Setpoints are partially implemented.

Ready to test the responses from quad->backend.
Then create the correct response from backend->frontend and print nicely

groundStation/.gitignore

@@ -48,3 +48,4 @@ getpid
 monitor
 setpid
 setsetpoint
+getsetpoint

groundStation/Makefile

@@ -23,7 +23,7 @@ CLIBINARY=Cli
 CLISRCDIR=src/cli
 CLISOURCES := $(wildcard $(CLISRCDIR)/*.c)
 CLIOBJECTS = $(CLISOURCES:$(CLISRCDIR)/%.c=$(OBJDIR)/%.o)
-SYMLINKS=monitor setpid getpid setsetpoint
+SYMLINKS=monitor setpid getpid setsetpoint getsetpoint
 
 # Frontend-common stuff
 FESRCDIR=src/frontend

groundStation/src/cli/cli.c

@@ -76,6 +76,8 @@ int main(int argc, char **argv)
 			needCommandHelp = 1;
 		}
 	}
+
+	printf("made it\n");
 	
 	/**
 	 * I the user has asked for help, and we have already found

groundStation/src/cli/cli.h

@@ -24,7 +24,8 @@ static cli_function_ptr cli_functions[] = {
 	&cli_getpid,
 	&cli_setpid,
 	&cli_getimu,
-	&cli_setsetpoint
+	&cli_setsetpoint,
+	&cli_getsetpoint
 };
 
 static char* commandNames[MAX_COMMANDS] = {

groundStation/src/cli/cli_getsetpoint.c

@@ -28,13 +28,12 @@ int cli_getsetpoint(struct backend_conn * conn,	int argc, char **argv) {
 		/* getopt_long stores the option index here. */
 		int option_index = 0;
 
-		c = getopt_long(argc, argv, "", long_options, &option_index);
+		c = getopt_long(argc, argv, "a", long_options, &option_index);
 
 		/* Detect the end of the options. */
 		if (c == -1)
 			break;
 
-		
 		if (c == 'a') {
 			getheight = 1;
 			getlat = 1;
@@ -43,7 +42,6 @@ int cli_getsetpoint(struct backend_conn * conn,	int argc, char **argv) {
 			getroll = 1;
 			getyaw = 1;
 		}
-
 	}
 
 	if (needHelp) {
@@ -51,6 +49,7 @@ int cli_getsetpoint(struct backend_conn * conn,	int argc, char **argv) {
 		printf("Usage Syntax : \n\t./Cli getsetpoint [options...]\n");
 		printf("Symlink Usage Syntax : \n\t./getsetpoint [options...]\n\n");
 		printf("Available options include the following\n");
+		printf("\t[-a] 		 : Gets all of the following setpoints\n");
 		printf("\t[--height] : Gets the height setpoint\n");
 		printf("\t[--lat]    : Gets the latitude setpoint\n");
 		printf("\t[--long]   : Gets the longitude setpoint\n");

groundStation/src/frontend/frontend_common.c

@@ -33,7 +33,7 @@ struct backend_conn * ucart_backendConnect()
 
 	struct backend_conn * conn = NULL;
 
-	printf("Trying to connect...\n");
+	printf("Trying to connect...");
 
 	remote.sun_family = AF_UNIX;
 	char * sock_env = getenv(SOCKET_ENV);
@@ -60,6 +60,7 @@ struct backend_conn * ucart_backendConnect()
 		warn("setvbuf");
 	}
 
+	printf("Success\n");
 	/* success */
 	goto fail_final;
 
@@ -68,6 +69,7 @@ fail_malloc_conn:
 	conn = NULL;
 fail_sock:
 	close(s);
+	printf("Failure\n");
 fail_final:
 	return conn;
 }

groundStation/src/frontend/frontend_getpid.c

 #include <stdio.h>
 #include <string.h>
 #include <stdlib.h>
+#include <err.h>
 
 #include "frontend_getpid.h"
 #include "pid_common.h"
@@ -60,5 +61,23 @@ int frontend_getpid(
 		return 1;
 	}
 
+	char * response;
+	for (;;) {
+		response = ucart_backendGetline(conn);
+		if (response == NULL) {
+			warnx("Line not returned from backend");
+			return 1;
+		}
+		printf("received : %s\n", response);
+		// if (strncmp(response, MAGIC, strlen(MAGIC)) == 0) {
+		// 	break;
+		// }
+	}
+
+	// if (strncmp(response, MAGIC " ERROR", strlen(MAGIC " ERROR")) == 0) {
+	// 	warnx("Backend returned an error: %s", strstr(response, "ERROR"));
+	// 	return 1;
+	// }
+
 	return 0;
 }	

groundStation/src/frontend/frontend_setsetpoint.c

@@ -40,6 +40,30 @@ int frontend_setsetpoint(
 		}
 		ucart_backendWrite(conn, buffer);
 	}
+	if (mask & SET_PITCH) {
+		if (snprintf(buffer, 2048,
+					"setpitch %f\n",  
+					setpoint_data->pitch) >= 2048) {
+			errx(0, "Buffer to small to format!");
+		}
+		ucart_backendWrite(conn, buffer);
+	}
+	if (mask & SET_ROLL) {
+		if (snprintf(buffer, 2048,
+					"setroll %f\n",
+					setpoint_data->roll) >= 2048) {
+			errx(0, "Buffer to small to format!");
+		}
+		ucart_backendWrite(conn, buffer);
+	}
+	if (mask & SET_YAW) {
+		if (snprintf(buffer, 2048,
+					"setyaw %f\n",
+					setpoint_data->yaw) >= 2048) {
+			errx(0, "Buffer to small to format!");
+		}
+		ucart_backendWrite(conn, buffer);
+	}
 
 	return 0;
 }

groundStation/src/frontend/setpoint_common.h

@@ -4,7 +4,7 @@
 struct frontend_setpoint_data {
 	float height;
 	float lat;
-	/* names with two g's due to long type name */
+	/* named with two g's due to long type name */
 	float longg;
 	float pitch;
 	float roll;