Merge branch 'groundStation-dev-cli-setpoint' into groundStation-dev-cli

groundStation/.gitignore

@@ -42,3 +42,10 @@ logs
 BackEnd
 obj
 Cli
+
+#symlinks
+getpid
+monitor
+setpid
+setsetpoint
+getsetpoint

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 getsetpoint
 
 # Frontend-common stuff
 FESRCDIR=src/frontend

groundStation/src/backend/callbacks.c

+#include "commands.h"
+
+/* New stuff - this is nice and clean */
+
+/* Override any callbacks here */
+
+
+/****** LEGACY CODE BE VERY AFRAID ********/
+
+// TAKE THESE OUT WHEN IMPLEMENTING ON THE QUAD SIDE
+float getFloat(unsigned char* str, int pos) {
+	union {
+		float f;
+		int i;
+	} x;
+	x.i = ((str[pos+3] << 24) | (str[pos+2] << 16) | (str[pos+1] << 8) | (str[pos]));
+	return x.f;
+}
+
+int getInt(unsigned char* str, int pos) {
+	int i = ((str[pos+3] << 24) | (str[pos+2] << 16) | (str[pos+1] << 8) | (str[pos]));
+	return i;
+}
+//------------------------------------------------
+
+int cb_debug(unsigned char *packet, int dataLen, modular_structs_t *structs)
+{
+	printf("function for debug\n");
+	return 0;
+}
+
+int cb_update(unsigned char *packet, int dataLen,	modular_structs_t *structs)
+{
+	unsigned char update[28];
+	memcpy(update, ((float *)packet), 28);
+
+	int packetId = getInt(update, 0);
+	float y_pos = getFloat(update, 4);
+	float x_pos = getFloat(update, 8);
+	float alt_pos = getFloat(update, 12);
+	float roll = getFloat(update, 16);
+	float pitch = getFloat(update, 20);
+	float yaw = getFloat(update, 24);
+
+	structs->log_struct.currentQuadPosition.packetId = packetId;
+	structs->log_struct.currentQuadPosition.y_pos = y_pos;
+	structs->log_struct.currentQuadPosition.x_pos = x_pos;
+	structs->log_struct.currentQuadPosition.alt_pos = alt_pos;
+	structs->log_struct.currentQuadPosition.roll = roll;
+	structs->log_struct.currentQuadPosition.pitch = pitch;
+	structs->log_struct.currentQuadPosition.yaw = yaw;
+
+	printf("QUAD: VRPN Packet:");
+	printf("Packet ID: %d\n", packetId);
+	printf("Y Position: %f\n", y_pos);
+	printf("X Position: %f\n", x_pos);
+	printf("Altitude Position: %f\n", alt_pos);
+	printf("Roll: %f\n", roll);
+	printf("Pitch: %f\n", pitch);
+	printf("Yaw: %f\n", yaw);
+
+	printf("function for update\n");
+	return 0;
+}
+
+// Why is this here?
+// This should be on the ground station side
+int logdata(unsigned char *packet, int dataLen, modular_structs_t *structs)
+{
+	printf("Logging: %s\n", packet);
+	return 0;
+}
+
+int response(unsigned char *packet, int dataLen, modular_structs_t *structs)
+{
+	printf("This is the response: %s\n", packet);
+
+	return 0;
+}
+
+// ------------------------------------------------------------------
+
+int setyaw(unsigned char *packet, int dataLen, modular_structs_t *structs)
+{
+	float value;
+
+	memcpy(&value, ((float *)packet), dataLen);
+
+	printf("%f\n", value);
+
+	structs->setpoint_struct.desiredQuadPosition.yaw = value;
+
+	printf("function for setyaw: %f\n", structs->setpoint_struct.desiredQuadPosition.yaw);
+
+	return 0;
+}
+
+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 setyawp: %f\n", structs->parameter_struct.yaw_angle_pid.Kp);
+
+	return 0;
+}
+
+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 setyawd: %f\n", structs->parameter_struct.yaw_angle_pid.Kd);
+
+	return 0;
+}
+
+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 setroll: %f\n", structs->setpoint_struct.desiredQuadPosition.roll);
+
+	return 0;
+}
+
+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 setrollp: %f\n", structs->parameter_struct.local_y_pid.Kp);
+
+	return 0;
+}
+
