prepare cobboard and ballboard

[aversive.git] / projects / microb2010 / mechboard / cmdline.c

diff --git a/projects/microb2010/mechboard/cmdline.c b/projects/microb2010/mechboard/cmdline.c
deleted file mode 100644 (file)
index f784b35..0000000
--- a/projects/microb2010/mechboard/cmdline.c
+++ /dev/null
@@ -1,149 +0,0 @@
-/*  
- *  Copyright Droids Corporation
- *  Olivier Matz <zer0@droids-corp.org>
- * 
- *  This program is free software; you can redistribute it and/or modify
- *  it under the terms of the GNU General Public License as published by
- *  the Free Software Foundation; either version 2 of the License, or
- *  (at your option) any later version.
- *
- *  This program is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- *  GNU General Public License for more details.
- *
- *  You should have received a copy of the GNU General Public License
- *  along with this program; if not, write to the Free Software
- *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
- *
- *  Revision : $Id: cmdline.c,v 1.3 2009-04-24 19:30:42 zer0 Exp $
- *
- */
-
-#include <stdio.h>
-#include <string.h>
-
-#include <aversive.h>
-#include <aversive/error.h>
-
-#include <parse.h>
-#include <rdline.h>
-#include <ax12.h>
-#include <uart.h>
-#include <pwm_ng.h>
-#include <time.h>
-
-#include <pid.h>
-#include <quadramp.h>
-#include <control_system_manager.h>
-#include <blocking_detection_manager.h>
-
-#include "main.h"
-#include "cmdline.h"
-
-
-/******** See in commands.c for the list of commands. */
-extern parse_pgm_ctx_t main_ctx[];
-
-static void write_char(char c) 
-{
-       uart_send(CMDLINE_UART, c);
-}
-
-static void 
-valid_buffer(const char *buf, __attribute__((unused)) uint8_t size) 
-{
-       int8_t ret;
-       ret = parse(main_ctx, buf);
-       if (ret == PARSE_AMBIGUOUS)
-               printf_P(PSTR("Ambiguous command\r\n"));
-       else if (ret == PARSE_NOMATCH)
-               printf_P(PSTR("Command not found\r\n"));
-       else if (ret == PARSE_BAD_ARGS)
-               printf_P(PSTR("Bad arguments\r\n"));
-}
-
-static int8_t 
-complete_buffer(const char *buf, char *dstbuf, uint8_t dstsize,
-               int16_t *state)
-{
-       return complete(main_ctx, buf, state, dstbuf, dstsize);
-}
-
-
-/* sending "pop" on cmdline uart resets the robot */
-void emergency(char c)
-{
-       static uint8_t i = 0;
-       
-       if ((i == 0 && c == 'p') ||
-           (i == 1 && c == 'o') ||
-           (i == 2 && c == 'p')) 
-               i++;
-       else if ( !(i == 1 && c == 'p') )
-               i = 0;
-       if (i == 3)
-               reset();
-}
-
-/* log function, add a command to configure
- * it dynamically */
-void mylog(struct error * e, ...) 
-{
-       va_list ap;
-       u16 stream_flags = stdout->flags;
-       uint8_t i;
-       time_h tv;
-
-       if (e->severity > ERROR_SEVERITY_ERROR) {
-               if (gen.log_level < e->severity)
-                       return;
-               
-               for (i=0; i<NB_LOGS+1; i++)
-                       if (gen.logs[i] == e->err_num)
-                               break;
-               if (i == NB_LOGS+1)
-                       return;
-       }
-
-       va_start(ap, e);
-       tv = time_get_time();
-       printf_P(PSTR("%ld.%.3ld: "), tv.s, (tv.us/1000UL));
-       vfprintf_P(stdout, e->text, ap);
-       printf_P(PSTR("\r\n"));
-       va_end(ap);
-       stdout->flags = stream_flags;
-}
-
-int cmdline_interact(void)
-{
-       const char *history, *buffer;
-       int8_t ret, same = 0;
-       int16_t c;
-       
-       rdline_init(&gen.rdl, write_char, valid_buffer, complete_buffer);
-       snprintf(gen.prompt, sizeof(gen.prompt), "mechboard > ");       
-       rdline_newline(&gen.rdl, gen.prompt);
-
-       while (1) {
-               c = uart_recv_nowait(CMDLINE_UART);
-               if (c == -1) 
-                       continue;
-               ret = rdline_char_in(&gen.rdl, c);
-               if (ret != 2 && ret != 0) {
-                       buffer = rdline_get_buffer(&gen.rdl);
-                       history = rdline_get_history_item(&gen.rdl, 0);
-                       if (history) {
-                               same = !memcmp(buffer, history, strlen(history)) &&
-                                       buffer[strlen(history)] == '\n';
-                       }
-                       else
-                               same = 0;
-                       if (strlen(buffer) > 1 && !same)
-                               rdline_add_history(&gen.rdl, buffer);
-                       rdline_newline(&gen.rdl, gen.prompt);
-               }
-       }
-
-       return 0;
-}