diff --git a/groundStation/src/cli/cli.h b/groundStation/src/cli/cli.h
index aa24068cadaca62ff637da92390bfd363200c084..d9e77c27c8da96d6447e77ad7b94da649099b298 100644
--- a/groundStation/src/cli/cli.h
+++ b/groundStation/src/cli/cli.h
@@ -2,6 +2,7 @@
#define __CLI_H
#include "cli_setsetpoint.h"
+#include "cli_getsetpoint.h"
#include "cli_monitor.h"
#include "cli_setpid.h"
#include "cli_getpid.h"
@@ -13,6 +14,7 @@ enum CommandNameIds{
CMD_SETPID,
CMD_GETIMU,
CMD_SETSETPOINT,
+ CMD_GETSETPOINT,
MAX_COMMANDS
};
@@ -30,7 +32,8 @@ static char* commandNames[MAX_COMMANDS] = {
"getpid",
"setpid",
"getimu",
- "setsetpoint"
+ "setsetpoint",
+ "getsetpoint"
};
#endif /* __CLI_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_getpid.c b/groundStation/src/cli/cli_getpid.c
index 48c1e72055601df9b66e96ec1c2a3917c1f0fc15..4bf634e3e2e966ea59ac54d8510c3607815f462d 100644
--- a/groundStation/src/cli/cli_getpid.c
+++ b/groundStation/src/cli/cli_getpid.c
@@ -62,62 +62,62 @@ int cli_getpid(struct backend_conn * conn, int argc, char **argv) {
if(getAll) {
for(int i = 0; i < PID_NUM_PIDS; ++i) {
pid_data.controller = i;
- if ((result = getValues(conn, &pid_data))) {
+ if ((result = getPidValues(conn, &pid_data))) {
return result;
}
}
} else {
if(getPitch) {
pid_data.controller = PID_PITCH;
- if ((result = getValues(conn, &pid_data))) {
+ if ((result = getPidValues(conn, &pid_data))) {
return result;
}
}
if(getRoll) {
pid_data.controller = PID_ROLL;
- if ((result = getValues(conn, &pid_data))) {
+ if ((result = getPidValues(conn, &pid_data))) {
return result;
}
}
if(getYaw) {
pid_data.controller = PID_YAW;
- if ((result = getValues(conn, &pid_data))) {
+ if ((result = getPidValues(conn, &pid_data))) {
return result;
}
}
if(getPitchV) {
pid_data.controller = PID_PITCH_RATE;
- if ((result = getValues(conn, &pid_data))) {
+ if ((result = getPidValues(conn, &pid_data))) {
return result;
}
}
if(getRollV) {
pid_data.controller = PID_ROLL_RATE;
- if ((result = getValues(conn, &pid_data))) {
+ if ((result = getPidValues(conn, &pid_data))) {
return result;
}
}
if(getYawV) {
pid_data.controller = PID_YAW_RATE;
- if ((result = getValues(conn, &pid_data))) {
+ if ((result = getPidValues(conn, &pid_data))) {
return result;
}
}
if(getHeight) {
pid_data.controller = PID_HEIGHT;
- if ((result = getValues(conn, &pid_data))) {
+ if ((result = getPidValues(conn, &pid_data))) {
return result;
}
}
if(getLat) {
pid_data.controller = PID_LAT;
- if ((result = getValues(conn, &pid_data))) {
+ if ((result = getPidValues(conn, &pid_data))) {
return result;
}
}
if(getLong) {
pid_data.controller = PID_LONG;
- if ((result = getValues(conn, &pid_data))) {
+ if ((result = getPidValues(conn, &pid_data))) {
return result;
}
}
@@ -127,7 +127,7 @@ int cli_getpid(struct backend_conn * conn, int argc, char **argv) {
return 0;
}
-int getValues(struct backend_conn * conn, struct frontend_pid_data * pid_data) {
+int getPidValues(struct backend_conn * conn, struct frontend_pid_data * pid_data) {
if(frontend_getpid(conn, pid_data)) {
return 1;
}
diff --git a/groundStation/src/cli/cli_getpid.h b/groundStation/src/cli/cli_getpid.h
index 062c010546d45fa348593a6ea123a5e172d48cd3..799681f06d114602083e304f2cba321891155fbc 100644
--- a/groundStation/src/cli/cli_getpid.h
+++ b/groundStation/src/cli/cli_getpid.h
@@ -3,7 +3,7 @@
