| 0,0 → 1,155 |
|---|
| // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
| |
| // |
| // Simple commandline menu system. |
| // |
| |
| #include <FastSerial.h> |
| #include <AP_Common.h> |
| |
| #include <ctype.h> |
| #include <string.h> |
| #include <avr/pgmspace.h> |
| |
| #include "include/menu.h" |
| |
| // statics |
| char Menu::_inbuf[MENU_COMMANDLINE_MAX]; |
| Menu::arg Menu::_argv[MENU_ARGS_MAX + 1]; |
| |
| // constructor |
| Menu::Menu(const prog_char *prompt, const Menu::command *commands, uint8_t entries, preprompt ppfunc) : |
| _prompt(prompt), |
| _commands(commands), |
| _entries(entries), |
| _ppfunc(ppfunc) |
| { |
| } |
| |
| // run the menu |
| void |
| Menu::run(void) |
| { |
| int8_t ret; |
| uint8_t len, i; |
| uint8_t argc; |
| int c; |
| char *s; |
| |
| // loop performing commands |
| for (;;) { |
| |
| // run the pre-prompt function, if one is defined |
| if ((NULL != _ppfunc) && !_ppfunc()) |
| return; |
| |
| // loop reading characters from the input |
| len = 0; |
| Serial.printf("%S] ", FPSTR(_prompt)); |
| for (;;) { |
| c = Serial.read(); |
| if (-1 == c) |
| continue; |
| // carriage return -> process command |
| if ('\r' == c) { |
| _inbuf[len] = '\0'; |
| Serial.write('\r'); |
| Serial.write('\n'); |
| break; |
| } |
| // backspace |
| if ('\b' == c) { |
| if (len > 0) { |
| len--; |
| Serial.write('\b'); |
| Serial.write(' '); |
| Serial.write('\b'); |
| continue; |
| } |
| } |
| // printable character |
| if (isprint(c) && (len < (MENU_COMMANDLINE_MAX - 1))) { |
| _inbuf[len++] = c; |
| Serial.write((char)c); |
| continue; |
| } |
| } |
| |
| // split the input line into tokens |
| argc = 0; |
| _argv[argc++].str = strtok_r(_inbuf, " ", &s); |
| // XXX should an empty line by itself back out of the current menu? |
| while (argc <= MENU_ARGS_MAX) { |
| _argv[argc].str = strtok_r(NULL, " ", &s); |
| if ('\0' == _argv[argc].str) |
| break; |
| _argv[argc].i = atol(_argv[argc].str); |
| _argv[argc].f = atof(_argv[argc].str); // calls strtod, > 700B ! |
| argc++; |
| } |
| |
| if (_argv[0].str == NULL) { |
| continue; |
| } |
| |
| // populate arguments that have not been specified with "" and 0 |
| // this is safer than NULL in the case where commands may look |
| // without testing argc |
| i = argc; |
| while (i <= MENU_ARGS_MAX) { |
| _argv[i].str = ""; |
| _argv[i].i = 0; |
| _argv[i].f = 0; |
| i++; |
| } |
| |
| bool cmd_found = false; |
| // look for a command matching the first word (note that it may be empty) |
| for (i = 0; i < _entries; i++) { |
| if (!strcasecmp_P(_argv[0].str, _commands[i].command)) { |
| ret = _call(i, argc); |
| cmd_found=true; |
| if (-2 == ret) |
| return; |
| break; |
| } |
| } |
| |
| // implicit commands |
| if (i == _entries) { |
| if (!strcmp(_argv[0].str, "?") || (!strcasecmp_P(_argv[0].str, PSTR("help")))) { |
| _help(); |
| cmd_found=true; |
| } else if (!strcasecmp_P(_argv[0].str, PSTR("exit"))) { |
| return; |
| } |
| } |
| |
| if (cmd_found==false) |
| { |
| Serial.println("Invalid command, type 'help'"); |
| } |
| |
| } |
| } |
| |
| // display the list of commands in response to the 'help' command |
| void |
| Menu::_help(void) |
| { |
| int i; |
| |
| Serial.println("Commands:"); |
| for (i = 0; i < _entries; i++) |
| Serial.printf(" %S\n", FPSTR(_commands[i].command)); |
| } |
| |
| // run the n'th command in the menu |
| int8_t |
| Menu::_call(uint8_t n, uint8_t argc) |
| { |
| func fn; |
| |
| fn = (func)pgm_read_pointer(&_commands[n].func); |
| return(fn(argc, &_argv[0])); |
| } |