diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index 3164913674fb7f71b7460ad5d93868e719a06eb0..2ae5219f759dc07013a31f06c0fa708f3206128e 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -221,31 +221,7 @@ int main(int argc, char **argv)
}
if (fd == fileno(stdin)) {
- // break;
- // unsigned char userCommand[CMD_MAX_LENGTH];
- // read(fileno(stdin), (char *)userCommand, sizeof(userCommand));
- // unsigned int cmdLen = strlen((char*) userCommand);
- // // if the user simply hit enter then let them try again
- // if((userCommand[0] != '\n') && (userCommand[0] != '\r'))
- // {
- // // remove newline and return line chars
- // if((userCommand[cmdLen - 1] == '\n') || (userCommand[cmdLen - 1] == '\r'))
- // userCommand[cmdLen - 1] = '\0';
-
- // unsigned char *packet;
- // formatCommand(userCommand, &packet);
-
- // printf("received input from cli: '%s'\n", userCommand);
-
- // // Write the command to the control_loop socket
- // // int n = writeQuad(packet, ((packet[6] << 8) | packet[5]) + 8);
- // // if(n < 0) {
- // // printf("CLI: ERROR writing to socket\n");
- // // }
- // }
- // printf("$microcart> ");
- // memset(userCommand, 0, cmdLen);
} else if (fd == zyboSocket) {
// Read the response from the control loop
int available;
@@ -281,6 +257,7 @@ int main(int argc, char **argv)
}
}
} else if (get_client_index(fd) > -1) {
+ printf("receiving from client\n");
client_recv(fd);
}
}
diff --git a/groundStation/src/backend/commands.c b/groundStation/src/backend/commands.c
index cdbbbe8a1ea4b240d71f3dd0390ac60005e749d9..708a6ac98a154648d90b1e9ffbf7460d0ed15710 100644
--- a/groundStation/src/backend/commands.c
+++ b/groundStation/src/backend/commands.c
@@ -55,7 +55,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &yawset
+ &setyaw
},
// yaw p constant subtype
{
@@ -66,7 +66,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &yawp
+ &setyawp
},
// yaw d constant subtype
{
@@ -77,7 +77,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &yawd
+ &setyawd
},
// roll setpoint subtype
{
@@ -88,7 +88,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &rollset
+ &setroll
},
// roll p constant subtype
{
@@ -99,7 +99,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &rollp
+ &setrollp
},
// roll d constant subtype
{
@@ -110,7 +110,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &rolld
+ &setrolld
},
// pitch setpoint subtype
{
@@ -121,7 +121,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &pitchset
+ &setpitch
},
// pitch p constant subtype
{
@@ -132,7 +132,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &pitchp
+ &setpitchp
},
// pitch d constant subtype
{
@@ -143,7 +143,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &pitchd
+ &setpitchd
},
// throttle setpoint subtype
{
@@ -154,7 +154,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &throttleset
+ &setthrottle
},
// throttle p constant subtype
{
@@ -165,7 +165,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &throttlep
+ &setthrottlep
},
// throttle i constant subtype
{
@@ -176,7 +176,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &throttlei
+ &setthrottlei
},
// throttle d constant subtype
{
@@ -187,7 +187,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &throttled
+ &getthrottled
}
}
},
@@ -204,44 +204,187 @@ struct MessageType MessageTypes[MAX_TYPE] =
// ID
0x00,
// Command text
- "accelreq",
+ "getaccel",
// Type of the command data
floatType,
// Function pointer
- &accelreq
+ &getaccel
},
// gyroscope subtype
{
// ID
0x01,
// Command text
- "gyroreq",
+ "getgyro",
// Type of the command data
floatType,
// Function pointer
- &gyroreq
+ &getgyro
},
// pitch angle subtype
{
// ID
0x02,
// Command text
- "reqpitchangle",
+ "getpitchangle",
// Type of the command data
floatType,
// Function pointer
- &pitchanglereq
+ &getpitchangle
},
// roll angle subtype
{
// ID
0x03,
// Command text
- "reqrollangle",
+ "getrollangle",
// Type of the command data
floatType,
// Function pointer
- &rollanglereq
+ &getrollangle
+ },
+ // get yaw setpoint subtype
+ {
+ // ID
+ 0x04,
+ // Command text
+ "getyaw",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &setyaw
+ },
+ // get yaw p constant subtype
+ {
+ // ID
+ 0x05,
+ // Command text
+ "getyawp",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &getyawp
+ },
+ // get yaw d constant subtype
+ {
+ // ID
