frontend_getpid.c

#include <stdio.h>
#include <string.h>
#include <stdlib.h>

#include "frontend_getpid.h"
#include "pid_common.h"

/* Get a specified PID.
 *
 * Example:
 *
 * struct frontend_pid_data pid_data;
 * pid_data.pid = PITCH;
 * if (frontend_getpid(conn, &pid_data)) {
 * 		error
 * } else {
 * 		pid_data.p, pid_data.i, and pid_data.d are filled
 * }
 *
 * Returns 0 on success, 1 on error
 */
int frontend_getpid(
		struct backend_conn * conn, struct frontend_pid_data * pid_data) {
	
	char line[10] = "getpid \0";
	char pid_option[2];
	switch (pid_data->pid) {
		case PITCH :
			strncpy(pid_option, "p\0", 2);
			break;
		case ROLL :
			strncpy(pid_option, "i\0", 2);
			break;
		case YAW :
			strncpy(pid_option, "d\0", 2);
			break;
		default :
			return 1;
	}

	strncat(line, pid_option, 2);

	int size;
	if((size = ucart_backendWrite(conn, line)) < 0 ) {
		printf("nope! %d \n", size);
		return 1;
	}

	printf("we send size bytes\n");

	return 0;
}