From f7a49cce1673b9cdfc13e8b5f338ed137f2ad9e4 Mon Sep 17 00:00:00 2001
From: burneykb <burneykb@iastate.edu>
Date: Fri, 24 Mar 2017 16:59:24 -0500
Subject: [PATCH] removed common folder, linking from quad side
---
ci-build.sh | 3 +-
common/commands.c | 283 ---------------------------
common/commands.h | 75 --------
common/common.txt | 3 -
common/examples_c | 77 --------
groundStation/Makefile | 17 +-
groundStation/src/backend/backend.c | 12 +-
groundStation/src/backend/nodes.c | 2 +-
groundStation/src/backend/output.c | 2 +-
groundStation/src/backend/param.c | 2 +-
groundStation/src/backend/source.c | 2 +-
groundStation/src/backend/update.c | 2 +-
groundStation/src/cli/cli_nodes.c | 1 -
quad/src/quad_app/commands.c | 284 +++++++++++++++++++++++++++-
quad/src/quad_app/commands.h | 76 +++++++-
15 files changed, 378 insertions(+), 463 deletions(-)
delete mode 100644 common/commands.c
delete mode 100644 common/commands.h
delete mode 100644 common/common.txt
delete mode 100644 common/examples_c
mode change 120000 => 100644 quad/src/quad_app/commands.c
mode change 120000 => 100644 quad/src/quad_app/commands.h
diff --git a/ci-build.sh b/ci-build.sh
index f2ee59eb3..9e0a02bdc 100644
--- a/ci-build.sh
+++ b/ci-build.sh
@@ -3,4 +3,5 @@
set -e
# Quad Libraries and Boot image
-cd quad && make boot
+(cd quad && make)
+(cd groundstation && make)
diff --git a/common/commands.c b/common/commands.c
deleted file mode 100644
index 9111f1050..000000000
--- a/common/commands.c
+++ /dev/null
@@ -1,283 +0,0 @@
-#include "commands.h"
-
-/* This file defines the commands structure.
- * This is the canonical reference for all commands
- * used. This file can be used - unchanged - on both the quad side
- * and on the ground station side. The commands.h file is also entirely
- * portable and may be used unchanged.
- *
- * This file (commands.c) and the matching header (commands.h)
- * are fully portable (quad + groundStation).
- *
- * To use this file, three non-portable files must also exist:
- * - callbacks.h. Typedef for command_cb
- * - cb_default.h. Implementation of cb_default.
- * - callbacks.c file. Contains implemented callbacks.
- *
- * There are two mandatory things that must be implemented in
- * other files for this to work: First, in callbacks.h, create a typedef
- * for command_cb. See the callbacks.h of the ground station for an
- * example.
- *
- * Second, in cb_default.h, implement the function
- * cb_default. This function should do nothing; it will be the
- * default action for an unimplemented callback. Note that because
- * the function is implemented in the .h file, cb_default.h MUST NOT
- * be included in any other file!
- *
- * To implement callbacks, simply define them in callbacks.c.
- *
- *
- * EXTENDING COMMANDS.C
- *
- * To extend this file, simply add the new type (typically
- * a Setter, Getter, and Response) and create weak aliases below.
- *
- * Ensure the Quad and GroundStation always maintain this file in sync!
- *
- */
-
-/*
- * List of callbacks. DO NOT MODIFY THESE IN THIS FILE -
- * Simply implement a function with the same name
- * in a different file (callbacks.c) and these will
- * be overridden.