+ 0x06,
+ // Command text
+ "getyawd",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &getyawd
+ },
+ // get roll setpoint subtype
+ {
+ // ID
+ 0x07,
+ // Command text
+ "getroll",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &getroll
+ },
+ // get roll p constant subtype
+ {
+ // ID
+ 0x08,
+ // Command text
+ "getrollp",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &getrollp
+ },
+ // getroll d constant subtype
+ {
+ // ID
+ 0x09,
+ // Command text
+ "getrolld",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &getrolld
+ },
+ // get pitch setpoint subtype
+ {
+ // ID
+ 0x0A,
+ // Command text
+ "getpitch",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &getpitch
+ },
+ // get pitch p constant subtype
+ {
+ // ID
+ 0x0B,
+ // Command text
+ "getpitchp",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &getpitchp
+ },
+ // get pitch d constant subtype
+ {
+ // ID
+ 0x0C,
+ // Command text
+ "getpitchd",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &getpitchd
+ },
+ // get throttle setpoint subtype
+ {
+ // ID
+ 0x0D,
+ // Command text
+ "getthrottle",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &getthrottle
+ },
+ // get throttle p constant subtype
+ {
+ // ID
+ 0x0E,
+ // Command text
+ "getthrottlep",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &getthrottlep
+ },
+ // get throttle i constant subtype
+ {
+ // ID
+ 0x0F,
+ // Command text
+ "getthrottlei",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &getthrottlei
+ },
+ // get throttle d constant subtype
+ {
+ // ID
+ 0x10,
+ // Command text
+ "getthrottled",
+ // Type of the command data
+ floatType,
+ // Function pointer
+ &getthrottled
}
}
},
@@ -262,7 +405,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &accelresp
+ &respaccel
},
// gyroscope subtype
{
@@ -273,7 +416,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &gyroresp
+ &respgyro
},
// pitch angle subtype
{
@@ -284,7 +427,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &pitchangleresp
+ &resppitchangle
},
// roll angle subtype
{
@@ -295,7 +438,7 @@ struct MessageType MessageTypes[MAX_TYPE] =
// Type of the command data
floatType,
// Function pointer
- &rollangleresp
+ &resprollangle
}
}
},
@@ -412,7 +555,7 @@ int response(unsigned char *packet, int dataLen, modular_structs_t *structs)
// ------------------------------------------------------------------
-int yawset(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int setyaw(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
@@ -422,203 +565,243 @@ int yawset(unsigned char *packet, int dataLen, modular_structs_t *structs)
structs->setpoint_struct.desiredQuadPosition.yaw = value;
- printf("function for yawset: %f\n", structs->setpoint_struct.desiredQuadPosition.yaw);
+ printf("function for setyaw: %f\n", structs->setpoint_struct.desiredQuadPosition.yaw);
return 0;
}
-int yawp(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int setyawp(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.yaw_angle_pid.Kp = value;
- printf("function for yawp: %f\n", structs->parameter_struct.yaw_angle_pid.Kp);
+ printf("function for setyawp: %f\n", structs->parameter_struct.yaw_angle_pid.Kp);
return 0;
}
-int yawd(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int setyawd(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.yaw_angle_pid.Kd = value;
- printf("function for yawd: %f\n", structs->parameter_struct.yaw_angle_pid.Kd);
+ printf("function for setyawd: %f\n", structs->parameter_struct.yaw_angle_pid.Kd);
return 0;
}
-int rollset(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int setroll(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
memcpy(&value, ((float *)packet), dataLen);
structs->setpoint_struct.desiredQuadPosition.roll = value;
- printf("function for rollset: %f\n", structs->setpoint_struct.desiredQuadPosition.roll);
+ printf("function for setroll: %f\n", structs->setpoint_struct.desiredQuadPosition.roll);
return 0;
}
-int rollp(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int setrollp(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.local_y_pid.Kp = value;
- printf("function for rollp: %f\n", structs->parameter_struct.local_y_pid.Kp);
+ printf("function for setrollp: %f\n", structs->parameter_struct.local_y_pid.Kp);
return 0;
}
