Almost fully operational cli/monitor interface

groundStation/src/backend/backend.c

@@ -103,7 +103,7 @@ struct ucart_vrpn_tracker * tracker = NULL;
 
 #define MAX_CLIENTS 32
 #define CLIENT_BUFFER_SIZE 1024
-#define CLIENT_MAX_PENDING_RESPONSES 5
+#define CLIENT_MAX_PENDING_RESPONSES 15
 static char client_buffers[MAX_CLIENTS][CLIENT_BUFFER_SIZE];
 static int client_fds[MAX_CLIENTS];
 static int client_pending_responses[MAX_CLIENTS][CLIENT_MAX_PENDING_RESPONSES];

groundStation/src/cli/cli_monitor.c

@@ -9,11 +9,16 @@
 
 #include "cli_monitor.h"
 #include "frontend_tracker.h"
+#include "frontend_getpid.h"
+#include "pid_common.h"
+
+int rate = 10;
+static int pidcounter = 0;
 
 int cli_monitor(struct backend_conn * conn,	int argc, char **argv) {
 	int c, result;
 	int countFlag = 0;
-	int count, rate = 10;
+	int count;
 	int forever = 0;
 	static int needHelp = 0;
 
@@ -96,33 +101,37 @@ int cli_monitor(struct backend_conn * conn,	int argc, char **argv) {
 }
 
 int monitor(struct backend_conn * conn) {
+	static struct frontend_pid_data pid_data[PID_NUM_PIDS] = {0};
 	/* Get tracker data */
 	struct frontend_tracker_data td;
+
 	if (frontend_track(conn, &td)) {
 		errx(1, "Error reading tracker data");
 	}
 
-	/* TODO: Get PID constants and status */
-	/* It might be a good idea to only read the pid constants
-	 * every few seconds, so count iterations and only do it if 
-	 * this is every (rate * 2 or 3) pass through the loop
-	 */
-
+	pid_data[pidcounter].controller = pidcounter;
+	if (frontend_getpid(conn, &pid_data[pidcounter % PID_NUM_PIDS])) {
+		errx(1, "Error reading pid values");
+	}
 	/* Print stuff on screen */
 	/* Assuming a tab width of 8 columns */
 	printf("\033[2J");
 	printf("STATUS: NA\n");
 	printf("CTRLR :\tP\tR\tY\tP_V\tR_V\tY_V\tH\tLAT\tLON\n");
 	printf("  P   :\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\n",
-			0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
+			pid_data[0].p, pid_data[1].p, pid_data[2].p, pid_data[3].p, pid_data[4].p,
+		 	pid_data[5].p, pid_data[6].p, pid_data[7].p, pid_data[8].p);
 	printf("  I   :\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\n",
-			0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
+			pid_data[0].i, pid_data[1].i, pid_data[2].i, pid_data[3].i, pid_data[4].i,
+		 	pid_data[5].i, pid_data[6].i, pid_data[7].i, pid_data[8].i);
 	printf("  D   :\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\n",
-			0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
+			pid_data[0].d, pid_data[1].d, pid_data[2].d, pid_data[3].d, pid_data[4].d,
+		 	pid_data[5].d, pid_data[6].d, pid_data[7].d, pid_data[8].d);
 	printf("PosAtt:\tH\tLAT\tLON\tP\tR\tY\n");
 	printf("      :\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\t%6.3lf\n",
 			td.height, td.lateral, td.longitudinal,
 			td.pitch, td.roll, td.yaw);
-
+	
+	pidcounter = ((pidcounter + 1) % PID_NUM_PIDS);
 	return 0;
 }

groundStation/src/frontend/frontend_getpid.c

@@ -35,13 +35,13 @@ int frontend_getpid(
 			strncpy(line, "getyawp\ngetyawi\ngetyawd\n", 24);
 			break;
 		case PID_PITCH_RATE :
-			strncpy(line, "getpitchratep\ngetpitchratei\ngetpitchrated\n", 33);
+			strncpy(line, "getpitchratep\ngetpitchratei\ngetpitchrated\n", 42);
 			break;
 		case PID_ROLL_RATE :
-			strncpy(line, "getrollratep\ngetrollratei\ngetrollrated\n", 30);
+			strncpy(line, "getrollratep\ngetrollratei\ngetrollrated\n", 39);
 			break;
 		case PID_YAW_RATE :
-			strncpy(line, "getyawratep\ngetyawratei\ngetyawrated\n", 27);
+			strncpy(line, "getyawratep\ngetyawratei\ngetyawrated\n", 36);
 			break;
 		case PID_HEIGHT :
 			strncpy(line, "getheightp\ngetheighti\ngetheightd\n", 33);