#include "frontend_getpid.h"
-int getValues(struct backend_conn *, struct frontend_pid_data *);
+int getPidValues(struct backend_conn *, struct frontend_pid_data *);
int cli_getpid(struct backend_conn * conn, int argc, char ** argv);
#endif /* __CLI_GETPID_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_getsetpoint.c b/groundStation/src/cli/cli_getsetpoint.c
new file mode 100644
index 0000000000000000000000000000000000000000..c10f49d179bc7807c8213df8e5f0654ceb609d8a
--- /dev/null
+++ b/groundStation/src/cli/cli_getsetpoint.c
@@ -0,0 +1,97 @@
+#include <stdio.h>
+#include <unistd.h>
+#include <getopt.h>
+
+#include "cli_getsetpoint.h"
+
+int cli_getsetpoint(struct backend_conn * conn, int argc, char **argv) {
+ int c;
+ static int getheight = 0, getlat = 0, getlong = 0;
+ struct frontend_setpoint_data setpoint_data;
+ static int needHelp = 0;
+ static int mask;
+ static struct option long_options[] = {
+ /* These options don’t set a flag. We distinguish them by their indices. */
+ {"help", no_argument, &needHelp, 1},
+ {"height", no_argument, &getheight, 1},
+ {"long", no_argument, &getlong, 1},
+ {"lat", no_argument, &getlat, 1},
+ {0, 0, 0, 0}
+ };
+
+ while (1)
+ {
+ /* getopt_long stores the option index here. */
+ int option_index = 0;
+
+ c = getopt_long(argc, argv, "", long_options, &option_index);
+
+ /* Detect the end of the options. */
+ if (c == -1)
+ break;
+
+
+ if (c == 'a') {
+ getheight = 1;
+ getlat = 1;
+ getlong = 1;
+ }
+
+ }
+
+ if (needHelp) {
+ printf("Getsetpoint gets the height, lat , and long set point values for the quad.\n");
+ 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[--height] : Gets the height setpoint\n");
+ printf("\t[--lat] : Gets the latitude setpoint\n");
+ printf("\t[--long] : Gets the longitude setpoint\n");
+ return 0;
+ }
+
+ if (argc < 2) {
+ printf("Incorrect Usage, run './cli getsetpoint --help' for correct usage.\n");
+ return 1;
+ }
+ int result;
+ if(getheight) {
+ if ((result = getSetPointValues(conn, &setpoint_data, HEIGHT))) {
+ return result;
+ }
+ }
+ if(getlat) {
+ if ((result = getSetPointValues(conn, &setpoint_data, LAT))) {
+ return result;
+ }
+ }
+ if(getlong) {
+ if ((result = getSetPointValues(conn, &setpoint_data, LONGG))) {
+ return result;
+ }
+ }
+
+ return 0;
+}
+
+int getSetPointValues(struct backend_conn * conn, struct frontend_setpoint_data * setpoint_data, int type) {
+ if(frontend_getsetpoint(conn, setpoint_data, type)) {
+ return 1;
+ }
+
+ switch(type) {
+ case HEIGHT :
+ printf("Height: %f\n",
+ setpoint_data->height);
+ break;
+ case LAT :
+ printf("Latitude: %f\n",
+ setpoint_data->lat);
+ case LONGG :
+ printf("Longitude: %f\n",
+ setpoint_data->longg);
+ default :
+ break;
+ }
+ return 0;
+}
diff --git a/groundStation/src/cli/cli_getsetpoint.h b/groundStation/src/cli/cli_getsetpoint.h
new file mode 100644
index 0000000000000000000000000000000000000000..c16d58fb25fa416dcf190e5b7d09dfe9fb74ead2
--- /dev/null
+++ b/groundStation/src/cli/cli_getsetpoint.h
@@ -0,0 +1,13 @@
+#ifndef __CLI_GETSETPOINT_H
+#define __CLI_GETSETPOINT_H
+
+#include "frontend_getsetpoint.h"
+
+#define HEIGHT 0
+#define LAT 1
+#define LONGG 2
+
+int getSetPointValues(struct backend_conn *, struct frontend_setpoint_data *, int type);
+int cli_getsetpoint(struct backend_conn * conn, int argc, char ** argv);
+