- */
-
-/* Grab the default callback implementation */
-#include "cb_default.h"
-
-/* Misc. callbacks */
-command_cb cb_debug __attribute__((weak, alias("cb_default")));
-command_cb cb_packetlog __attribute__((weak, alias("cb_default")));
-command_cb cb_getpacketlogs __attribute__((weak, alias("cb_default")));
-command_cb cb_update __attribute__((weak, alias("cb_default")));
-command_cb cb_beginupdate __attribute__((weak, alias("cb_default")));
-command_cb cb_log __attribute__((weak, alias("cb_default")));
-command_cb cb_response __attribute__((weak, alias("cb_default")));
-command_cb cb_logend __attribute__((weak, alias("cb_default")));
-
-/* Callbacks for configuration */
-command_cb cb_setparam __attribute__((weak, alias("cb_default")));
-command_cb cb_getparam __attribute__((weak, alias("cb_default")));
-command_cb cb_respparam __attribute__((weak, alias("cb_default")));
-
-command_cb cb_setsource __attribute__((weak, alias("cb_default")));
-command_cb cb_getsource __attribute__((weak, alias("cb_default")));
-command_cb cb_respsource __attribute__((weak, alias("cb_default")));
-
-command_cb cb_getoutput __attribute__((weak, alias("cb_default")));
-command_cb cb_respoutput __attribute__((weak, alias("cb_default")));
-
-command_cb cb_getnodes __attribute__((weak, alias("cb_default")));
-command_cb cb_respnodes __attribute__((weak, alias("cb_default")));
-
-command_cb cb_addnode __attribute__((weak, alias("cb_default")));
-command_cb cb_respaddnode __attribute__((weak, alias("cb_default")));
-
-
-/*
- * Command structure.
- * This array is used to keep track of the callback functions
- * for commands between the quad and the ground station.
- *
- * There is one callback function pointer associated with each
- * element in this struct array.
- *
- * DO NOT change this struct without updating the
- * "MessageTypeID" struct in commands.h as well
- */
-struct MessageType MessageTypes[MAX_TYPE_ID] =
-{
- // DEBUG
- {
- // Command text
- "debug",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_debug
- },
- // PACKETLOG
- {
- // Command text
- "packetlog",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_packetlog
- },
- // GETPACKETLOGS
- {
- // Command text
- "getpacketlogs",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_getpacketlogs
- },
- // UPDATE
- {
- // Command text
- "update",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_update
- },
- // BEGINUPDATE
- {
- // Command text
- "beginupdate",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_beginupdate
- },
- // LOG
- {
- // Command text
- "log",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_log
- },
- // RESPONSE
- {
- // Command text
- "response",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_response
- },
- // SETPARAM
- {
- // Command text
- "setparam",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setparam
- },
- // GETPARAM
- {
- // Command text
- "getparam",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getparam
- },
- // RESPPARAM
- {
- // Command text
- "respparam",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respparam
- },
- // SETSOURCE
- {
- // Command text
- "setsource",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_setsource
- },
- // GETSOURCE
- {
- // Command text
- "getsource",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getsource
- },
- // RESPSOURCE
- {
- // Command text
- "respsource",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respsource
- },
- // GETOUTPUT
- {
- // Command text
- "getoutput",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respoutput
- },
- // RESPOUTPUT
- {
- // Command text
- "respoutput",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respoutput
- },
- // GETNODES
- {
- // Command text
- "getnodes",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_getnodes
- },
- // RESPNODES
- {
- // Command text
- "respnodes",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respnodes
- },
- // ADDNODE
- {
- // Command text
- "addnode",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_addnode
- },
- // RESPADDNODE
- {
- // Command text
- "respaddnode",
- // Type of the command data
- floatType,
- // Function pointer
- &cb_respaddnode
- },
- // LOG_END
- {
- // Command text
- "logend",
- // Type of the command data
- stringType,
- // Function pointer
- &cb_logend
- }
-};
-
-int findCommand(char * str)
-{
- int i;
- for (i = 0; i < MAX_TYPE_ID; i++) {
- if (strncmp(str, MessageTypes[i].cmdText, strlen(str)) == 0) {
- return i;
- }
- }
- return -1;
-}
diff --git a/common/commands.h b/common/commands.h
deleted file mode 100644
index d4b0f2e2c..000000000
--- a/common/commands.h
+++ /dev/null
@@ -1,75 +0,0 @@
-#ifndef __COMMANDS_H
-#define __COMMANDS_H
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "callbacks.h"
-
-#define MAX_CMD_TEXT_LENGTH 100
-
-enum Message{
- BEGIN_CHAR = 0xBE,
- END_CHAR = 0xED
-};
-
-/*
- * Enumeration of the data types that a callback function may use
- * doubleType should get added here at some point
- */
-enum DataType
-{
- floatType, // 00
- intType, // 01
- stringType // 02
-};
-
-/*
- * Message type IDs used to know what kind of message we are dealing with
- * Enumeration used to index the MessageTypes array in commands.c
- *
- * DO NOT change items in the middle of this enum or you will break backwards compatibility.
