Fixed issues with cli and stringToCm function

groundStation/src/backend/backend.c

@@ -624,7 +624,6 @@ static void client_recv(int fd) {
 			break;
 		}
 		buffer[newline] = '\0';
-		
 		printf("Client(%d) : '%s'\n",fd, buffer);
 
 		struct controller_message cm;
@@ -668,7 +667,6 @@ static void client_recv(int fd) {
 			uint8_t data[128];
 			ssize_t result;
 
-			
 			if (strncmp(buffer, "set", 3) == 0) {
 				result = EncodeSetparam(&m, data, 128, &cm);
 			} else if (strncmp(buffer, "get", 3) == 0) {
@@ -696,6 +694,12 @@ static void client_recv(int fd) {
 					warnx("Ran out of room! Consider increasing CLIENT_MAX_PENDING_RESPONSES!\n");
 				}
 			}
+
+			// printf("packet = '");
+			// for(int i = 0; i < (int)psize; ++i) {
+			// 	printf(" %.2x ", packet[i]);
+			// }
+			// printf("'\n");
 			
 			writeQuad(packet, psize);
 
@@ -776,7 +780,6 @@ static void quad_recv() {
 				printf("(Backend): Command '%s' ignored\n", MessageTypes[m.msg_type].cmdText);
 				break;
 			case RESPPARAM_ID:
-				printf("(Backend): response param id found\n");
 				handleResponseParam(&m, data);
 				break;
 			default:

groundStation/src/backend/cmHandler.c

@@ -108,20 +108,30 @@ const char * cmToString(int msgType, const struct controller_message *cm)
 
 struct controller_message * stringToCm(const char * string, struct controller_message *cm)
 {
-	char st[128];
-	strncpy(st, string, strlen(string));
-	size_t i;
 	int result;
+	size_t i;
+	char cmdString[strlen(string)];
+	strncpy(cmdString, string, strlen(string));
+
 	float cmdValue;
-	char * cmdString = strtok(st, " ");
-	cm->value = strtof(&string[strlen(cmdString)],NULL);
+	for (i = 0; i < strlen(string) + 1; ++i) {
+		if (string[i] == ' ' || string[i] == '\n' || string[i] == '\0') {
+			cmdString[i] = '\0';
+			break;
+		}
+	}
+
 	int index = -1;
 
 	for(i = 0; i < MAX_PARAM_COMMANDS; ++i) {
-		if((result = strncmp(cmdString, respParamStrings[i], strlen(respParamStrings[i]))) == 0) {
+
+		if((result = strncmp(cmdString, respParamStrings[i], strlen(respParamStrings[i]))) == 0 &&
+			strlen(cmdString) == strlen(respParamStrings[i])) {
 			index = i;
 			break;
-		} else if ((result = strncmp(cmdString, setParamStrings[i], strlen(setParamStrings[i]))) == 0) {
+		} else if ((result = strncmp(cmdString, setParamStrings[i], strlen(setParamStrings[i]))) == 0 &&
+			strlen(cmdString) == strlen(setParamStrings[i])) {
+			cm->value = strtof(&string[strlen(cmdString)],NULL);
 			index = i;
 			break;	
 		}

groundStation/src/backend/getparam.c

@@ -47,7 +47,6 @@ int DecodeGetparam(
 		return -1;
 	}
 
-
 	cm->id = data[CTRL_ID];
 	cm->value_id = data[CTRLVAL_ID];
 

groundStation/src/cli/cli.c

@@ -76,8 +76,6 @@ 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_monitor.c

@@ -14,6 +14,7 @@
 
 int rate = 10;
 static int pidcounter = 0;
+static int monitorcounter = 0;
 
 int cli_monitor(struct backend_conn * conn,	int argc, char **argv) {
 	int c, result;
@@ -109,29 +110,42 @@ int monitor(struct backend_conn * conn) {
 		errx(1, "Error reading tracker data");
 	}
 
-	pid_data[pidcounter].controller = pidcounter;
-	if (frontend_getpid(conn, &pid_data[pidcounter % PID_NUM_PIDS])) {
-		errx(1, "Error reading pid values");
+	if (monitorcounter == 0) {
+		for(int i = 0; i < PID_NUM_PIDS; ++i) {
+			pid_data[i].controller = i;
+			if (frontend_getpid(conn, &pid_data[i])) {
+				errx(1, "Error reading pid values");
+			}
+		}
+	} else {
+		if ((monitorcounter  % (rate * 5)) == 0) {
+			pid_data[pidcounter].controller = pidcounter;
+			if (frontend_getpid(conn, &pid_data[pidcounter])) {
+				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",
+	printf("CTRLR :      P          R          Y          P_V        R_V        Y_V        H          LAT        LON\n");
+	printf("  P   :%10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf\n",
 			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",
+	printf("  I   :%10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf\n",
 			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",
+	printf("  D   :%10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf %10.3lf\n",
 			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",
+	printf("PosAtt:      H         LAT       LON       P         R         Y\n");
+	printf("      :%10.3lf%10.3lf%10.3lf%10.3lf%10.3lf%10.3lf\n",
 			td.height, td.lateral, td.longitudinal,
 			td.pitch, td.roll, td.yaw);
 	
-	pidcounter = ((pidcounter + 1) % PID_NUM_PIDS);
+	monitorcounter++;
+	pidcounter = ((pidcounter + 1)  % PID_NUM_PIDS);
 	return 0;
-}
+}
\ No newline at end of file

groundStation/src/frontend/pid_common.h

@@ -9,8 +9,8 @@ enum pid_controller {
 	PID_ROLL_RATE,
 	PID_YAW_RATE,
 	PID_HEIGHT, /* Z */
-	PID_LAT, /* X */
 	PID_LONG, /* Y */
+	PID_LAT, /* X */
 	PID_NUM_PIDS
 };