+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 setrolld: %f\n", structs->parameter_struct.local_y_pid.Kd);
+
+	return 0;
+}
+
+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 setpitch: %f\n", structs->setpoint_struct.desiredQuadPosition.pitch);
+
+	return 0;
+}
+
+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 setpitchp: %f\n", structs->parameter_struct.local_x_pid.Kp);
+
+	return 0;
+}
+
+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 setpitchd: %f\n", structs->parameter_struct.local_x_pid.Kd);
+
+	return 0;
+}
+
+// ------------------------------------------------------------
+// These should be renamed to altitude!
+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 setthrottle: %f\n", structs->setpoint_struct.desiredQuadPosition.alt_pos);
+
+	return 0;
+}
+
+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 setthrottlep: %f\n", structs->parameter_struct.alt_pid.Kp);
+
+	return 0;
+}
+
+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 setthrottlei: %f\n", structs->parameter_struct.alt_pid.Ki);
+
+	return 0;
+}
+
+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 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 getgyro(unsigned char *packet, int dataLen,	 modular_structs_t *structs)
+{
+	printf("function for getgyro\n");
+	return 0;
+}
+
+int getpitchangle(unsigned char *packet, int dataLen,  modular_structs_t *structs)
+{
+	printf("function for getpitchangle\n");
+	return 0;
+}
+
+int getrollangle(unsigned char *packet, int dataLen,  modular_structs_t *structs)
+{
+	printf("function for getrollangle\n");
+	return 0;
+}
+
+
+int getaccel(unsigned char *packet, int dataLen,  modular_structs_t *structs)
+{
+	printf("function for getaccel\n");
+	return 0;
+}
+
+
+int respgyro(unsigned char *packet, int dataLen,  modular_structs_t *structs)
+{
+	printf("function for respgyro\n");
+	return 0;
+}
+
+int resppitchangle(unsigned char *packet, int dataLen,	modular_structs_t *structs)
+{
+	printf("function for resppitchangle\n");
+	return 0;
+}
+
+int resprollangle(unsigned char *packet, int dataLen,  modular_structs_t *structs)
+{
+	printf("function for resprollangle\n");
+	return 0;
+}
+
+
+int respaccel(unsigned char *packet, int dataLen,  modular_structs_t *structs)
+{
+	printf("function for respaccel\n");
+	return 0;
+}
+
+int respyaw(unsigned char *packet, int dataLen, modular_structs_t *structs){
+	return 0;
+}
+int respyawp(unsigned char *packet, int dataLen, modular_structs_t *structs){
+	return 0;
+}
+int respyawd(unsigned char *packet, int dataLen, modular_structs_t *structs) {
+	return 0;
+}
+int resproll(unsigned char *packet, int dataLen, modular_structs_t *structs){
+	return 0;
+}
+int resprollp(unsigned char *packet, int dataLen, modular_structs_t *structs){
+	return 0;
+}
+int resprolld(unsigned char *packet, int dataLen, modular_structs_t *structs){
+	return 0;
+}
+int resppitch(unsigned char *packet, int dataLen, modular_structs_t *structs){
+	return 0;
+}
+int resppitchp(unsigned char *packet, int dataLen, modular_structs_t *structs){
+	return 0;
+}
+int resppitchd(unsigned char *packet, int dataLen, modular_structs_t *structs){
+	return 0;
+}
+int respthrottle(unsigned char *packet, int dataLen, modular_structs_t *structs){
+	return 0;
+}
+int respthrottlep(unsigned char *packet, int dataLen, modular_structs_t *structs){
+	return 0;
+}
+int respthrottlei(unsigned char *packet, int dataLen, modular_structs_t *structs){
+	return 0;
+}
+int respthrottled(unsigned char *packet, int dataLen, modular_structs_t *structs){
+	return 0;
+}

