2 * Copyright Droids Corporation (2011)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: commands_gen.c,v 1.8 2009-11-08 17:24:33 zer0 Exp $
20 * Olivier MATZ <zer0@droids-corp.org>
26 #include <aversive/pgmspace.h>
27 #include <aversive/wait.h>
28 #include <aversive/error.h>
29 #include <aversive/queue.h>
35 #include <parse_string.h>
36 #include <parse_num.h>
38 #include <diagnostic.h>
44 /**********************************************************/
47 /* this structure is filled when cmd_reset is parsed successfully */
48 struct cmd_reset_result {
52 /* function called when cmd_reset is parsed successfully */
53 static void cmd_reset_parsed(void * parsed_result, void * data)
63 const char PROGMEM str_reset_arg0[] = "reset";
64 const parse_token_string_t PROGMEM cmd_reset_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_reset_result, arg0, str_reset_arg0);
66 const char PROGMEM help_reset[] = "Reset the board";
67 const parse_inst_t PROGMEM cmd_reset = {
68 .f = cmd_reset_parsed, /* function to call */
69 .data = NULL, /* 2nd arg of func */
70 .help_str = help_reset,
71 .tokens = { /* token list, NULL terminated */
72 (PGM_P)&cmd_reset_arg0,
77 /**********************************************************/
80 /* this structure is filled when cmd_bootloader is parsed successfully */
81 struct cmd_bootloader_result {
85 /* function called when cmd_bootloader is parsed successfully */
86 static void cmd_bootloader_parsed(void *parsed_result, void *data)
93 printf("not implemented\n");
97 const char PROGMEM str_bootloader_arg0[] = "bootloader";
98 const parse_token_string_t PROGMEM cmd_bootloader_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_bootloader_result, arg0, str_bootloader_arg0);
100 const char PROGMEM help_bootloader[] = "Launch the bootloader";
101 const parse_inst_t PROGMEM cmd_bootloader = {
102 .f = cmd_bootloader_parsed, /* function to call */
103 .data = NULL, /* 2nd arg of func */
104 .help_str = help_bootloader,
105 .tokens = { /* token list, NULL terminated */
106 (PGM_P)&cmd_bootloader_arg0,
111 /**********************************************************/
114 /* this structure is filled when cmd_callout is parsed successfully */
115 struct cmd_callout_result {
120 /* function called when cmd_callout is parsed successfully */
121 static void cmd_callout_parsed(void *parsed_result, void *data)
125 callout_dump_stats(&xbeeboard.intr_cm);
128 const char PROGMEM str_callout_arg0[] = "callout";
129 const parse_token_string_t PROGMEM cmd_callout_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_callout_result, arg0, str_callout_arg0);
130 const char PROGMEM str_callout_arg1[] = "show";
131 const parse_token_string_t PROGMEM cmd_callout_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_callout_result, arg1, str_callout_arg1);
133 const char PROGMEM help_callout[] = "Show callout events";
134 const parse_inst_t PROGMEM cmd_callout = {
135 .f = cmd_callout_parsed, /* function to call */
136 .data = NULL, /* 2nd arg of func */
137 .help_str = help_callout,
138 .tokens = { /* token list, NULL terminated */
139 (PGM_P)&cmd_callout_arg0,
140 (PGM_P)&cmd_callout_arg1,
145 /**********************************************************/
148 /* this structure is filled when cmd_log is parsed successfully */
149 struct cmd_log_result {
156 /* keep it sync with string choice */
157 static const char PROGMEM uart_log[] = "uart";
158 static const char PROGMEM i2c_log[] = "i2c";
159 static const char PROGMEM default_log[] = "default";
160 static const char PROGMEM xbee_log[] = "xbee";
162 struct log_name_and_num {
167 static const struct log_name_and_num log_name_and_num[] = {
168 { uart_log, E_UART },
170 { default_log, E_USER_DEFAULT },
171 { xbee_log, E_USER_XBEE },
175 log_name2num(const char * s)
179 for (i=0; i<sizeof(log_name_and_num)/sizeof(struct log_name_and_num); i++) {
180 if (!strcmp_P(s, log_name_and_num[i].name)) {
181 return log_name_and_num[i].num;
188 log_num2name(uint8_t num)
192 for (i=0; i<sizeof(log_name_and_num)/sizeof(struct log_name_and_num); i++) {
193 if (num == log_name_and_num[i].num) {
194 return log_name_and_num[i].name;
200 /* function called when cmd_log is parsed successfully */
201 static void cmd_log_do_show(void)
206 printf_P(PSTR("log level is %d\r\n"), xbeeboard.log_level);
207 for (i=0; i<NB_LOGS; i++) {
208 name = log_num2name(xbeeboard.logs[i]);
211 printf_P(PSTR("log type %s is on\r\n"), name);
213 printf_P(PSTR("log type %S is on\r\n"), name);
219 printf_P(PSTR("no log configured\r\n"));
222 /* function called when cmd_log is parsed successfully */
