Update launcher. New status LED and reset button

.gitignore

@@ -1,5 +1,7 @@
 *.o
 *~
 */*~
-PILOT/quad_pilot
-PILOT/*.o
+RPI/PILOT/quad_pilot
+*/*/*.o
+*.log
+*/*/*.log

RPI/PILOT/launch_pilot.sh

@@ -0,0 +1,71 @@
+#!/bin/bash
+
+
+# trap ctrl-c and call ctrl_c()
+trap ctrl_c INT
+
+function setup(){
+    gpio mode $1 out
+    gpio mode $2 in
+}
+
+function set_off(){
+    gpio write $1 0
+}
+
+function set_on(){
+    gpio write $1 1
+}
+
+waitButton ()
+{
+ echo "Waiting for button ..."
+ while [ `gpio read $1` = 1 ]; do
+   sleep 0.1
+ done
+ echo "Button pressed : Relaunching"
+
+ stop_pilot
+
+ sleep 0.5
+
+ ./launch_pilot.sh;
+}
+
+function stop_pilot() {
+        sudo pkill quad_pilot;
+	set_off 15;
+}
+
+
+function ctrl_c() {
+        echo "*** Trapped CTRL-C ***"
+	sudo pkill quad_pilot;
+	set_off 15;
+	exit 0
+}
+
+#launching quad_pilot
+rate_kp=1.4
+rate_ki=0.01
+rate_kd=0.02
+
+stab_kp=3.0
+stab_ki=0.01
+stab_kd=0.5
+
+yaw_rate=2.5
+( sudo ./quad_pilot $rate_kp $rate_ki $rate_kd\
+       $stab_kp $stab_ki $stab_kd $yaw_rate ) &
+
+
+#Led and button control
+LED=15
+button=16
+
+setup $LED $button
+set_on $LED
+
+waitButton $button
+
+wait

RPI/PILOT/main.cpp

@@ -58,6 +58,7 @@ void Set_default_PID_config(){
 }
 
 void Blink_led(){
+  // use gpio to blink an led on pin 15
   for(int i=0;i<10;i++){
   system("gpio write 15 0");
   usleep(200000);