groundStation/src/backend/callbacks.h

+#ifndef __CALLBACKS_H
+#define __CALLBACKS_H
+
+/* Grab some stupid stuff from legacy code */
+#include "type_def.h"
+
+/* Make commands.c happy */
+typedef void (command_cb)(unsigned char *command, 
+		int dataLen, modular_structs_t *structs);
+
+#endif /* __CALLBACKS_H */

groundStation/src/backend/cb_default.h

+#ifndef __CB_DEFAULT_H
+#define __CB_DEFAULT_H
+
+#include "commands.h"
+
+/* The cb_default used on the groundStation. This file MUST NOT BE INCLUDED
+ * by anything except for commands.c */
+
+/* cb_default used by portable commands.c */
+int cb_default(unsigned char * command, int dataLen, modular_structs_t *structs)
+{
+	    return 0;
+}
+
+#endif /* __CB_DEFAULT_H */
\ No newline at end of file

groundStation/src/backend/commands.h

-#ifndef _COMMANDS_H
-#define _COMMANDS_H
+#ifndef __COMMANDS_H
+#define __COMMANDS_H
 
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
-#include "type_def.h"
 
+#include "callbacks.h"
 
 // ----------------------
 // Helper stuff
@@ -31,7 +31,7 @@ struct MessageSubtype{
 	char ID;
 	char cmdText[100];
 	char cmdDataType;
-	int (*functionPtr)(unsigned char *command, int dataLen, modular_structs_t *structs);
+	command_cb * functionPtr;
 };
 
 // MESSAGE TYPES
@@ -40,66 +40,12 @@ struct MessageType{
 	struct MessageSubtype subtypes[MAX_SUBTYPE];
 };
 
-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 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 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);
-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 respyaw(unsigned char *c, int dataLen, modular_structs_t *structs);
-int respyawp(unsigned char *c, int dataLen, modular_structs_t *structs);
-int respyawd(unsigned char *c, int dataLen, modular_structs_t *structs);
-int resproll(unsigned char *c, int dataLen, modular_structs_t *structs);
-int resprollp(unsigned char *c, int dataLen, modular_structs_t *structs);
-int resprolld(unsigned char *c, int dataLen, modular_structs_t *structs);
-int resppitch(unsigned char *c, int dataLen, modular_structs_t *structs);
-int resppitchp(unsigned char *c, int dataLen, modular_structs_t *structs);
-int resppitchd(unsigned char *c, int dataLen, modular_structs_t *structs);
-int respthrottle(unsigned char *c, int dataLen, modular_structs_t *structs);
-int respthrottlep(unsigned char *c, int dataLen, modular_structs_t *structs);
-int respthrottlei(unsigned char *c, int dataLen, modular_structs_t *structs);
-int respthrottled(unsigned char *c, int dataLen, modular_structs_t *structs);
-int respaccel(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);
+/* Defined in commands.c */
+extern struct MessageType MessageTypes[MAX_TYPE];
 
+/* Legacy functions - no idea what uses these. Please do not delete. */
 float getFloat(unsigned char* str, int pos);
 int getInt(unsigned char* str, int pos);
+/* end legacy crap */
 
-// TODO add in string to be read from the command line when sending a subtype of message
-extern struct MessageType MessageTypes[MAX_TYPE];
-
-#endif
\ No newline at end of file
+#endif /* __COMMANDS_H */
\ No newline at end of file

groundStation/src/backend/communication.h

-#ifndef _COMMUNICATION_H
-#define _COMMUNICATION_H
+#ifndef __COMMUNICATION_H
+#define __COMMUNICATION_H
 
 #include <stdio.h>
 #include <string.h>
@@ -16,4 +16,4 @@ int parse_packet(unsigned char * packet, unsigned char ** data, metadata_t * met
 int processCommand(unsigned char *command, modular_structs_t *structs);
 int logData(unsigned char *log_msg, unsigned char *formattedCommand);
 