-int rolld(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int setrolld(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.local_y_pid.Kd = value;
- printf("function for rolld: %f\n", structs->parameter_struct.local_y_pid.Kd);
+ printf("function for setrolld: %f\n", structs->parameter_struct.local_y_pid.Kd);
return 0;
}
-int pitchset(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int setpitch(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
memcpy(&value, ((float *)packet), dataLen);
structs->setpoint_struct.desiredQuadPosition.pitch = value;
- printf("function for pitchset: %f\n", structs->setpoint_struct.desiredQuadPosition.pitch);
+ printf("function for setpitch: %f\n", structs->setpoint_struct.desiredQuadPosition.pitch);
return 0;
}
-int pitchp(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int setpitchp(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.local_x_pid.Kp = value;
- printf("function for pitchp: %f\n", structs->parameter_struct.local_x_pid.Kp);
+ printf("function for setpitchp: %f\n", structs->parameter_struct.local_x_pid.Kp);
return 0;
}
-int pitchd(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int setpitchd(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.local_x_pid.Kd = value;
- printf("function for pitchd: %f\n", structs->parameter_struct.local_x_pid.Kd);
+ printf("function for setpitchd: %f\n", structs->parameter_struct.local_x_pid.Kd);
return 0;
}
// ------------------------------------------------------------
// These should be renamed to altitude!
-int throttleset(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int setthrottle(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
memcpy(&value, ((float *)packet), dataLen);
structs->setpoint_struct.desiredQuadPosition.alt_pos = value;
- printf("function for throttleset: %f\n", structs->setpoint_struct.desiredQuadPosition.alt_pos);
+ printf("function for setthrottle: %f\n", structs->setpoint_struct.desiredQuadPosition.alt_pos);
return 0;
}
-int throttlep(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int setthrottlep(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.alt_pid.Kp = value;
- printf("function for throttlep: %f\n", structs->parameter_struct.alt_pid.Kp);
+ printf("function for setthrottlep: %f\n", structs->parameter_struct.alt_pid.Kp);
return 0;
}
-int throttlei(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int setthrottlei(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.alt_pid.Ki = value;
- printf("function for throttlei: %f\n", structs->parameter_struct.alt_pid.Ki);
+ printf("function for setthrottlei: %f\n", structs->parameter_struct.alt_pid.Ki);
return 0;
}
-int throttled(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int setthrottled(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
float value;
memcpy(&value, ((float *)packet), dataLen);
structs->parameter_struct.alt_pid.Kd = value;
- printf("function for throttled: %f\n", structs->parameter_struct.alt_pid.Kd);
+ printf("function for setthrottled: %f\n", structs->parameter_struct.alt_pid.Kd);
return 0;
}
+int getyaw(unsigned char *packet, int dataLen, modular_structs_t *structs){
+ return 0;
+}
+int getyawp(unsigned char *packet, int dataLen, modular_structs_t *structs){
+ return 0;
+}
+int getyawd(unsigned char *packet, int dataLen, modular_structs_t *structs) {
+ return 0;
+}
+int getroll(unsigned char *packet, int dataLen, modular_structs_t *structs){
+ return 0;
+}
+int getrollp(unsigned char *packet, int dataLen, modular_structs_t *structs){
+ return 0;
+}
+int getrolld(unsigned char *packet, int dataLen, modular_structs_t *structs){
+ return 0;
+}
+int getpitch(unsigned char *packet, int dataLen, modular_structs_t *structs){
+ return 0;
+}
+int getpitchp(unsigned char *packet, int dataLen, modular_structs_t *structs){
+ return 0;
+}
+int getpitchd(unsigned char *packet, int dataLen, modular_structs_t *structs){
+ return 0;
+}
+int getthrottle(unsigned char *packet, int dataLen, modular_structs_t *structs){
+ return 0;
+}
+int getthrottlep(unsigned char *packet, int dataLen, modular_structs_t *structs){
+ return 0;
+}
+int getthrottlei(unsigned char *packet, int dataLen, modular_structs_t *structs){
+ return 0;
+}
+int getthrottled(unsigned char *packet, int dataLen, modular_structs_t *structs){
+ return 0;
+}
+
// These should be renamed to altitude!
