void SD_task(void)
{
if(gps_avlb)
{
if(gps_msg_ready)
{
gps_msg_ready++;
if(sd_avlb)
{
if(timer1_flag && gpsraw_flag == 2)
{
timer1_flag++;
write_gps_msg();
}
else
{
//if(gpsraw_flag == 0)
if(gpsraw_flag == 0 && gps_state == 'A')
{
new_logfile();
write_gps_head();
write_gps_msg();
timer1_start();
}
}
}
}
}
}
/*
* $logctl(NEW)
* $logctl(REFNUMS [ACTIVE|INACTIVE|ALL])
* $logctl(REFNUM log-desc)
* $logctl(ADD log-desc [target])
* $logctl(DELETE log-desc [target])
* $logctl(GET <refnum> [LIST])
* $logctl(SET <refnum> [ITEM] [VALUE])
* $logctl(MATCH [pattern])
* $logctl(PMATCH [pattern])
*
* [LIST] and [ITEM] are one of the following
* REFNUM The refnum for the log (GET only)
* NAME The logical name for the log
* FILENAME The filename this log writes to
* SERVER The server this log associates with (-1 for any)
* TARGETS All of the targets for this log
* LEVEL The Lastlog Level for this log
* REWRITE The rewrite rule for this log
* MANGLE The mangle rule for this log
* STATUS 1 if log is on, 0 if log is off.
* TYPE Either "TARGET", "WINDOW", or "SERVER"
*/
char *logctl (char *input)
{
char *refstr;
char *listc;
int val;
Logfile *log;
GET_FUNC_ARG(listc, input);
if (!my_strnicmp(listc, "NEW", 3)) {
log = new_logfile();
RETURN_INT(log->refnum);
} else if (!my_strnicmp(listc, "LAST_CREATED", 12)) {
RETURN_INT(last_logref);
} else if (!my_strnicmp(listc, "REFNUMS", 7)) {
char * retval = NULL;
int active;
GET_FUNC_ARG(refstr, input);
if (!my_stricmp(refstr, "ACTIVE"))
active = 1;
else if (!my_stricmp(refstr, "INACTIVE"))
active = 0;
else if (!my_stricmp(refstr, "ALL"))
active = -1;
else
RETURN_EMPTY;
for (log = logfiles; log; log = log->next)
{
if (active != -1 && active != log->active)
continue;
malloc_strcat_word(&retval, space, ltoa(log->refnum), DWORD_NO);
}
RETURN_MSTR(retval);
} else if (!my_strnicmp(listc, "REFNUM", 6)) {
GET_FUNC_ARG(refstr, input);
if (!(log = get_log_by_desc(refstr)))
RETURN_EMPTY;
RETURN_INT(log->refnum);
} else if (!my_strnicmp(listc, "ADD", 2)) {
GET_FUNC_ARG(refstr, input);
if (!(log = get_log_by_desc(refstr)))
RETURN_EMPTY;
logfile_add(log, &input);
RETURN_INT(1);
} else if (!my_strnicmp(listc, "DELETE", 2)) {
GET_FUNC_ARG(refstr, input);
if (!(log = get_log_by_desc(refstr)))
RETURN_EMPTY;
logfile_remove(log, &input);
RETURN_INT(1);
} else if (!my_strnicmp(listc, "GET", 2)) {
GET_FUNC_ARG(refstr, input);
if (!(log = get_log_by_desc(refstr)))
RETURN_EMPTY;
GET_FUNC_ARG(listc, input);
if (!my_strnicmp(listc, "REFNUM", 3)) {
RETURN_INT(log->refnum);
} else if (!my_strnicmp(listc, "NAME", 3)) {
RETURN_STR(log->name);
} else if (!my_strnicmp(listc, "FILENAME", 3)) {
RETURN_STR(log->filename);
} else if (!my_strnicmp(listc, "SERVER", 3)) {
RETURN_INT(log->servref);
} else if (!my_strnicmp(listc, "TARGETS", 3)) {
char *ret = logfile_get_targets(log);
RETURN_MSTR(ret);
} else if (!my_strnicmp(listc, "LEVEL", 3)) {
const char *ret = mask_to_str(&log->mask);
RETURN_STR(ret);
} else if (!my_strnicmp(listc, "REWRITE", 3)) {
RETURN_STR(log->rewrite);
} else if (!my_strnicmp(listc, "MANGLE", 3)) {
RETURN_STR(log->mangle_desc);
} else if (!my_strnicmp(listc, "STATUS", 3)) {
RETURN_INT(log->active);
} else if (!my_strnicmp(listc, "TYPE", 3)) {
RETURN_STR(logtype[log->type]);
} else if (!my_strnicmp(listc, "ACTIVITY", 1)) {
RETURN_INT(log->activity);
}
} else if (!my_strnicmp(listc, "SET", 1)) {
GET_FUNC_ARG(refstr, input);
if (!(log = get_log_by_desc(refstr)))