-#endif
\ No newline at end of file
+#endif /* __COMMUNICATION_H */
\ No newline at end of file

groundStation/src/backend/config.h

@@ -17,4 +17,4 @@
 #define QUAD_PORT_ENV "UCART_QUAD_PORT"
 #define QUAD_PORT_DEFAULT 8080
 
-#endif
+#endif /* __CONFIG_H */
\ No newline at end of file

groundStation/src/backend/logger.h

@@ -2,8 +2,8 @@
  *
  * Logger header file for holding info pertaining to loging to a file.
  */
-#ifndef _LOGGER_H
-#define _LOGGER_H
+#ifndef __LOGGER_H
+#define __LOGGER_H
 
 #include <fcntl.h>
 #include <time.h>
@@ -18,4 +18,4 @@ int updateLogFile(const struct ucart_vrpn_TrackerData* );
 void closeLogFile();
 
 
-#endif
+#endif /* __LOGGER_H */
\ No newline at end of file

groundStation/src/backend/type_def.h

@@ -5,8 +5,8 @@
  *      Author: ucart
  */
 
-#ifndef TYPE_DEF_H_
-#define TYPE_DEF_H_
+#ifndef __TYPE_DEF_H
+#define __TYPE_DEF_H
 
 /**
  * @brief
@@ -358,4 +358,4 @@ typedef struct {
 
 //////// END MAIN MODULAR STRUCTS
 
-#endif /* TYPE_DEF_H_ */
+#endif /* __TYPE_DEF_H */

groundStation/src/cli/cli.c

@@ -76,6 +76,8 @@ int main(int argc, char **argv)
 			needCommandHelp = 1;
 		}
 	}
+
+	printf("made it\n");
 	
 	/**
 	 * I the user has asked for help, and we have already found

groundStation/src/cli/cli.h

 #ifndef __CLI_H
 #define __CLI_H
 
+#include "cli_setsetpoint.h"
+#include "cli_getsetpoint.h"
 #include "cli_monitor.h"
 #include "cli_setpid.h"
 #include "cli_getpid.h"
@@ -11,6 +13,8 @@ enum CommandNameIds{
 	CMD_GETPID,
 	CMD_SETPID,
 	CMD_GETIMU,
+	CMD_SETSETPOINT,
+	CMD_GETSETPOINT,
 	MAX_COMMANDS
 };
 
@@ -19,13 +23,18 @@ static cli_function_ptr cli_functions[] = {
 	&cli_monitor,
 	&cli_getpid,
 	&cli_setpid,
-	&cli_getimu
+	&cli_getimu,
+	&cli_setsetpoint,
+	&cli_getsetpoint
 };
 
 static char* commandNames[MAX_COMMANDS] = {
 	"monitor",
 	"getpid",
 	"setpid",
-	"getimu"
+	"getimu",
+	"setsetpoint",
+	"getsetpoint"
 };
-#endif
+
+#endif /* __CLI_H */
\ No newline at end of file

groundStation/src/cli/cli_getimu.h

-#ifndef CLI_GETIMU_H
-#define CLI_GETIMU_H
+#ifndef __CLI_GETIMU_H
+#define __CLI_GETIMU_H
 
 #include "frontend_getimu.h"
 
 int cli_getimu(struct backend_conn * conn, int argc, char ** argv);
 
-#endif
\ No newline at end of file
+#endif /* __CLI_GETIMU_H */
\ No newline at end of file

groundStation/src/cli/cli_getpid.c

@@ -43,17 +43,13 @@ int cli_getpid(struct backend_conn * conn,	int argc, char **argv) {
 	}
 
