) respBuf + respBufLen, 
 			CMD_MAX_LENGTH- respBufLen);
@@ -646,22 +644,51 @@ static void quad_recv() {
 	}
 	respBufLen += respLen;
 
-	if (DecodePacket(&m, data, 256, respBuf, respBufLen) < 0) {
+	if ((datalen = DecodePacket(&m, data, 1024, respBuf, respBufLen)) < 0) {
 		warnx("Packet format error");
 		respBufLen = 0;
 		return;
 	}
-	memmove(respBuf, respBuf + datalen + 8, respBufLen - (datalen + 8));
-	respBufLen -= PacketSize(&m);
 
+	packetlen = PacketSize(&m);
+	memmove(respBuf, respBuf + packetlen, respBufLen - packetlen);
+	respBufLen -= packetlen;
+
+/*
+	DEBUG_ID,             // 00
+	PACKETLOG_ID,         // 01
+	GETPACKETLOGS_ID,     // 02
+	UPDATE_ID,            // 03
+	BEGINUPDATE_ID,       // 04
+	LOG_ID,               // 05
+	RESPONSE_ID,          // 06
+	SETCONTROL_ID,        // 07 - Setting controller values. Example: PID constants
+	GETCONTROL_ID,        // 08 - Getting controller values. Example: PID constants
+	RESPCONTROL_ID,       // 09 - Responding with controller values. Example: PID constants
+	MAX_TYPE_ID
+*/
 	switch (m.msg_type) {
-		case RESPCONTROL_ID:
-			handleRespcontrol;
+		case DEBUG_ID :
+		case PACKETLOG_ID :
+		case GETPACKETLOGS_ID :
+		case UPDATE_ID :
+		case BEGINUPDATE_ID :
+			printf("(Backend): Command '%s' ignored\n", MessageTypes[m.msg_type].cmdText);
 			break;
 		case LOG_ID:
 			/* something like this */
 			log_write((char *) data, m.data_len);
 			break;
+		case RESPONSE_ID:
+		case SETCONTROL_ID:
+		case GETCONTROL_ID:
+			printf("(Backend): Command '%s' ignored\n", MessageTypes[m.msg_type].cmdText);
+			break;
+		case RESPCONTROL_ID:
+			handleRespcontrol(&m, data);
+			break;
+		default:
+			printf("(Backend): message type %d unrecognized\n", m.msg_type);
 	}
 }
 
@@ -669,13 +696,13 @@ static void handleRespcontrol(struct metadata *m, uint8_t * data)
 {
 	struct controller_message cm;
 	if (DecodeRespcontrol(&cm, m, data) < 0) {
-		warnx("Respcontrol error")
+		warnx("DecodeRespcontrol error")
 		return;
 	}
 
 	char buffer[128];
 
-	char * message = cmToString(RESPCONTROL_ID, cm.id, cm.value_id);
+	char * message = cmToString(RESPCONTROL_ID, &cm);
 
 	size_t len = snprintf(buffer, 128, "%s %f\n", message, cm.value);
 

groundStation/src/backend/cmHandler.c

-#include "cmHandler.h"
\ No newline at end of file
+#include "cmHandler.h"
+
+/*enum respContIndices {
+	GET_PITCH_P ,
+	GET_PITCH_I ,
+	GET_PITCH_D ,
+	GET_PITCH	,
+	GET_PITCH_RATE,
+	GET_ROLL_P	,
+	GET_ROLL_I	,
+	GET_ROLL_D	,
+	GET_ROLL	,
+	GET_ROLL_RATE,
+	GET_YAW_P	,
+	GET_YAW_I	,
+	GET_YAW_D	,
+	GET_YAW		,
+	GET_YAW_RATE,
+	GET_HEIGHT_P,
+	GET_HEIGHT_I,
+	GET_HEIGHT_D,
+	GET_HEIGHT	,
+	GET_HEIGHT_RATE,
+	GET_LAT_P	,
+	GET_LAT_I	,
+	GET_LAT_D	,
+	GET_LAT		,
+	GET_LONG_RATE,
+	GET_LONG_P	,
+	GET_LONG_I	,
+	GET_LONG_D	,
+	GET_LONG	,
+	GET_LONG_RATE,
+	MAX_COMMANDS
+};*/
+
+const char * respContStrings[MAX_COMMANDS] {
+	"getrollp",
+	"getrolli",
+	"getrolld",
+	"getroll",
+	"getpitchp",
+	"getpitchi",
+	"getpitchd",
+	"getpitch",
+	"getyawp",
+	"getyawi",
+	"getyawd",
+	"getyaw",
+	"getrollratep",
+	"getrollratei",
+	"getrollrated",
+	"getrollrate",
+	"getpitchratep",
+	"getpitchratei",
+	"getpitchrated",
+	"getpitchrate",
+	"getyawratep",
+	"getyawratei",
+	"getyawrated",
+	"getyawrate",
+	"getlatp",
+	"getlati",
+	"getlatd",
+	"getlat",
+	"getlongp",
+	"getlongi",
+	"getlongd",
+	"getlong",
+	"getheightp",
+	"getheighti",
+	"getheightd",
+	"getheight",
+}
+
+const char * cmToString(int msgType, const struct controller_message *cm) 
+{
+	switch (msgType) {
+		case DEBUG_ID :
+		case PACKETLOG_ID :
+		case GETPACKETLOGS_ID :
+		case UPDATE_ID :
+		case BEGINUPDATE_ID :
+		case LOG_ID:
+		case RESPONSE_ID:
+		case SETCONTROL_ID:
+		case GETCONTROL_ID:
+			return NULL;
+			break;
+		case RESPCONTROL_ID:
+			return respContStrings[cm->id + cm->value_id];
+			break;
+		default:
+			return NULL;
+			break;
+	}
+}

groundStation/src/backend/cmHandler.h

 #ifndef _CMHANDLER_H
 #define _CMHANDLER_H
 
+#include "controller.h"
 
-
+const char * cmToString(int msgType, const struct controller_message *cm);
 
 #endif /* _CMHANDLER_H */
\ No newline at end of file

groundStation/src/backend/commands.c

@@ -167,7 +167,6 @@ struct MessageType MessageTypes[MAX_TYPE_ID] =
 
 };
 
-
 int findCommand(char * str)
 {
 	for (int i = 0; i < MAX_TYPE_ID; i++) {
@@ -176,4 +175,4 @@ int findCommand(char * str)
 		}
 	}
 	return -1;
-}
+}
\ No newline at end of file

groundStation/src/backend/respcontrol.c

@@ -55,7 +55,6 @@ int DecodeRespcontrol(
 		return -1;
 	}
 
-
 	cm->id = data[CTRL_ID];
 	cm->value_id = data[CTRLVAL_ID];
 	cm->value = BytesToFloat(data[VAL_1], data[VAL_2],