// ------------------------------------------------------------
-int accelreq(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int getaccel(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
- printf("function for accelreq\n");
+ printf("function for getaccel\n");
return 0;
}
-int gyroresp(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int respgyro(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
- printf("function for accelreq\n");
+ printf("function for respgyro\n");
return 0;
}
-int pitchangleresp(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int resppitchangle(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
- printf("function for accelreq\n");
+ printf("function for resppitchangle\n");
return 0;
}
-int rollangleresp(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int resprollangle(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
- printf("function for accelreq\n");
+ printf("function for resprollangle\n");
return 0;
}
-int gyroreq(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int getgyro(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
- printf("function for accelreq\n");
+ printf("function for getgyro\n");
return 0;
}
-int pitchanglereq(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int getpitchangle(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
- printf("function for accelreq\n");
+ printf("function for getpitchangle\n");
return 0;
}
-int rollanglereq(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int getrollangle(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
- printf("function for accelreq\n");
+ printf("function for getrollangle\n");
return 0;
}
-int accelresp(unsigned char *packet, int dataLen, modular_structs_t *structs)
+int respaccel(unsigned char *packet, int dataLen, modular_structs_t *structs)
{
- printf("function for accelreq\n");
+ printf("function for respaccel\n");
return 0;
}
\ No newline at end of file
diff --git a/groundStation/src/backend/commands.h b/groundStation/src/backend/commands.h
index 51c82bd705c6819b27c4ca27e7a74aed369344b7..3bb62fd8d84800ceb7710ad1a7a0c1b641029a19 100644
--- a/groundStation/src/backend/commands.h
+++ b/groundStation/src/backend/commands.h
@@ -44,27 +44,40 @@ int debug(unsigned char *c, int dataLen, modular_structs_t *structs);
int update(unsigned char *c, int dataLen, modular_structs_t *structs);
int logdata(unsigned char *c, int dataLen, modular_structs_t *structs);
int response(unsigned char *packet, int dataLen, modular_structs_t *structs);
-int yawset(unsigned char *c, int dataLen, modular_structs_t *structs);
-int yawp(unsigned char *c, int dataLen, modular_structs_t *structs);
-int yawd(unsigned char *c, int dataLen, modular_structs_t *structs);
-int rollset(unsigned char *c, int dataLen, modular_structs_t *structs);
-int rollp(unsigned char *c, int dataLen, modular_structs_t *structs);
-int rolld(unsigned char *c, int dataLen, modular_structs_t *structs);
-int pitchset(unsigned char *c, int dataLen, modular_structs_t *structs);
-int pitchp(unsigned char *c, int dataLen, modular_structs_t *structs);
-int pitchd(unsigned char *c, int dataLen, modular_structs_t *structs);
-int throttleset(unsigned char *c, int dataLen, modular_structs_t *structs);
-int throttlep(unsigned char *c, int dataLen, modular_structs_t *structs);
-int throttlei(unsigned char *c, int dataLen, modular_structs_t *structs);
-int throttled(unsigned char *c, int dataLen, modular_structs_t *structs);
-int accelreq(unsigned char *c, int dataLen, modular_structs_t *structs);
-int gyroresp(unsigned char *c, int dataLen, modular_structs_t *structs);
-int pitchangleresp(unsigned char *c, int dataLen, modular_structs_t *structs);
-int rollangleresp(unsigned char *c, int dataLen, modular_structs_t *structs);
-int gyroreq(unsigned char *c, int dataLen, modular_structs_t *structs);
-int pitchanglereq(unsigned char *c, int dataLen, modular_structs_t *structs);
-int rollanglereq(unsigned char *c, int dataLen, modular_structs_t *structs);
-int accelresp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setyaw(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setyawp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setyawd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setroll(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setrollp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setrolld(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setpitch(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setpitchp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setpitchd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setthrottle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setthrottlep(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setthrottlei(unsigned char *c, int dataLen, modular_structs_t *structs);