 	if (needHelp) {
-		printf("Getpid gets the p, i , or d constant values of any single controller\n");
+		printf("Getpid gets the p, i , and d constant values of any single controller\n");
 		printf("Usage Syntax : \n\t./Cli getpid controller [options...]\n");
 		printf("Symlink Usage Syntax : \n\t./getpid controller [options...]\n\n");
 		printf("Available 'controllers' include the following\n");
 		printf("\t[--pitch] : Pitch\n\t[--roll] : Roll\n\t[--yaw] : Yaw\n");
 		printf("\t[--pitchv] : Pitch Velocity\n\t[--rollv] : Roll Velocity\n\t[--yawv] : Yaw Velocity\n");
 		printf("\t[--height] : Z\n\t[--lat] : X\n\t[--long] : Y\n\n");
-		printf("Available 'controller' options include the following\n");
-		printf("\t[-p] 'val' : Gets the p constant of the 'controller\n");
-		printf("\t[-i] 'val' : Gets the i constant of the 'controller'\n");
-		printf("\t[-d] 'val' : Gets the d constant of the 'controller'\n");
 		return 0;
 	}
 
@@ -66,62 +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;
 			}
 		}
@@ -131,7 +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

-#ifndef CLI_GETPID_H
-#define CLI_GETPID_H
+#ifndef __CLI_GETPID_H
+#define __CLI_GETPID_H
 
 #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
\ No newline at end of file
+#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;
+	static int getpitch = 0, getroll = 0, getyaw = 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},
+ 		{"pitch",   no_argument,	&getpitch,  1},
+ 		{"roll",	no_argument,	&getroll,	1},
+ 		{"yaw",		no_argument, 	&getyaw,	1},
+ 		{0, 0, 0, 0}
+ 	};
+
+ 	while (1)
+	{
+		/* getopt_long stores the option index here. */
+		int option_index = 0;
+
+		c = getopt_long(argc, argv, "a", long_options, &option_index);
+
+		/* Detect the end of the options. */
+		if (c == -1)
+			break;
+
+		if (c == 'a') {
+			getheight = 1;
+			getlat = 1;
+			getlong = 1;
+			getpitch = 1;
+			getroll = 1;
+			getyaw = 1;
+		}
+	}
+
+	if (needHelp) {
+		printf("Getsetpoint gets the height, lat, long, pitch, roll and yaw 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[-a] 		 : Gets all of the following setpoints\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");
+		printf("\t[--pitch]  : Gets the pitch setpoint\n");
+		printf("\t[--roll]   : Gets the roll setpoint\n");
+		printf("\t[--yaw]    : Gets the yaw 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;
+		}
+	}
+	if(getpitch) {
+		if ((result = getSetPointValues(conn, &setpoint_data, PITCH))) {
+			return result;
+		}
+	}
+	if(getroll) {
+		if ((result = getSetPointValues(conn, &setpoint_data, ROLL))) {
+			return result;
+		}
+	}
+	if(getyaw) {
+		if ((result = getSetPointValues(conn, &setpoint_data, YAW))) {
+			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);
+		case PITCH :
+			printf("Pitch: %f\n",
+				setpoint_data->pitch);
+			break;
+		case ROLL :
+			printf("Roll: %f\n",
+				setpoint_data->roll);
+		case YAW :
+			printf("Yaw: %f\n",
+				setpoint_data->yaw);
+		default :
+			break;
+	}
+	return 0;
+}

groundStation/src/cli/cli_getsetpoint.h

+#ifndef __CLI_GETSETPOINT_H
+#define __CLI_GETSETPOINT_H
+
+#include "frontend_getsetpoint.h"
+
+enum {
+	HEIGHT,
+	LAT,
+	LONGG,
+	PITCH,
+	ROLL,
+	YAW
+};
+
+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_monitor.h

-#ifndef CLI_MONITOR_H
-#define CLI_MONITOR_H
+#ifndef __CLI_MONITOR_H
+#define __CLI_MONITOR_H
 
 #include <time.h>
 
@@ -11,4 +11,4 @@ int cli_monitor(struct backend_conn * conn,	int argc, char **argv);
 
 // Return 0 on success and 1 otherwise
 int monitor(struct backend_conn * conn);
-#endif
\ No newline at end of file
+#endif /* __CLI_MONITOR_H */
\ No newline at end of file

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"
 
 int cli_setpid(struct backend_conn * conn, int argc, char ** argv);
 
-#endif
+#endif /* __CLI_SETPID_H */
\ No newline at end of file