- * - Add new message types in the slot between MAX_TYPE_ID and the one before it
- * DO NOT change this enum without also updating the "MessageTypes" array
- * in commands.c to match.
- */
-enum MessageTypeID{
- DEBUG_ID, // 00
- PACKETLOG_ID, // 01
- GETPACKETLOGS_ID, // 02
- UPDATE_ID, // 03
- BEGINUPDATE_ID, // 04
- LOG_ID, // 05
- RESPONSE_ID, // 06
- SETPARAM_ID, // 07 - Setting node parameters.
- GETPARAM_ID, // 08 - Getting node parameters.
- RESPPARAM_ID, // 09 - Responding with node parameters.
- SETSOURCE_ID, // 10 - Setting node input source block_id & output_id
- GETSOURCE_ID, // 11 - Getting node input source block_id & output_id
- RESPSOURCE_ID, // 12 - Responding with node input source block_id & output_id
- GETOUTPUT_ID, // 13 - Getting node output
- RESPOUTPUT_ID, // 14 - Responding with node output
- GETNODES_ID, // 15 - Getting node IDs from current comp_graph
- RESPNODES_ID, // 16 - Responding with node IDs from current comp_graph
- ADDNODE_ID, // 17 - Add a node of specified type_id
- RESPADDNODE_ID, // 18 - Responding with the block_id of the newly added node
- LOG_END_ID, // 19 - Responding with controller parameters. Example: PID constants
- MAX_TYPE_ID // 20 - Just used to keep track of the size. Must remain at the end
-};
-
-/*
- * Message type struct used to keep track of the callback function
- * pointers located in commands.c
- */
-struct MessageType{
- char cmdText[MAX_CMD_TEXT_LENGTH];
- char cmdDataType;
- command_cb * functionPtr;
-};
-
-/* Defined in commands.c */
-extern struct MessageType MessageTypes[MAX_TYPE_ID];
-int findCommand(char * cmdStr);
-
-#endif /* __COMMANDS_H */
diff --git a/common/common.txt b/common/common.txt
deleted file mode 100644
index 3a2009407..000000000
--- a/common/common.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-The common files are:
- - setcontrol.h
- - setcontrol.c
diff --git a/common/examples_c b/common/examples_c
deleted file mode 100644
index 036ddeb3c..000000000
--- a/common/examples_c
+++ /dev/null
@@ -1,77 +0,0 @@
-#include "packet.h"
-#include "setcontrol.h"
-#include "commands.h"
-
-#include <sys/types.h>
-
-
-/* This example is close to how the ground station will handle things. It
- * shouldn't be too hard to adapt it to work on the quad side.
- */
-
-static int next_msg_id = 0;
-
-int SendSetControl()
-{
- struct metadata m;
- struct controller_message cm;
-
- cm.id = ROLL_ID; /* Roll controller */
- cm.value_id = KI_ID; /* I coefficient */
- cm.value = 42.00f; /* An appropriate value */
-
- uint8_t data[64];
- m.msg_id = next_msg_id++;
- /* Fills in the rest of the metadata automatically */
- if (EncodeSetcontrol(&m, data, 64, &cm) < 0) {
- return -1;
- }
-
- uint8_t packet[128];
- ssize_t length;
- if ((length = EncodePacket(packet, 128, &m, data)) < 0) {
- return -1;
- }
-
- /* Now you can send the packet
- * sendThePacket(packet, length);
- */
-
- return 0;
-}
-
-
-/* Process incoming packets */
-int receive_packet(uint8_t * packet, size_t length)
-{
- struct metadata m;
- uint8_t data[128];
-
- /* Will fail if checksum is bad, etc */
- if (DecodePacket(&m, data, 128, packet, length) < 0) {
- return -1;
- }
-
- /* Let's pretend that the callbacks have signature
- * void cb(
- * const struct metadata * m,
- * const uint8_t * data);
- *
- * Call the callback.