RPI/PILOT/socket_api.cpp

@@ -0,0 +1,227 @@
+/*
+
+  Socket class
+  author : vincent jaunet
+  date : 10-01-2014
+
+  Description :
+  The Socket class contains all the necessary routine to set
+  up and use a UDP network serve on the drone waiting for
+  the remote client to send request.
+  The output should be parsed in order to retrieve
+  the desired attitude from the remote (see parse.*)
+
+  Copyright (c) <2014> <Vincent Jaunet>
+
+  Permission is hereby granted, free of charge, to any person obtaining a copy
+  of this software and associated documentation files (the "Software"), to deal
+  in the Software without restriction, including without limitation the rights
+  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+  copies of the Software, and to permit persons to whom the Software is
+  furnished to do so, subject to the following conditions:
+
+  The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+
+  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+  THE SOFTWARE.
+
+*/
+
+#include "socket_api.h"
+
+Socket WebApp;
+
+Socket::Socket()
+{
+  data[0] = '\0';
+  m_port = 7100;
+  m_server_addr.sin_family = AF_INET;
+  m_server_addr.sin_addr.s_addr = INADDR_ANY;
+  m_server_addr.sin_port = htons( (unsigned short) m_port );
+}
+
+
+Socket::~Socket()
+{
+  Close();
+}
+
+
+void Socket::set_port(int port){
+  //set the port to desired value
+  m_port = port;
+}
+
+
+int Socket::create_UDP()
+{
+
+  //Opening socket
+  m_server_fd = socket( AF_INET, SOCK_DGRAM, IPPROTO_UDP );
+  if ( m_server_fd <= 0 )
+    {
+      printf( "Socket_Api : Failed to create socket\n" );
+      return -1;
+    }
+
+  //Binding to desired port number
+  if ( bind( m_server_fd, (const sockaddr*) &m_server_addr, sizeof(sockaddr_in) ) < 0 )
+    {
+      perror( "Socket_Api : Failed to bind socket");
+      return -1;
+    }
+
+  //setting Socket to non blocking mode
+  int nonBlocking = 1;
+  if ( fcntl( m_server_fd, F_SETFL, O_NONBLOCK, nonBlocking ) == -1 )
+    {
+      printf( "failed to set non-blocking socket\n" );
+      return -1;
+    }
+
+  printf( "Socket_Api : Succeed to create socket.\n" );
+  return 1;
+
+}
+
+int Socket::create_TCP()
+{
+
+  //Opening socket in TCP mode
+  m_server_fd = socket( AF_INET, SOCK_STREAM, IPPROTO_TCP);
+  if ( m_server_fd <= 0 )
+    {
+      printf( "Socket_Api : Failed to create socket\n" );
+      return -1;
+    }
+
+  //Binding to desired port number
+  if ( bind( m_server_fd, (const sockaddr*) &m_server_addr, sizeof(sockaddr_in) ) < 0 )
+    {
+      printf("Socket_Api : Failed to bind socket");
+      return -1;
+    }
+
+  printf("Socket_Api : Succeed to create socket.\n" );
+  return 1;
+
+}
+
+int Socket::set_non_blocking(){
+  //setting Socket to non blocking mode
+  int nonBlocking = 1;
+  if ( fcntl( m_server_fd, F_SETFL, O_NONBLOCK, nonBlocking ) == -1 )
+    {
+      printf( "failed to set non-blocking socket\n" );
+      return -1;
+    }
+  return 1;
+}
+
+
+int Socket::get_client() {
+
+  //Start listening
+  // Server should start listening - This enables the program to halt on accept
+  // call (coming next)
+  // and wait until a client connects. Also it specifies the size of pending
+  // connection requests queue
+  // i.e. in this case it is 5 which means 5 clients connection requests will be
+  // held pending while
+  listen(m_server_fd, 5);
+
+  printf("Socket_Api : Waiting for connection...\n");
+  socklen_t size = sizeof(m_client_addr);
+
+  // Server blocks on this call until a client tries to establish connection.
+  // When a connection is established, it returns a 'connected socket
+  // descriptor' different
+  // from the one created earlier.
+  m_client_fd = accept(m_server_fd, (struct sockaddr *)&m_client_addr, &size);
+  if (m_client_fd == -1)
+    {
+      printf("Socket_Api : Failed accepting connection\n\n");
+      return -1;
+    }  else {
+    printf("Socket_Api : Connected\n\n");
+    return 1;
+  }
+
+}
+
+
+void Socket::Close(){
+
+  if ( m_server_fd != 0 )
+    {
+      close( m_server_fd );
+      m_server_fd = 0;
+    }
+}
+
+int Socket::get_config(){
+  //ask for data to the Web client
+  // and parsing it
+  int size = sizeof(data);
+  assert( size > 0 );
+
+  if ( m_client_fd == 0 ){
+    printf("Socket is closed...");
+    return -1;
+  }
+
+  printf("Socket_Api : Request for data...\n");
+
+  std::string msg = "GET_CONF";
+  int bytes_sent = send(m_client_fd, msg.c_str(), msg.length(), 0);
+  if (bytes_sent < 0) {
+    return -1;
+  }
+
+  printf("Socket_Api : Waiting for data...\n");
+
+
+  sockaddr_in from;
+  socklen_t fromLength = sizeof(from);
+  int received_bytes = recvfrom( m_client_fd, data, size, 0,
+				 (sockaddr*)&from,
+				 &fromLength);
+  if (received_bytes == -1){
+    printf("received bytes = -1 \n");
+    return -1;
+  }
+
+  //parse the received data stream
+  parse_data();
+
+  return 1;
+}
+
+
+void Socket::parse_data(){
+
+  //convert received data so stringstream
+  std::string packet( reinterpret_cast< char const* > (data));
+  //printf("Socket_Api : Received : %s",packet.c_str());
+
+  //get the first string data to get the type of command
+  std::istringstream ss(packet);
+  std::string sub;
+  ss >> sub;
+
+  //parsing the first substring
+  do{
+    if (sub == "MODE"){
+    }
+    else if (sub == "Y_R_KP"){
+    }
+
+  }while(ss);
+
+}

RPI/PILOT/socket_api.h

@@ -0,0 +1,42 @@
+#ifndef SOCKET_H
+#define SOCKET_H
+
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <fcntl.h>
+#include <assert.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <iostream>
+#include <fstream>
+#include <sstream>
+
+class Socket{
+
+ private:
+  sockaddr_in m_server_addr,m_client_addr;
+  unsigned short m_port;
+  int m_server_fd,m_client_fd;
+  unsigned char data[256];
+  void parse_data();
+
+
+ public:
+  Socket();
+  ~Socket();
+
+  void set_port(int port);
+  int create_UDP();
+  int create_TCP();
+  int set_non_blocking();
+  void Close();
+  int get_client();
+  int get_config();
+
+};
+
+extern Socket WebApp;
+
+#endif