From ed8a5a8f2a71e90e33d4bb33847b12916b2175b1 Mon Sep 17 00:00:00 2001
From: Kris Burney <burneykb@iastate.edu>
Date: Thu, 10 Nov 2016 18:16:05 -0600
Subject: [PATCH] Implemented cli_getPid and modified makefile/gitignore
---
groundStation/.gitignore | 5 +-
groundStation/Makefile | 2 +-
groundStation/src/cli/cli.c | 2 +-
groundStation/src/cli/cli.h | 2 +-
groundStation/src/cli/cli_getimu.h | 9 +++
groundStation/src/cli/cli_getpid.c | 95 +++++++++++++++++++++++++++++
groundStation/src/cli/cli_getpid.h | 9 +++
groundStation/src/cli/cli_monitor.h | 9 +++
groundStation/src/cli/cli_setpid.h | 0
9 files changed, 126 insertions(+), 7 deletions(-)
create mode 100644 groundStation/src/cli/cli_getimu.h
create mode 100644 groundStation/src/cli/cli_getpid.c
create mode 100644 groundStation/src/cli/cli_getpid.h
create mode 100644 groundStation/src/cli/cli_monitor.h
create mode 100644 groundStation/src/cli/cli_setpid.h
diff --git a/groundStation/.gitignore b/groundStation/.gitignore
index 129b670af..eedef6d30 100644
--- a/groundStation/.gitignore
+++ b/groundStation/.gitignore
@@ -39,9 +39,6 @@ src/vrpn/pc_linux64/*
#Exacutables
logs
-client
BackEnd
obj
-cli
-monitorQuad
-testClient
+CLI
diff --git a/groundStation/Makefile b/groundStation/Makefile
index 00c3383c6..5f285d6b4 100644
--- a/groundStation/Makefile
+++ b/groundStation/Makefile
@@ -19,7 +19,7 @@ BECPPSOURCES := $(wildcard $(BESRCDIR)/*.cpp )
BECPPOBJECTS = $(BECPPSOURCES:$(BESRCDIR)/%.cpp=$(OBJDIR)/%.o)
# CLI Specific Variables
-CLIBINARY=cli
+CLIBINARY=CLI
CLISRCDIR=src/cli
CLISOURCES := $(wildcard $(CLISRCDIR)/*.c)
CLIOBJECTS = $(CLISOURCES:$(CLISRCDIR)/%.c=$(OBJDIR)/%.o)
diff --git a/groundStation/src/cli/cli.c b/groundStation/src/cli/cli.c
index 49bb75b16..b8ad2f738 100644
--- a/groundStation/src/cli/cli.c
+++ b/groundStation/src/cli/cli.c
@@ -43,7 +43,7 @@ int main(int argc, char **argv)
if(useSymlink) {
//TODO Call correct command function pointer with (argv[1] ... argc[argc])
}else {
- (*cli_functions[0]) (conn, &argv[2]);
+ (*cli_functions[0]) (conn, argc - 1, &argv[2]);
}
ucart_backendDisconnect(conn);
diff --git a/groundStation/src/cli/cli.h b/groundStation/src/cli/cli.h
index ff43f1c1a..4b98962d6 100644
--- a/groundStation/src/cli/cli.h
+++ b/groundStation/src/cli/cli.h
@@ -15,7 +15,7 @@ enum CommandNameIds{
MAX_COMMANDS
};
-typedef int (*cli_function_ptr)(struct backend_conn *, char **);
+typedef int (*cli_function_ptr)(struct backend_conn *, int, char **);
static cli_function_ptr cli_functions[1] = {
// &cli_monitor,
// &cli_setpid,
diff --git a/groundStation/src/cli/cli_getimu.h b/groundStation/src/cli/cli_getimu.h
new file mode 100644
index 000000000..3f69e4b15
--- /dev/null
+++ b/groundStation/src/cli/cli_getimu.h
@@ -0,0 +1,9 @@
+#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);
+
+#endif
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_getpid.c b/groundStation/src/cli/cli_getpid.c
new file mode 100644
index 000000000..fb1c627c8
--- /dev/null
+++ b/groundStation/src/cli/cli_getpid.c
@@ -0,0 +1,95 @@
+#include <stdio.h>
+#include <unistd.h>
+#include <getopt.h>
+
+#include "cli_getpid.h"
+
+int cli_getpid(struct backend_conn * conn, int argc, char **argv) {
+ int c;
+ static int getRoll = 0, getPitch = 0, getYaw = 0, getAll = 0;
+ struct frontend_pid_data pid_data;
+ static struct option long_options[] = {
+ /* These options don’t set a flag. We distinguish them by their indices. */
+ {"roll", no_argument, &getRoll, 1},
+ {"pitch", no_argument, &getPitch, 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') {
+ getAll = 1;
+ }
+ }
+
+ int result;
+ if(getAll) {
+ pid_data.pid = ROLL;
+ if ((result = getValues(conn, &pid_data))) {
+ return result;
+ }
+ pid_data.pid = PITCH;
+ if ((result = getValues(conn, &pid_data))) {
+ return result;
+ }
+ pid_data.pid = YAW;
+ if ((result = getValues(conn, &pid_data))) {
+ return result;
+ }
+ } else {
+ if(getPitch) {
+ pid_data.pid = PITCH;
+ if ((result = getValues(conn, &pid_data))) {
+ return result;
+ }
+ }
+ if(getRoll) {
+ pid_data.pid = ROLL;
+ if ((result = getValues(conn, &pid_data))) {
+ return result;
+ }
+ }
+ if(getYaw) {
+ pid_data.pid = YAW;
+ if ((result = getValues(conn, &pid_data))) {
+ return result;
+ }
+ }
+ }
+
+ return 0;
+}
+
+int getValues(struct backend_conn * conn, struct frontend_pid_data * pid_data) {
+ if(frontend_getpid(conn, pid_data)) {
+ return 1;
+ }
+
+ switch(pid_data->pid) {
+ case PITCH :
+ printf("Pitch Constants: P = %f\tI = %f\tD = %f\n",
+ pid_data->p, pid_data->i, pid_data->d);
+ break;
+ case ROLL :
+ printf("Roll Constants: P = %f\tI = %f\tD = %f\n",
+ pid_data->p, pid_data->i, pid_data->d);
+ break;
+ case YAW :
+ printf("Yaw Constants: P = %f\tI = %f\tD = %f\n",
+ pid_data->p, pid_data->i, pid_data->d);
+ break;
+ default :
+ break;
+ }
+ return 0;
+}
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_getpid.h b/groundStation/src/cli/cli_getpid.h
new file mode 100644
index 000000000..f5c0b15e4
--- /dev/null
+++ b/groundStation/src/cli/cli_getpid.h
@@ -0,0 +1,9 @@
+#ifndef CLI_GETPID_H
+#define CLI_GETPID_H
+
+#include "frontend_getpid.h"
+
+int getValues(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
diff --git a/groundStation/src/cli/cli_monitor.h b/groundStation/src/cli/cli_monitor.h
new file mode 100644
index 000000000..2509cc256
--- /dev/null
+++ b/groundStation/src/cli/cli_monitor.h
@@ -0,0 +1,9 @@
+#ifndef CLI_MONITOR_H
+#define CLI_MONITOR_H
+#include "frontend_getpid.h"
+
+int cli_getpid(
+ struct backend_conn * conn,
+ struct frontend_pid_data * pid_data);
+
+#endif
\ No newline at end of file
diff --git a/groundStation/src/cli/cli_setpid.h b/groundStation/src/cli/cli_setpid.h
new file mode 100644
index 000000000..e69de29bb
--
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