microb 2010

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

diff --git a/projects/microb2010/mechboard/cmdline.c b/projects/microb2010/mechboard/cmdline.c
new file mode 100644 (file)
index 0000000..f784b35
--- /dev/null
+++ b/projects/microb2010/mechboard/cmdline.c
@@ -0,0 +1,149 @@
+/*  
+ *  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;
+}