everything compiles

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

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;
 	}

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

groundStation/src/cli/cli_getsetpoint.c

+#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;
+}

groundStation/src/cli/cli_getsetpoint.h

+#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

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;
 	}
 

groundStation/src/frontend/frontend_getsetpoint.c

+#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;
+}	

groundStation/src/frontend/frontend_getsetpoint.h

+#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