Merge remote-tracking branch 'origin/groundStation-dev-cli-setpoint' into new-commands

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
+SYMLINKS=monitor setpid getpid setsetpoint
 
 # Frontend-common stuff
 FESRCDIR=src/frontend

groundStation/src/cli/cli.h

 #ifndef __CLI_H
 #define __CLI_H
 
+#include "cli_setsetpoint.h"
 #include "cli_monitor.h"
 #include "cli_setpid.h"
 #include "cli_getpid.h"
@@ -11,6 +12,7 @@ enum CommandNameIds{
 	CMD_GETPID,
 	CMD_SETPID,
 	CMD_GETIMU,
+	CMD_SETSETPOINT,
 	MAX_COMMANDS
 };
 
@@ -19,13 +21,16 @@ static cli_function_ptr cli_functions[] = {
 	&cli_monitor,
 	&cli_getpid,
 	&cli_setpid,
-	&cli_getimu
+	&cli_getimu,
+	&cli_setsetpoint
 };
 
 static char* commandNames[MAX_COMMANDS] = {
 	"monitor",
 	"getpid",
 	"setpid",
-	"getimu"
+	"getimu",
+	"setsetpoint"
 };
+
 #endif

groundStation/src/cli/cli_setpid.h

-#ifndef _CLI_SETPID_H
-#define _CLI_SETPID_H
+#ifndef CLI_SETPID_H
+#define CLI_SETPID_H
 
 #include "frontend_setpid.h"
 

groundStation/src/cli/cli_setsetpoint.c

+#include <stdio.h>
+#include <unistd.h>
+#include <getopt.h>
+
+#include "cli_setsetpoint.h"
+
+int cli_set(struct backend_conn * conn,	int argc, char **argv) {
+	int c;
+	static int setX = 0, setY = 0, setZ = 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},
+ 		{0, 0, 0, 0}
+ 	};
+
+ 	while (1)
+	{
+		/* getopt_long stores the option index here. */
+		int option_index = 0;
+
+		c = getopt_long(argc, argv, "x:y:z:", long_options, &option_index);
+
+		/* Detect the end of the options. */
+		if (c == -1)
+			break;
+
+		switch(c) {
+			case 'x' :
+				setpoint_data.x  = atof(optarg);
+				mask |= SET_X;
+				break;
+			case 'y' :
+				setpoint_data.y  = atof(optarg);
+				mask |= SET_Y;
+				break;
+			case 'z' :
+				setpoint_data.z  = atof(optarg);
+				mask |= SET_Z;
+				break;
+			default :
+				break;
+		}
+	}
+
+	if (needHelp) {
+		printf("Setsetpoint sets the x, y , or z 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");
+		return 0;
+	}
+
+	if (argc < 2) {
+		printf("Incorrect Usage, run './cli setpid --help' for correct usage.\n");
+		return 1;
+	}
+	
+	frontend_setsetpoint(conn, &setpoint_data, mask);
+	return 0;
+}

groundStation/src/cli/cli_setsetpoint.h

+#ifndef CLI_SETSETPOINT_H
+#define CLI_SETSETPOINT_H
+
+#include "frontend_setsetpoint.h"
+
+int cli_setsetpoint(struct backend_conn * conn, int argc, char ** argv);
+
+#endif /* CLI_SETSETPOINT_H */

groundStation/src/frontend/frontend_setpid.h

-#ifndef _FRONTEND_SETPID_H
-#define _FRONTEND_SETPID_H
+#ifndef FRONTEND_SETPID_H
+#define FRONTEND_SETPID_H
 
 #include "pid_common.h"
 #include "frontend_common.h"
@@ -12,6 +12,9 @@ int frontend_setpid(
 #define SET_P 0x01
 #define SET_I 0x02
 #define SET_D 0x04
+
+#ifndef SET_ALL
 #define SET_ALL (SET_P | SET_I | SET_D)
+#endif /* SET_ALL */
 
-#endif
+#endif /* FRONTEND_SETPID_H */
\ No newline at end of file

groundStation/src/frontend/frontend_setsetpoint.c

+#include <err.h>
+#include <stdio.h>
+
+#include "frontend_setsetpoint.h"
+#include "setpoint_common.h"
+#include "frontend_common.h"
+
+int frontend_setsetpoint(
+		struct backend_conn * conn,
+		struct frontend_setpoint_data * setpoint_data,
+		int mask)
+{
+	if (conn == NULL) {
+		return -1;
+	}
+
+	char buffer[2048];
+	/* Set the P, I, and D */
+	if (mask & SET_X) {
+		if (snprintf(buffer, 2048,
+					"setsetpointx %f\n",  
+					setpoint_data->x) >= 2048) {
+			errx(0, "Buffer to small to format!");
+		}
+		ucart_backendWrite(conn, buffer);
+	}
+	if (mask & SET_Y) {
+		if (snprintf(buffer, 2048,
+					"setsetpointy %f\n",
+					setpoint_data->y) >= 2048) {
+			errx(0, "Buffer to small to format!");
+		}
+		ucart_backendWrite(conn, buffer);
+	}
+	if (mask & SET_Z) {
+		if (snprintf(buffer, 2048,
+					"setsetpointz %f\n",
+					setpoint_data->z) >= 2048) {
+			errx(0, "Buffer to small to format!");
+		}
+		ucart_backendWrite(conn, buffer);
+	}
+
+	return 0;
+}

groundStation/src/frontend/frontend_setsetpoint.h

+#ifndef FRONTEND_SETSETPOINT_H
+#define FRONTEND_SETSETPOINT_H
+
+#include "setpoint_common.h"
+#include "frontend_common.h"
+
+int frontend_setsetpoint(
+		struct backend_conn * conn,
+		struct frontend_setpoint_data * setpoint_data,
+		int mask);
+
+#define SET_X 0x01
+#define SET_Y 0x02
+#define SET_Z 0x04
+
+#ifndef SET_ALL
+#define SET_ALL (SET_X | SET_Y | SET_Z)
+#endif /* SET_ALL */
+
+#endif /* FRONTEND_SETSETPOINT_H */
\ No newline at end of file

groundStation/src/frontend/setpoint_common.h

+#ifndef SETPOINT_COMMON_H
+#define SETPOINT_COMMON_H
+
+struct frontend_setpoint_data {
+	float x;
+	float y;
+	float z;
+};
+
+
+#endif /* SETPOINT_COMMON_H */
\ No newline at end of file