#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 = 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[100] = "";
	switch (pid_data->controller) {
		case PID_PITCH :
			strncpy(line, "getpitchp\ngetpitchd\n", 20);
			break;
		case PID_ROLL :
			strncpy(line, "getrollp\ngetrolld\n", 18);
			break;
		case PID_YAW :
			strncpy(line, "getyawp\ngetyawd\n", 17);
			break;
		default :
			return 1;
	}

	int size;
	if((size = ucart_backendWrite(conn, line)) < 0 ) {
		return 1;
	}

	return 0;
}