- */
- (*MessageTypes[m.msg_type].functionPtr)(&m, data);
-
- return 0;
-}
-
-/* An example of a setcontrol callback. Arguments
- * aren't important, as long as we have access
- * to the packet bytes and the length
- */
-void cb_setcontrol(const struct metadata *m, const uint8_t *data)
-{
- struct controller_message cm;
- DecodeSetcontrol(&cm, m, data);
-
- /* cm now has populated controller ID, value ID, and value */
-}
diff --git a/groundStation/Makefile b/groundStation/Makefile
index 47356c05d..76fb0bf38 100644
--- a/groundStation/Makefile
+++ b/groundStation/Makefile
@@ -6,14 +6,14 @@ GXX=g++
CFLAGS= -Wall -pedantic -Wextra -Werror -std=gnu99 -g -Wno-unused-parameter -Wno-unused-variable -Wno-unused-function -Wno-unused-but-set-variable
CXXFLAGS= -Wall -pedantic -Wextra -Werror -Wno-reorder -Wno-unused-variable -std=c++0x -g
INCLUDES = $(foreach dir, $(INCDIR), -I$(dir))
-INCDIR=inc src/vrpn src/vrpn/quat src/vrpn/build $(COMSRCDIR) $(BESRCDIR) $(CLISRCDIR) $(FESRCDIR)
-LIBS= -lpthread -lbluetooth -lvrpn -lquat -Lsrc/vrpn/build -Lsrc/vrpn/build/quat
+INCDIR=../quad/inc src/vrpn src/vrpn/quat src/vrpn/build $(BESRCDIR) $(CLISRCDIR) $(FESRCDIR)
+LIBS= -lpthread -lbluetooth -lvrpn -lquat -Lsrc/vrpn/build -Lsrc/vrpn/build/quat -lcomputation_graph -L../quad/lib -lquad_app
OBJDIR=obj
# Common Objects
-COMSRCDIR=../common
-COMSOURCES := $(wildcard $(COMSRCDIR)/*.c )
-COMOBJECTS = $(COMSOURCES:$(COMSRCDIR)/%.c=$(OBJDIR)/%.o)
+# COMSRCDIR=../common
+# COMSOURCES := $(wildcard $(COMSRCDIR)/*.c )
+# COMOBJECTS = $(COMSOURCES:$(COMSRCDIR)/%.c=$(OBJDIR)/%.o)
# Backend Specific Variables
BEBINARY=BackEnd
@@ -36,7 +36,7 @@ FECSOURCES := $(wildcard $(FESRCDIR)/*.c )
FECOBJECTS = $(FECSOURCES:$(FESRCDIR)/%.c=$(OBJDIR)/%.o)
-OBJECTS= $(COMOBJECTS) $(CLIOBJECTS) $(BECOBJECTS) $(BECPPOBJECTS) $(FECOBJECTS)
+OBJECTS=$(CLIOBJECTS) $(BECOBJECTS) $(BECPPOBJECTS) $(FECOBJECTS)
# Default target
all: logs objdir backend cli $(SYMLINKS)
@@ -53,12 +53,9 @@ $(CLIOBJECTS) : $(OBJDIR)/%.o : $(CLISRCDIR)/%.c
$(GCC) $(CFLAGS) -c $^ -o $@ $(INCLUDES) $(LIBS)
-backend: $(COMOBJECTS) $(BECPPOBJECTS) $(BECOBJECTS)
+backend: $(BECPPOBJECTS) $(BECOBJECTS)
$(GXX) $(CXXFLAGS) $^ -o $(BEBINARY) $(INCLUDES) $(LIBS)
-$(COMOBJECTS) : $(OBJDIR)/%.o : $(COMSRCDIR)/%.c
- $(GCC) $(CFLAGS) -c $^ -o $@ $(INCLUDES) $(LIBS)
-
$(FECOBJECTS) : $(OBJDIR)/%.o : $(FESRCDIR)/%.c
$(GCC) $(CFLAGS) -c $^ -o $@ $(INCLUDES) $(LIBS)
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index 382a525c0..97d12318d 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -29,7 +29,7 @@
#include <netinet/tcp.h>
//user created includes
-#include "../../../common/commands.h"
+#include "commands.h"
#include "vrpn_tracker.hpp"
#include "type_def.h"
#include "packet.h"
@@ -766,11 +766,11 @@ static void quad_recv() {
}
respBufLen += respLen;
- // printf("packetFromQuad = '");
- // for(int i = 0; i < (int)respBufLen; ++i) {
- // printf(" %.2x ", respBuf[i]);
- // }
- // printf("'\n");
+ printf("packetFromQuad = '");
+ for(int i = 0; i < (int)respBufLen; ++i) {
+ printf(" %.2x ", respBuf[i]);
+ }
+ printf("'\n");
while(respBufLen){
datalen = DecodePacket(&m, data, CMD_MAX_LENGTH, respBuf, respBufLen);
diff --git a/groundStation/src/backend/nodes.c b/groundStation/src/backend/nodes.c
index 4db73c6f4..119fac877 100644
--- a/groundStation/src/backend/nodes.c