+int setthrottled(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getyaw(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getyawp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getyawd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getroll(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getrollp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getrolld(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getpitch(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getpitchp(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getpitchd(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getthrottle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getthrottlep(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getthrottlei(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getthrottled(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getaccel(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respgyro(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resppitchangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int resprollangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getgyro(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getpitchangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int getrollangle(unsigned char *c, int dataLen, modular_structs_t *structs);
+int respaccel(unsigned char *c, int dataLen, modular_structs_t *structs);
float getFloat(unsigned char* str, int pos);
int getInt(unsigned char* str, int pos);
diff --git a/groundStation/src/cli/cli.c b/groundStation/src/cli/cli.c
index 17d9f8c8a865f9ae6f3705226cc53af54e161a06..556c6d649d3c12eddb59aca052e7c2a7cceb656e 100644
--- a/groundStation/src/cli/cli.c
+++ b/groundStation/src/cli/cli.c
@@ -1,6 +1,7 @@
#include <stdio.h>
#include <string.h>
#include <err.h>
+#include <unistd.h>
#include "cli.h"
@@ -46,6 +47,7 @@ int main(int argc, char **argv)
}else {
(*cli_functions[0]) (conn, argc-1, &argv[1]);
}
+ sleep(1);
ucart_backendDisconnect(conn);
return 0;
diff --git a/groundStation/src/frontend/frontend_common.c b/groundStation/src/frontend/frontend_common.c
index 81e0c2eef2e8bf2ab84378fde6e6a6be39c46130..4fbe4f27992db4dd078e3e203a321529885a0f3f 100644
--- a/groundStation/src/frontend/frontend_common.c
+++ b/groundStation/src/frontend/frontend_common.c
@@ -43,14 +43,12 @@ struct backend_conn * ucart_backendConnect()
goto fail_final;
}
-
conn = malloc(sizeof(struct backend_conn));
if (conn == NULL) {
perror("malloc");
goto fail_sock;
}
-
conn->len = 0;
conn->buf = NULL;
conn->socket = fdopen(s, "rw");
@@ -86,7 +84,7 @@ char * ucart_backendGetline(struct backend_conn *conn)
return conn->buf;
}
-size_t ucart_backendWrite(struct backend_conn *conn, const char * line)
+int ucart_backendWrite(struct backend_conn *conn, const char * line)
{
return fputs(line, conn->socket);
}
diff --git a/groundStation/src/frontend/frontend_common.h b/groundStation/src/frontend/frontend_common.h
index 095c06b817cf21483c1cfa957106c20f65a4ebd3..c8ea7877190c29ff41f02f9aa92a3987c80e2de6 100644
--- a/groundStation/src/frontend/frontend_common.h
+++ b/groundStation/src/frontend/frontend_common.h
@@ -17,6 +17,6 @@ void ucart_backendDisconnect(struct backend_conn * conn);
char * ucart_backendGetline(struct backend_conn * conn);
/* Write a line to the backend */
-size_t ucart_backendWrite(struct backend_conn * backend, const char * line);
+int ucart_backendWrite(struct backend_conn * backend, const char * line);
#endif
diff --git a/groundStation/src/frontend/frontend_getpid.c b/groundStation/src/frontend/frontend_getpid.c
index 8143f94006422f671e230d3213d4cd0bfb3ab74e..c1bb9b46444ad7e5dbd037c34747d51c6a040c94 100644
--- a/groundStation/src/frontend/frontend_getpid.c
+++ b/groundStation/src/frontend/frontend_getpid.c
@@ -1,4 +1,9 @@
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+
#include "frontend_getpid.h"
+#include "pid_common.h"
/* Get a specified PID.
*
@@ -16,5 +21,32 @@
*/
int frontend_getpid(
struct backend_conn * conn, struct frontend_pid_data * pid_data) {
+
+ char line[10] = "getpid \0";
+ char pid_option[2];
+ switch (pid_data->pid) {
+ case PITCH :
+ strncpy(pid_option, "p\0", 2);
+ break;
+ case ROLL :
+ strncpy(pid_option, "i\0", 2);
+ break;
+ case YAW :
+ strncpy(pid_option, "d\0", 2);
+ break;
+ default :
+ return 1;
+ }
+
+ strncat(line, pid_option, 2);
+
+ int size;
+ if((size = ucart_backendWrite(conn, line)) < 0 ) {
+ printf("nope! %d \n", size);
+ return 1;
+ }
+
+ printf("we send size bytes\n");
+
return 0;
-}
\ No newline at end of file
+}
\ No newline at end of file