RETURN_EMPTY;
GET_FUNC_ARG(listc, input);
if (!my_strnicmp(listc, "NAME", 3)) {
logfile_name(log, &input);
RETURN_INT(1);
} else if (!my_strnicmp(listc, "FILENAME", 3)) {
logfile_filename(log, &input);
RETURN_INT(1);
} else if (!my_strnicmp(listc, "SERVER", 3)) {
logfile_server(log, &input);
RETURN_INT(1);
} else if (!my_strnicmp(listc, "TARGETS", 3)) {
clean_log_targets(log);
logfile_add(log, &input);
RETURN_INT(1);
} else if (!my_strnicmp(listc, "LEVEL", 3)) {
logfile_level(log, &input);
RETURN_INT(1);
} else if (!my_strnicmp(listc, "REWRITE", 3)) {
logfile_rewrite(log, &input);
RETURN_INT(1);
} else if (!my_strnicmp(listc, "MANGLE", 3)) {
logfile_mangle(log, &input);
RETURN_INT(1);
} else if (!my_strnicmp(listc, "STATUS", 3)) {
GET_INT_ARG(val, input);
if (val)
logfile_on(log, &input);
else
logfile_off(log, &input);
RETURN_INT(1);
} else if (!my_strnicmp(listc, "TYPE", 3)) {
logfile_type(log, &input);
RETURN_INT(1);
} else if (!my_strnicmp(listc, "ACTIVITY", 1)) {
logfile_activity(log, &input);
RETURN_INT(1);
}
} else if (!my_strnicmp(listc, "MATCH", 1)) {
RETURN_EMPTY; /* Not implemented for now. */
} else if (!my_strnicmp(listc, "PMATCH", 1)) {
RETURN_EMPTY; /* Not implemented for now. */
} else if (!my_strnicmp(listc, "CURRENT", 1)) {
RETURN_INT(current_log_refnum);
} else
RETURN_EMPTY;
RETURN_EMPTY;
}
static Logfile * logfile_new (Logfile *log, char **args)
{
return new_logfile();
}
/*
* PPRZ-message: ABCxxxxxxxDE
A PPRZ_STX (0x99)
B LENGTH (A->E)
C PPRZ_DATA
0 SENDER_ID
1 MSG_ID
2 MSG_PAYLOAD
. DATA (messages.xml)
D PPRZ_CHECKSUM_A (sum[B->C])
E PPRZ_CHECKSUM_B (sum[ck_a])
*/
void parse_single_byte(unsigned char byte)
{
switch (parser.state) {
case SearchingPPRZ_STX:
if (byte == PPRZ_STX) {
//printf("Got PPRZ_STX\n");
parser.crc_a = 0;
parser.crc_b = 0;
parser.counter = 1;
parser.state = ParsingLength;
}
break;
case ParsingLength:
parser.length = byte;
parser.crc_a += byte;
parser.crc_b += parser.crc_a;
parser.counter++;
parser.state = ParsingSenderId;
break;
case ParsingSenderId:
parser.sender_id = byte;
parser.crc_a += byte;
parser.crc_b += parser.crc_a;
parser.counter++;
parser.state = ParsingMsgId;
break;
case ParsingMsgId:
parser.msg_id = byte;
parser.crc_a += byte;
parser.crc_b += parser.crc_a;
parser.counter++;
parser.state = ParsingMsgPayload;
break;
case ParsingMsgPayload:
parser.payload[parser.counter-4] = byte;
parser.crc_a += byte;
parser.crc_b += parser.crc_a;
parser.counter++;
if (parser.counter == parser.length - 2) {
parser.state = CheckingCRCA;
}
break;
case CheckingCRCA:
//printf("CRCA: %d vs %d\n", byte, parser.crc_a);
if (byte == parser.crc_a) {
parser.state = CheckingCRCB;
}
else {
parser.state = SearchingPPRZ_STX;
}
break;
case CheckingCRCB:
//printf("CRCB: %d vs %d\n", byte, parser.crc_b);
if (byte == parser.crc_b && parser.msg_id == 31) {
/*printf("MSG ID: %d \t"
"SENDER_ID: %d\t"
"LEN: %d\t"
"SETTING: %d\n",
parser.msg_id,
parser.sender_id,
parser.length,
parser.payload[0]);*/
//printf("Request confirmed\n");
/* Check what to do next if the command was received */
if (global_state == WaitingForIndexRequestConfirmation
&& parser.payload[0] == setting) {
global_state = ReadingIndexBlock;
index_cnt = 0;
}
if (global_state == GotIndex
&& parser.payload[0] == setting) {
global_state = Downloading;
new_logfile();
index_cnt = 0;
}
}
parser.state = SearchingPPRZ_STX;
break;
default:
/* Should never get here */
break;
}
}