+++ b/groundStation/src/backend/nodes.c
@@ -2,7 +2,7 @@
#include <inttypes.h>
#include "nodes.h"
-#include "../../../common/commands.h"
+#include "commands.h"
#include "bitwise.h"
diff --git a/groundStation/src/backend/output.c b/groundStation/src/backend/output.c
index f293f3ec7..d72f04bcd 100644
--- a/groundStation/src/backend/output.c
+++ b/groundStation/src/backend/output.c
@@ -2,7 +2,7 @@
#include <inttypes.h>
#include "output.h"
-#include "../../../common/commands.h"
+#include "commands.h"
#include "bitwise.h"
diff --git a/groundStation/src/backend/param.c b/groundStation/src/backend/param.c
index 15b049dba..8912b65f9 100644
--- a/groundStation/src/backend/param.c
+++ b/groundStation/src/backend/param.c
@@ -2,7 +2,7 @@
#include <inttypes.h>
#include "param.h"
-#include "../../../common/commands.h"
+#include "commands.h"
#include "bitwise.h"
enum GetparamData {
diff --git a/groundStation/src/backend/source.c b/groundStation/src/backend/source.c
index ab319d251..683a3011f 100644
--- a/groundStation/src/backend/source.c
+++ b/groundStation/src/backend/source.c
@@ -2,7 +2,7 @@
#include <inttypes.h>
#include "source.h"
-#include "../../../common/commands.h"
+#include "commands.h"
#include "bitwise.h"
diff --git a/groundStation/src/backend/update.c b/groundStation/src/backend/update.c
index 1f51f0be7..db546e05a 100644
--- a/groundStation/src/backend/update.c
+++ b/groundStation/src/backend/update.c
@@ -1,5 +1,5 @@
#include "update.h"
-#include "../../../common/commands.h"
+#include "commands.h"
#include "bitwise.h"
#include <sys/types.h>
diff --git a/groundStation/src/cli/cli_nodes.c b/groundStation/src/cli/cli_nodes.c
index ff067dd57..79d0633fb 100644
--- a/groundStation/src/cli/cli_nodes.c
+++ b/groundStation/src/cli/cli_nodes.c
@@ -27,7 +27,6 @@ int cli_getnodes(struct backend_conn * conn, int argc, char ** argv) {
node_data = malloc(sizeof(*node_data) * num_nodes);
-
if (frontend_getnodes(conn, node_data, &num_nodes)) {
free(node_data);
return 1;
diff --git a/quad/src/quad_app/commands.c b/quad/src/quad_app/commands.c
deleted file mode 120000
index e9bada254..000000000
--- a/quad/src/quad_app/commands.c
+++ /dev/null
@@ -1 +0,0 @@
-../../../groundStation/src/backend/common/commands.c
\ No newline at end of file
diff --git a/quad/src/quad_app/commands.c b/quad/src/quad_app/commands.c
new file mode 100644
index 000000000..9111f1050
--- /dev/null
+++ b/quad/src/quad_app/commands.c
@@ -0,0 +1,283 @@
+#include "commands.h"
+
+/* This file defines the commands structure.
+ * This is the canonical reference for all commands
+ * used. This file can be used - unchanged - on both the quad side
+ * and on the ground station side. The commands.h file is also entirely
+ * portable and may be used unchanged.
+ *
+ * This file (commands.c) and the matching header (commands.h)
+ * are fully portable (quad + groundStation).
+ *
+ * To use this file, three non-portable files must also exist:
+ * - callbacks.h. Typedef for command_cb
+ * - cb_default.h. Implementation of cb_default.
+ * - callbacks.c file. Contains implemented callbacks.
+ *
+ * There are two mandatory things that must be implemented in
+ * other files for this to work: First, in callbacks.h, create a typedef
+ * for command_cb. See the callbacks.h of the ground station for an
+ * example.