223 static void cmd_log_parsed(void * parsed_result, void *data)
225 struct cmd_log_result *res = (struct cmd_log_result *) parsed_result;
228 if (!strcmp_P(res->arg1, PSTR("level"))) {
229 xbeeboard.log_level = res->arg2;
232 /* else it is a show */
236 const char PROGMEM str_log_arg0[] = "log";
237 const parse_token_string_t PROGMEM cmd_log_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_log_result, arg0, str_log_arg0);
238 const char PROGMEM str_log_arg1[] = "level";
239 const parse_token_string_t PROGMEM cmd_log_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_log_result, arg1, str_log_arg1);
240 const parse_token_num_t PROGMEM cmd_log_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_log_result, arg2, INT8);
242 const char PROGMEM help_log[] = "Set log options: level (0 -> 5)";
243 const parse_inst_t PROGMEM cmd_log = {
244 .f = cmd_log_parsed, /* function to call */
245 .data = NULL, /* 2nd arg of func */
246 .help_str = help_log,
247 .tokens = { /* token list, NULL terminated */
248 (PGM_P)&cmd_log_arg0,
249 (PGM_P)&cmd_log_arg1,
250 (PGM_P)&cmd_log_arg2,
255 const char PROGMEM str_log_arg1_show[] = "show";
256 const parse_token_string_t PROGMEM cmd_log_arg1_show = TOKEN_STRING_INITIALIZER(struct cmd_log_result, arg1, str_log_arg1_show);
258 const char PROGMEM help_log_show[] = "Show configured logs";
259 const parse_inst_t PROGMEM cmd_log_show = {
260 .f = cmd_log_parsed, /* function to call */
261 .data = NULL, /* 2nd arg of func */
262 .help_str = help_log_show,
263 .tokens = { /* token list, NULL terminated */
264 (PGM_P)&cmd_log_arg0,
265 (PGM_P)&cmd_log_arg1_show,
270 /* this structure is filled when cmd_log is parsed successfully */
271 struct cmd_log_type_result {
278 /* function called when cmd_log is parsed successfully */
279 static void cmd_log_type_parsed(void * parsed_result, void *data)
281 struct cmd_log_type_result *res = (struct cmd_log_type_result *) parsed_result;
287 lognum = log_name2num(res->arg2);
289 printf_P(PSTR("Cannot find log num\r\n"));
293 if (!strcmp_P(res->arg3, PSTR("on"))) {
294 for (i=0; i<NB_LOGS; i++) {
295 if (xbeeboard.logs[i] == lognum) {
296 printf_P(PSTR("Already on\r\n"));
300 for (i=0; i<NB_LOGS; i++) {
301 if (xbeeboard.logs[i] == 0) {
302 xbeeboard.logs[i] = lognum;
307 printf_P(PSTR("no more room\r\n"));
310 else if (!strcmp_P(res->arg3, PSTR("off"))) {
311 for (i=0; i<NB_LOGS; i++) {
312 if (xbeeboard.logs[i] == lognum) {
313 xbeeboard.logs[i] = 0;
318 printf_P(PSTR("already off\r\n"));
324 const char PROGMEM str_log_arg1_type[] = "type";
325 const parse_token_string_t PROGMEM cmd_log_arg1_type = TOKEN_STRING_INITIALIZER(struct cmd_log_type_result, arg1, str_log_arg1_type);
326 /* keep it sync with log_name_and_num above */
327 const char PROGMEM str_log_arg2_type[] = "uart#rs#servo#traj#i2c#oa#strat#i2cproto#ext#sensor#bd#cs";
328 const parse_token_string_t PROGMEM cmd_log_arg2_type = TOKEN_STRING_INITIALIZER(struct cmd_log_type_result, arg2, str_log_arg2_type);
329 const char PROGMEM str_log_arg3[] = "on#off";
330 const parse_token_string_t PROGMEM cmd_log_arg3 = TOKEN_STRING_INITIALIZER(struct cmd_log_type_result, arg3, str_log_arg3);
332 const char PROGMEM help_log_type[] = "Set log type";
333 const parse_inst_t PROGMEM cmd_log_type = {
334 .f = cmd_log_type_parsed, /* function to call */
335 .data = NULL, /* 2nd arg of func */
336 .help_str = help_log_type,
337 .tokens = { /* token list, NULL terminated */
338 (PGM_P)&cmd_log_arg0,
339 (PGM_P)&cmd_log_arg1_type,
340 (PGM_P)&cmd_log_arg2_type,
341 (PGM_P)&cmd_log_arg3,
347 /**********************************************************/
350 /* this structure is filled when cmd_stack_space is parsed successfully */
351 struct cmd_stack_space_result {
355 /* function called when cmd_stack_space is parsed successfully */
356 static void cmd_stack_space_parsed(void *parsed_result, void *data)
361 printf("not implemented\n");
363 printf("res stack: %d\r\n", min_stack_space_available());
367 const char PROGMEM str_stack_space_arg0[] = "stack_space";
368 const parse_token_string_t PROGMEM cmd_stack_space_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_stack_space_result, arg0, str_stack_space_arg0);
370 const char PROGMEM help_stack_space[] = "Display remaining stack space";
371 const parse_inst_t PROGMEM cmd_stack_space = {
372 .f = cmd_stack_space_parsed, /* function to call */
373 .data = NULL, /* 2nd arg of func */
374 .help_str = help_stack_space,
375 .tokens = { /* token list, NULL terminated */
376 (PGM_P)&cmd_stack_space_arg0,