it actually fucking works

Code/autopilot/vars.h

@@ -38,7 +38,7 @@ struct data {
   short yaw, pitch, roll;
   byte year, month, day, hour, minute, second;
   short txCount;
-  byte abortFlight;
+  bool abortFlight;
   char callSign[7] = CALL_SIGN;
 };
 

Code/groundStation/deprecated/groundStation.ino

@@ -34,7 +34,7 @@ along with this program.  If not, see <https://www.gnu.org/licenses/>.
 #include <SPI.h>
 #include <WiFi.h>
 
-struct receive {
+struct fromGlider {
   float lat, lon, tLat, tLon, altitude, temperature, pressure, humidity, volts, hdop;
   short yaw, pitch, roll;
   byte hour, minute, second;

Code/groundStation/groundStation.ino

@@ -23,10 +23,11 @@ along with this program.  If not, see <https://www.gnu.org/licenses/>.
 #include "vars.h"
 #include "websockets.h"
 
-bool dataValid;
+bool dataValid, newPacketForGlider;
 long rxCount;
 
-struct receive receiveStruct;
+struct fromGlider fromGliderStruct;
+struct toGlider toGliderStruct;
 
 TaskHandle_t loop2;
 
@@ -98,6 +99,15 @@ void loop() {
 // This is using FreeRTOS to poll the Websockets.
 void pollWebsockets(void *pvParameters) {
   if (client.available()) {
-    client.poll();
+    client.poll(); // If there is data, a call back will be run in websockets.cpp. It will add all new data to toGliderStruct.
+  }
+  if (newPacketForGlider) {
+    newPacketForGlider = false;
+#ifdef HAMMING
+    hammingSend();
+#endif
+#ifndef HAMMING
+    normalSend();
+#endif
   }
 }

Code/groundStation/lora.cpp

@@ -49,16 +49,16 @@ void loraSetup() {
 }
 
 void normalReceive() {
-  while (LoRa.available() < sizeof(receiveStruct)) // Wait intil the packet is fully received.
+  while (LoRa.available() < sizeof(fromGliderStruct)) // Wait intil the packet is fully received.
     ;
 
   packetSize = LoRa.parsePacket();
-  if (packetSize == sizeof(receiveStruct)) {
-    LoRa.readBytes((byte *)&receiveStruct, sizeof(receiveStruct));
+  if (packetSize == sizeof(fromGliderStruct)) {
+    LoRa.readBytes((byte *)&fromGliderStruct, sizeof(fromGliderStruct));
 
     dataValid = true;
 
-    if (receiveStruct.alignmet != 100) {
+    if (fromGliderStruct.alignment != 100) {
       dataValid = false;
       while (LoRa.available())
         LoRa.read();
@@ -77,24 +77,24 @@ void normalSend() {
     ;
 
   LoRa.beginPacket();
-  LoRa.write((byte *)&sendStruct, sizeof(sendStruct));
+  LoRa.write((byte *)&toGliderStruct, sizeof(toGliderStruct));
   LoRa.endPacket(true); // Use async send.
 }
 
 void hammingReceive() {
-  while (LoRa.available() < sizeof(receiveStruct) * 2) // Wait intil the packet is fully received.
+  while (LoRa.available() < sizeof(fromGliderStruct) * 2) // Wait intil the packet is fully received.
     ;
 
   packetSize = LoRa.parsePacket(); // Parse packet.
-  if (sizeof(receiveStruct) * 2 == packetSize) {
+  if (sizeof(fromGliderStruct) * 2 == packetSize) {
     shortBlink(LED);
 
-    byte encodedData[2 * sizeof(receiveStruct)];
+    byte encodedData[2 * sizeof(fromGliderStruct)];
     LoRa.readBytes(encodedData, sizeof(encodedData));
 
-    byte *decodedData = (byte *)&receiveStruct;
+    byte *decodedData = (byte *)&fromGliderStruct;
 
-    for (size_t i = 0; i < sizeof(receiveStruct); ++i) {
+    for (size_t i = 0; i < sizeof(fromGliderStruct); ++i) {
       // Decode each byte using Hamming(7,4) code.
       byte highNibble = hammingDecode(encodedData[2 * i]);
       byte lowNibble = hammingDecode(encodedData[2 * i + 1]);
@@ -104,7 +104,7 @@ void hammingReceive() {
 
     dataValid = true;
 
-    if (receiveStruct.alignmet != 100) {
+    if (fromGliderStruct.alignment != 100) {
       dataValid = false;
       while (LoRa.available())
         LoRa.read();
@@ -118,11 +118,11 @@ void hammingReceive() {
 }
 
 void hammingSend() {
-  byte *byteArray = (byte *)&sendStruct; // Convert the packet to a byte array.
+  byte *byteArray = (byte *)&toGliderStruct; // Convert the packet to a byte array.
 
-  byte encodedData[2 * sizeof(sendStruct)]; // Hamming(7,4) doubles the size!
+  byte encodedData[2 * sizeof(toGliderStruct)]; // Hamming(7,4) doubles the size!
 