+ *
+ * Second, in cb_default.h, implement the function
+ * cb_default. This function should do nothing; it will be the
+ * default action for an unimplemented callback. Note that because
+ * the function is implemented in the .h file, cb_default.h MUST NOT
+ * be included in any other file!
+ *
+ * To implement callbacks, simply define them in callbacks.c.
+ *
+ *
+ * EXTENDING COMMANDS.C
+ *
+ * To extend this file, simply add the new type (typically
+ * a Setter, Getter, and Response) and create weak aliases below.
+ *
+ * Ensure the Quad and GroundStation always maintain this file in sync!
+ *
+ */
+
+/*
+ * List of callbacks. DO NOT MODIFY THESE IN THIS FILE -
+ * Simply implement a function with the same name
+ * in a different file (callbacks.c) and these will
+ * be overridden.
+ */
+
+/* Grab the default callback implementation */
+#include "cb_default.h"
+
+/* Misc. callbacks */
+command_cb cb_debug __attribute__((weak, alias("cb_default")));
+command_cb cb_packetlog __attribute__((weak, alias("cb_default")));
+command_cb cb_getpacketlogs __attribute__((weak, alias("cb_default")));
+command_cb cb_update __attribute__((weak, alias("cb_default")));
+command_cb cb_beginupdate __attribute__((weak, alias("cb_default")));
+command_cb cb_log __attribute__((weak, alias("cb_default")));
+command_cb cb_response __attribute__((weak, alias("cb_default")));
+command_cb cb_logend __attribute__((weak, alias("cb_default")));
+
+/* Callbacks for configuration */
+command_cb cb_setparam __attribute__((weak, alias("cb_default")));
+command_cb cb_getparam __attribute__((weak, alias("cb_default")));
+command_cb cb_respparam __attribute__((weak, alias("cb_default")));
+
+command_cb cb_setsource __attribute__((weak, alias("cb_default")));
+command_cb cb_getsource __attribute__((weak, alias("cb_default")));
+command_cb cb_respsource __attribute__((weak, alias("cb_default")));
+
+command_cb cb_getoutput __attribute__((weak, alias("cb_default")));
+command_cb cb_respoutput __attribute__((weak, alias("cb_default")));
+
+command_cb cb_getnodes __attribute__((weak, alias("cb_default")));
+command_cb cb_respnodes __attribute__((weak, alias("cb_default")));
+
+command_cb cb_addnode __attribute__((weak, alias("cb_default")));
+command_cb cb_respaddnode __attribute__((weak, alias("cb_default")));
+
+
+/*
+ * Command structure.
+ * This array is used to keep track of the callback functions
+ * for commands between the quad and the ground station.
+ *
+ * There is one callback function pointer associated with each
+ * element in this struct array.
+ *
+ * DO NOT change this struct without updating the
+ * "MessageTypeID" struct in commands.h as well
+ */
+struct MessageType MessageTypes[MAX_TYPE_ID] =
+{
+ // DEBUG
+ {
+ // Command text
+ "debug",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_debug
+ },
+ // PACKETLOG
+ {
+ // Command text
+ "packetlog",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_packetlog
+ },
+ // GETPACKETLOGS
+ {
+ // Command text
+ "getpacketlogs",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_getpacketlogs
+ },
+ // UPDATE
+ {
+ // Command text
+ "update",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_update
+ },
+ // BEGINUPDATE
+ {
+ // Command text
+ "beginupdate",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_beginupdate
+ },
+ // LOG
+ {
+ // Command text
+ "log",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_log
+ },
+ // RESPONSE
+ {
+ // Command text
+ "response",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_response
+ },
+ // SETPARAM
+ {
+ // Command text
+ "setparam",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_setparam
+ },
+ // GETPARAM
+ {
+ // Command text
+ "getparam",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_getparam
+ },
+ // RESPPARAM
+ {
+ // Command text
+ "respparam",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_respparam
+ },
+ // SETSOURCE
+ {
+ // Command text
+ "setsource",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_setsource
+ },
+ // GETSOURCE
+ {
