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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
| 2 | |||
| 3 | // |
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| 4 | // Simple commandline menu system. |
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| 5 | // |
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| 6 | |||
| 7 | #include <FastSerial.h> |
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| 8 | #include <AP_Common.h> |
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| 9 | |||
| 10 | #include <ctype.h> |
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| 11 | #include <string.h> |
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| 12 | #include <avr/pgmspace.h> |
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| 13 | |||
| 14 | #include "include/menu.h" |
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| 15 | |||
| 16 | // statics |
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| 17 | char Menu::_inbuf[MENU_COMMANDLINE_MAX]; |
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| 18 | Menu::arg Menu::_argv[MENU_ARGS_MAX + 1]; |
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| 19 | |||
| 20 | // constructor |
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| 21 | Menu::Menu(const prog_char *prompt, const Menu::command *commands, uint8_t entries, preprompt ppfunc) : |
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| 22 | _prompt(prompt), |
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| 23 | _commands(commands), |
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| 24 | _entries(entries), |
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| 25 | _ppfunc(ppfunc) |
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| 26 | { |
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| 27 | } |
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| 28 | |||
| 29 | // run the menu |
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| 30 | void |
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| 31 | Menu::run(void) |
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| 32 | { |
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| 33 | int8_t ret; |
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| 34 | uint8_t len, i; |
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| 35 | uint8_t argc; |
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| 36 | int c; |
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| 37 | char *s; |
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| 38 | |||
| 39 | // loop performing commands |
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| 40 | for (;;) { |
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| 41 | |||
| 42 | // run the pre-prompt function, if one is defined |
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| 43 | if ((NULL != _ppfunc) && !_ppfunc()) |
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| 44 | return; |
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| 45 | |||
| 46 | // loop reading characters from the input |
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| 47 | len = 0; |
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| 48 | Serial.printf("%S] ", FPSTR(_prompt)); |
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| 49 | for (;;) { |
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| 50 | c = Serial.read(); |
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| 51 | if (-1 == c) |
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| 52 | continue; |
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| 53 | // carriage return -> process command |
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| 54 | if ('\r' == c) { |
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| 55 | _inbuf[len] = '\0'; |
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| 56 | Serial.write('\r'); |
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| 57 | Serial.write('\n'); |
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| 58 | break; |
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| 59 | } |
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| 60 | // backspace |
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| 61 | if ('\b' == c) { |
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| 62 | if (len > 0) { |
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| 63 | len--; |
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| 64 | Serial.write('\b'); |
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| 65 | Serial.write(' '); |
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| 66 | Serial.write('\b'); |
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| 67 | continue; |
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| 68 | } |
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| 69 | } |
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| 70 | // printable character |
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| 71 | if (isprint(c) && (len < (MENU_COMMANDLINE_MAX - 1))) { |
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| 72 | _inbuf[len++] = c; |
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| 73 | Serial.write((char)c); |
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| 74 | continue; |
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| 75 | } |
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| 76 | } |
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| 77 | |||
| 78 | // split the input line into tokens |
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| 79 | argc = 0; |
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| 80 | _argv[argc++].str = strtok_r(_inbuf, " ", &s); |
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| 81 | // XXX should an empty line by itself back out of the current menu? |
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| 82 | while (argc <= MENU_ARGS_MAX) { |
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| 83 | _argv[argc].str = strtok_r(NULL, " ", &s); |
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| 84 | if ('\0' == _argv[argc].str) |
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| 85 | break; |
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| 86 | _argv[argc].i = atol(_argv[argc].str); |
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| 87 | _argv[argc].f = atof(_argv[argc].str); // calls strtod, > 700B ! |
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| 88 | argc++; |
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| 89 | } |
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| 90 | |||
| 91 | if (_argv[0].str == NULL) { |
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| 92 | continue; |
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| 93 | } |
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| 94 | |||
| 95 | // populate arguments that have not been specified with "" and 0 |
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| 96 | // this is safer than NULL in the case where commands may look |
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| 97 | // without testing argc |
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| 98 | i = argc; |
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| 99 | while (i <= MENU_ARGS_MAX) { |
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| 100 | _argv[i].str = ""; |
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| 101 | _argv[i].i = 0; |
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| 102 | _argv[i].f = 0; |
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| 103 | i++; |
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| 104 | } |
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| 105 | |||
| 106 | bool cmd_found = false; |
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| 107 | // look for a command matching the first word (note that it may be empty) |
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| 108 | for (i = 0; i < _entries; i++) { |
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| 109 | if (!strcasecmp_P(_argv[0].str, _commands[i].command)) { |
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| 110 | ret = _call(i, argc); |
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| 111 | cmd_found=true; |
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| 112 | if (-2 == ret) |
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| 113 | return; |
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| 114 | break; |
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| 115 | } |
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| 116 | } |
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| 117 | |||
| 118 | // implicit commands |
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| 119 | if (i == _entries) { |
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| 120 | if (!strcmp(_argv[0].str, "?") || (!strcasecmp_P(_argv[0].str, PSTR("help")))) { |
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| 121 | _help(); |
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| 122 | cmd_found=true; |
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| 123 | } else if (!strcasecmp_P(_argv[0].str, PSTR("exit"))) { |
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| 124 | return; |
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| 125 | } |
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| 126 | } |
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| 127 | |||
| 128 | if (cmd_found==false) |
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| 129 | { |
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| 130 | Serial.println("Invalid command, type 'help'"); |
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| 131 | } |
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| 132 | |||
| 133 | } |
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| 134 | } |
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| 135 | |||
| 136 | // display the list of commands in response to the 'help' command |
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| 137 | void |
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| 138 | Menu::_help(void) |
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| 139 | { |
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| 140 | int i; |
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| 141 | |||
| 142 | Serial.println("Commands:"); |
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| 143 | for (i = 0; i < _entries; i++) |
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| 144 | Serial.printf(" %S\n", FPSTR(_commands[i].command)); |
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| 145 | } |
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| 146 | |||
| 147 | // run the n'th command in the menu |
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| 148 | int8_t |
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| 149 | Menu::_call(uint8_t n, uint8_t argc) |
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| 150 | { |
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| 151 | func fn; |
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| 152 | |||
| 153 | fn = (func)pgm_read_pointer(&_commands[n].func); |
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| 154 | return(fn(argc, &_argv[0])); |
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| 155 | } |