-  for (size_t i = 0; i < sizeof(sendStruct); ++i) {
+  for (size_t i = 0; i < sizeof(toGliderStruct); ++i) {
     byte highNibble = hammingEncode((byteArray[i] >> 4) & 0xF);
     byte lowNibble = hammingEncode(byteArray[i] & 0xF);
 

Code/groundStation/sd.cpp

@@ -57,15 +57,15 @@ void sdSetup() {
 // }
 
 void writeToCard() {
-  File dataFile = SD.open(String(receiveStruct) + ".csv", FILE_WRITE);  // Create or open the file.
+  File dataFile = SD.open(String(fromGliderStruct) + ".csv", FILE_WRITE); // Create or open the file.
 
   dataFile.close();
 
-  File dataFile = SD.open(String(receiveStruct) + ".csv");
+  File dataFile = SD.open(String(fromGliderStruct) + ".csv");
 
   if (dataFile.read() != "l") {
     dataFile.close();
-    File dataFile = SD.open(String(receiveStruct) + ".csv", FILE_WRITE);
+    File dataFile = SD.open(String(fromGliderStruct) + ".csv", FILE_WRITE);
     if (dataFile) {
       dataFile.println("lat,lon,altitude,tLat,tLon,temperature,pressure,humidity,volts,yaw,pitch,roll,year,month,day,hour,minute,second,abort,txCount,rxCount,uLat,uLon,uAlt,rssi,snr,callsign");
       dataFile.close();
@@ -78,48 +78,48 @@ void writeToCard() {
     }
   }
 
-  File dataFile = SD.open(String(receiveStruct) + ".csv", FILE_WRITE);
+  File dataFile = SD.open(String(fromGliderStruct) + ".csv", FILE_WRITE);
 
   if (dataFile) {
-    dataFile.print(receivedData.lat);
+    dataFile.print(fromGliderStruct.lat);
     dataFile.print(",");
-    dataFile.print(receivedData.lon);
+    dataFile.print(fromGliderStruct.lon);
     dataFile.print(",");
-    dataFile.print(receivedData.altitude);
+    dataFile.print(fromGliderStruct.altitude);
     dataFile.print(",");
-    dataFile.print(receivedData.tLat);
+    dataFile.print(fromGliderStruct.tLat);
     dataFile.print(",");
-    dataFile.print(receivedData.tLon);
+    dataFile.print(fromGliderStruct.tLon);
     dataFile.print(",");
-    dataFile.print(receivedData.temperature);
+    dataFile.print(fromGliderStruct.temperature);
     dataFile.print(",");
-    dataFile.print(receivedData.pressure);
+    dataFile.print(fromGliderStruct.pressure);
     dataFile.print(",");
-    dataFile.print(receivedData.humidity);
+    dataFile.print(fromGliderStruct.humidity);
     dataFile.print(",");
-    dataFile.print(receivedData.volts);
+    dataFile.print(fromGliderStruct.volts);
     dataFile.print(",");
-    dataFile.print(receivedData.yaw);
+    dataFile.print(fromGliderStruct.yaw);
     dataFile.print(",");
-    dataFile.print(receivedData.pitch);
+    dataFile.print(fromGliderStruct.pitch);
     dataFile.print(",");
-    dataFile.print(receivedData.roll);
+    dataFile.print(fromGliderStruct.roll);
     dataFile.print(",");
-    dataFile.print(receivedData.year);
+    dataFile.print(fromGliderStruct.year);
     dataFile.print(",");
-    dataFile.print(receivedData.month);
+    dataFile.print(fromGliderStruct.month);
     dataFile.print(",");
-    dataFile.print(receivedData.day);
+    dataFile.print(fromGliderStruct.day);
     dataFile.print(",");
-    dataFile.print(receivedData.hour);
+    dataFile.print(fromGliderStruct.hour);
     dataFile.print(",");
-    dataFile.print(receivedData.minute);
+    dataFile.print(fromGliderStruct.minute);
     dataFile.print(",");
-    dataFile.print(receivedData.second);
+    dataFile.print(fromGliderStruct.second);
     dataFile.print(",");
-    dataFile.print(receivedData.abort);
+    dataFile.print(fromGliderStruct.abort);
     dataFile.print(",");
-    dataFile.print(receivedData.txCount);
+    dataFile.print(fromGliderStruct.txCount);
     dataFile.print(",");
     dataFile.print(rxCount);
     dataFile.print(",");
@@ -133,7 +133,7 @@ void writeToCard() {
     dataFile.print(",");
     dataFile.print(snr);
     dataFile.print(",");
-    dataFile.println(receivedData.callSign);
+    dataFile.println(fromGliderStruct.callSign);
 
     dataFile.close(); // Close the file.
 #ifdef DEVMODE

Code/groundStation/uploader/data/KC1SFR.csv

@@ -0,0 +1,3 @@
+Lat,Lon,Alt,Target lat,Target lon,Yaw,Pitch,Roll,Time,Temperature,Pressure,Humidity,Voltage,Received abort,TX count,RX count,RSSI,SNR,Uploader lat,Uploader lon,Uploader alt,ID
+42.306705,-71.336548,1500.5,42.307,-71.335,45.0,2.5,0.0,2024-11-30T14:45:12Z,23.4,1013.25,55.3,3.7,False,102,95,-70,12.5,42.3601,-71.0589,20.0,1234
+42.306705,-71.336548,1500.5,42.307,-71.335,45.0,2.5,0.0,2024-11-30T14:45:13Z,23.4,1013.25,55.3,3.7,False,102,95,-70,12.5,42.3601,-71.0589,20.0,1234

Code/groundStation/uploader/echo.py

@@ -0,0 +1,15 @@
+import asyncio
+import websockets
+
+
+async def echo(websocket):
+    async for message in websocket:
+        await websocket.send(message)
+
+
+async def main():
+    async with websockets.serve(echo, "localhost", 8080):
+        await asyncio.Future()  # run forever
+
+
+asyncio.run(main())