+ // Command text
+ "getsource",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_getsource
+ },
+ // RESPSOURCE
+ {
+ // Command text
+ "respsource",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_respsource
+ },
+ // GETOUTPUT
+ {
+ // Command text
+ "getoutput",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_respoutput
+ },
+ // RESPOUTPUT
+ {
+ // Command text
+ "respoutput",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_respoutput
+ },
+ // GETNODES
+ {
+ // Command text
+ "getnodes",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_getnodes
+ },
+ // RESPNODES
+ {
+ // Command text
+ "respnodes",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_respnodes
+ },
+ // ADDNODE
+ {
+ // Command text
+ "addnode",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_addnode
+ },
+ // RESPADDNODE
+ {
+ // Command text
+ "respaddnode",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &cb_respaddnode
+ },
+ // LOG_END
+ {
+ // Command text
+ "logend",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_logend
+ }
+};
+
+int findCommand(char * str)
+{
+ int i;
+ for (i = 0; i < MAX_TYPE_ID; i++) {
+ if (strncmp(str, MessageTypes[i].cmdText, strlen(str)) == 0) {
+ return i;
+ }
+ }
+ return -1;
+}
diff --git a/quad/src/quad_app/commands.h b/quad/src/quad_app/commands.h
deleted file mode 120000
index 92d6b32d4..000000000
--- a/quad/src/quad_app/commands.h
+++ /dev/null
@@ -1 +0,0 @@
-../../../groundStation/src/backend/common/commands.h
\ No newline at end of file
diff --git a/quad/src/quad_app/commands.h b/quad/src/quad_app/commands.h
new file mode 100644
index 000000000..d4b0f2e2c
--- /dev/null
+++ b/quad/src/quad_app/commands.h
@@ -0,0 +1,75 @@
+#ifndef __COMMANDS_H
+#define __COMMANDS_H
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "callbacks.h"
+
+#define MAX_CMD_TEXT_LENGTH 100
+
+enum Message{
+ BEGIN_CHAR = 0xBE,
+ END_CHAR = 0xED
+};
+
+/*
+ * Enumeration of the data types that a callback function may use
+ * doubleType should get added here at some point
+ */
+enum DataType
+{
+ floatType, // 00
+ intType, // 01
+ stringType // 02
+};
+
+/*
+ * Message type IDs used to know what kind of message we are dealing with
+ * Enumeration used to index the MessageTypes array in commands.c
+ *
+ * DO NOT change items in the middle of this enum or you will break backwards compatibility.
+ * - Add new message types in the slot between MAX_TYPE_ID and the one before it
+ * DO NOT change this enum without also updating the "MessageTypes" array
+ * in commands.c to match.
+ */
+enum MessageTypeID{
+ DEBUG_ID, // 00
+ PACKETLOG_ID, // 01
+ GETPACKETLOGS_ID, // 02
+ UPDATE_ID, // 03
+ BEGINUPDATE_ID, // 04
+ LOG_ID, // 05
+ RESPONSE_ID, // 06
+ SETPARAM_ID, // 07 - Setting node parameters.
+ GETPARAM_ID, // 08 - Getting node parameters.
+ RESPPARAM_ID, // 09 - Responding with node parameters.
+ SETSOURCE_ID, // 10 - Setting node input source block_id & output_id
+ GETSOURCE_ID, // 11 - Getting node input source block_id & output_id
+ RESPSOURCE_ID, // 12 - Responding with node input source block_id & output_id
+ GETOUTPUT_ID, // 13 - Getting node output
+ RESPOUTPUT_ID, // 14 - Responding with node output
+ GETNODES_ID, // 15 - Getting node IDs from current comp_graph
+ RESPNODES_ID, // 16 - Responding with node IDs from current comp_graph
+ ADDNODE_ID, // 17 - Add a node of specified type_id
+ RESPADDNODE_ID, // 18 - Responding with the block_id of the newly added node
+ LOG_END_ID, // 19 - Responding with controller parameters. Example: PID constants
+ MAX_TYPE_ID // 20 - Just used to keep track of the size. Must remain at the end
+};
+
+/*
+ * Message type struct used to keep track of the callback function
+ * pointers located in commands.c
+ */
+struct MessageType{
+ char cmdText[MAX_CMD_TEXT_LENGTH];
+ char cmdDataType;
+ command_cb * functionPtr;
+};
+
+/* Defined in commands.c */
+extern struct MessageType MessageTypes[MAX_TYPE_ID];
+int findCommand(char * cmdStr);
+
+#endif /* __COMMANDS_H */
--
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