+#endif /* __CLI_GETSETPOINT_H */
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_setsetpoint.c b/groundStation/src/cli/cli_setsetpoint.c
index 698aa35f3e73cf4df9aecdcf3cdc1df4859d139e..4e1eb6dd08d984bede153c04a4eeb7ed8586950a 100644
--- a/groundStation/src/cli/cli_setsetpoint.c
+++ b/groundStation/src/cli/cli_setsetpoint.c
@@ -50,13 +50,13 @@ int cli_setsetpoint(struct backend_conn * conn, int argc, char **argv) {
}
if (needHelp) {
- printf("Setsetpoint sets the x, y , or z set point values for the quad.\n");
+ printf("Setsetpoint sets the height, lat , or long set point values for the quad.\n");
printf("Usage Syntax : \n\t./Cli setsetpoint [options...]\n");
printf("Symlink Usage Syntax : \n\t./setsetpoint [options...]\n\n");
printf("Available options include the following\n");
- printf("\t[-x] 'val' : Sets the x setpoint value to 'val'\n");
- printf("\t[-z] 'val' : Sets the y setpoint value to 'val'\n");
- printf("\t[-z] 'val' : Sets the z setpoint value to 'val'\n");
+ printf("\t[--height] 'val' : Sets the height setpoint value to 'val'\n");
+ printf("\t[--lat] 'val' : Sets the latitude setpoint value to 'val'\n");
+ printf("\t[--long] 'val' : Sets the longitude setpoint value to 'val'\n");
return 0;
}
diff --git a/groundStation/src/frontend/frontend_getsetpoint.c b/groundStation/src/frontend/frontend_getsetpoint.c
new file mode 100644
index 0000000000000000000000000000000000000000..57bee3f8fe3bc5fee9c66f5512977959b10d92a6
--- /dev/null
+++ b/groundStation/src/frontend/frontend_getsetpoint.c
@@ -0,0 +1,43 @@
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+
+#include "frontend_getsetpoint.h"
+#include "setpoint_common.h"
+#include "cli_getsetpoint.h"
+
+/* Get a specified setpoint.
+ *
+ * Example:
+ *
+ * struct frontend_setpoint_data setpoint_data;
+ * if (frontend_getpid(conn, &pid_data)) {
+ * error
+ * } else {
+ * setpoint_data.height, setpoint_data.lat, and setpoint.long are filled
+ * }
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_getsetpoint(
+ struct backend_conn * conn, struct frontend_setpoint_data * setpoint_data, int type) {
+
+ char line[25] = "";
+ switch (type) {
+ case HEIGHT :
+ strncpy(line, "getheight\n", 10);
+ break;
+ case LAT :
+ strncpy(line, "getlat\n", 7);
+ break;
+ case LONGG :
+ strncpy(line, "getlong\n", 8);
+ break;
+ }
+ int size;
+ if((size = ucart_backendWrite(conn, line)) < 0 ) {
+ return 1;
+ }
+
+ return 0;
+}
diff --git a/groundStation/src/frontend/frontend_getsetpoint.h b/groundStation/src/frontend/frontend_getsetpoint.h
new file mode 100644
index 0000000000000000000000000000000000000000..f8dfdc87b3df057d5fd43714c5b81a52831ce763
--- /dev/null
+++ b/groundStation/src/frontend/frontend_getsetpoint.h
@@ -0,0 +1,25 @@
+#ifndef __FRONTEND_GETSETPOINT_H
+#define __FRONTEND_GETSETPOINT_H
+
+#include "frontend_common.h"
+#include "setpoint_common.h"
+
+/* Get a specified setpoint.
+ *
+ * Example:
+ *
+ * struct frontend_setpoint_data setpoint_data;
+ * if (frontend_getpid(conn, &pid_data)) {
+ * error
+ * } else {
+ * setpoint_data.height, setpoint_data.lat, and setpoint.long are filled
+ * }
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_getsetpoint(
+ struct backend_conn * conn,
+ struct frontend_setpoint_data * setpoint_data,
+ int type);
+
+#endif /* __FRONTEND_GETPID_H */
\ No newline at end of file