diff --git a/groundStation/src/cli/cli.c b/groundStation/src/cli/cli.c
index 58fe14b8c9ac71026860ae4c7687ae31fa38ea26..de456c18e271fe6ddc8a30346b34a0e140acc2e9 100644
--- a/groundStation/src/cli/cli.c
+++ b/groundStation/src/cli/cli.c
@@ -2,6 +2,7 @@
#include <string.h>
#include <err.h>
#include <libgen.h>
+#include <getopt.h>
#include "cli.h"
@@ -9,9 +10,20 @@ int main(int argc, char **argv)
{
int cmdID = -1;
char * command;
+ int c;
int i , useSymlink = 0;
struct backend_conn *conn;
+ static int needHelp = 0;
+ 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}
+ };
+ int option_index = 0;
+ c = getopt_long(argc, argv, "", long_options, &option_index);
+
+ // Determine if the cli was called using a symlink
command = basename(argv[0]);
for(i = 0; i < MAX_COMMANDS; ++i) {
if (strncmp(command, commandNames[i], strlen(commandNames[i])) == 0)
@@ -21,6 +33,28 @@ int main(int argc, char **argv)
}
}
+ // Verify the user has entered enough information to continue
+ if(argc < 2 && !useSymlink) {
+ printf("Incorrect usage :\n");
+ printf("\n\tUsage : ./Cli command [options] \n");
+ printf("\tFor a list of available commands run ./Cli --help\n\n");
+ printf("\tFor a list of available options for a command run ./Cli command --help\n");
+ return -1;
+ }
+
+ // If the user runs './Cli help' , provide the user with a list of commands available.
+ if(needHelp) {
+ printf("Usage : ./Cli command [options]\n");
+ printf("For a list of available options for a command run ./Cli command --help\n\n");
+ printf("Available commands include the following\n");
+ for(int i = 0; i < MAX_COMMANDS; ++i) {
+ printf("\t '%s'\n",commandNames[i]);
+ }
+ return 0;
+ }
+
+
+ // recognize which cli command the user has entered
if(cmdID == -1) {
command = argv[1];
for(i = 0; i < MAX_COMMANDS; ++i) {
@@ -32,22 +66,41 @@ int main(int argc, char **argv)
}
if(cmdID == -1){
- printf("Could not match input with a command. Please try again...\n");
+ printf("Could not match '%s' with a command. Please try again...\n", command);
+ printf("For help running the program, run ./Cli --help\n");
return -1;
}
printf("Parsed Command : %s\n", commandNames[cmdID]);
- conn = ucart_backendConnect();
- if(conn == NULL) {
- return -1;
+
+ /**
+ * I the user has asked for help, and we have already found
+ * the command that they are trying to use. Then we need
+ * to be able to provide the help info wihtout the
+ * requirement of the backend
+ *
+ * It is important to note that this will only work if the
+ * command the user has asked for handles this help case
+ *
+ */
+
+ // Only require the backend if we will need to use it.
+ if(!needHelp) {
+ // Create the connection to the backend
+ conn = ucart_backendConnect();
+ if(conn == NULL) {
+ return -1;
+ }
}
+ // Call the appropriate function
if(useSymlink) {
(*cli_functions[cmdID]) (conn, argc, &argv[0]);
}else {
(*cli_functions[cmdID]) (conn, argc-1, &argv[1]);
}
+ // Disconnect from the backend
ucart_backendDisconnect(conn);
return 0;
-}
+}
\ No newline at end of file
diff --git a/groundStation/src/cli/cli.h b/groundStation/src/cli/cli.h
index f4c2fe3f4783b9b4a4dd1e3482cdf3034cbaf269..924b33fe1a1b1d8c871d6ed679ec58f131181091 100644
--- a/groundStation/src/cli/cli.h
+++ b/groundStation/src/cli/cli.h
@@ -4,7 +4,8 @@
#include "cli_monitor.h"
#include "cli_setpid.h"
#include "cli_getpid.h"
-// #include "cli_getimu.h"
+#include "cli_getimu.h"
+
enum CommandNameIds{
CMD_MONITOR,
CMD_GETPID,
@@ -17,16 +18,14 @@ typedef int (*cli_function_ptr)(struct backend_conn *, int, char **);
static cli_function_ptr cli_functions[] = {
&cli_monitor,
&cli_getpid,
- &cli_setpid
- //&cli_getimu
+ &cli_setpid,
+ &cli_getimu
};
static char* commandNames[MAX_COMMANDS] = {
"monitor",
"getpid",
"setpid",
- "getImu"
+ "getimu"
};
-
-
#endif
diff --git a/groundStation/src/cli/cli_getimu.c b/groundStation/src/cli/cli_getimu.c
new file mode 100644
index 0000000000000000000000000000000000000000..5825140af8c0d7e224b045c533d02ed61134a5f2
--- /dev/null
+++ b/groundStation/src/cli/cli_getimu.c
@@ -0,0 +1,8 @@
+#include <stdio.h>
+
+#include "cli_getimu.h"
+
+int cli_getimu(struct backend_conn * conn, int argc, char ** argv) {
+ printf("This functionality has not been added yet\n");
+ return 0;
+}
diff --git a/groundStation/src/cli/cli_getimu.h b/groundStation/src/cli/cli_getimu.h
index 3f69e4b154b9678845b7604a7d91c6b83bf72ee5..59089a01722683324edd00e8811d4ac9876143e8 100644
--- a/groundStation/src/cli/cli_getimu.h
+++ b/groundStation/src/cli/cli_getimu.h
@@ -1,9 +1,8 @@
#ifndef CLI_GETIMU_H
#define CLI_GETIMU_H
+
#include "frontend_getimu.h"
-int cli_getimu(
- struct backend_conn * conn,
- struct frontend_pid_data * pid_data);
+int cli_getimu(struct backend_conn * conn, int argc, char ** argv);
#endif
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_monitor.c b/groundStation/src/cli/cli_monitor.c
index 4494e65b08320fb4831a733ff83d2bc53e803ae0..b9917d1df58c5bde4513fccd9ccccbc6ebd8fe72 100644
--- a/groundStation/src/cli/cli_monitor.c
+++ b/groundStation/src/cli/cli_monitor.c
@@ -17,7 +17,6 @@ int cli_monitor(struct backend_conn * conn, int argc, char **argv) {
int count, rate = 10;
int forever = 0;
-
while ((c = getopt(argc, argv, "fc:r:")) != -1) {
switch(c) {
case 'c' :
diff --git a/groundStation/src/frontend/frontend_getimu.h b/groundStation/src/frontend/frontend_getimu.h
new file mode 100644
index 0000000000000000000000000000000000000000..c95784a1d4aada157283aa40ca74cd0fb211d505
--- /dev/null
+++ b/groundStation/src/frontend/frontend_getimu.h
@@ -0,0 +1,6 @@
+#ifndef FRONTEND_GETIMU_H
+#define FRONTEND_GETIMU_H
+
+#include "frontend_common.h"
+
+#endif
\ No newline at end of file