ardupilot/libraries/AP_Common/menu.cpp

142 lines
2.9 KiB
C++
Raw Normal View History

// -*- 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)
{
uint8_t len, i, ret;
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] ", _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++;
}
// 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++;
}
// 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);
if (-2 == ret)
return;
break;
}
}
// implicit commands
if (i == _entries) {
if (!strcmp(_argv[0].str, "?") || (!strcasecmp_P(_argv[0].str, PSTR("help")))) {
_help();
} else if (!strcasecmp_P(_argv[0].str, PSTR("exit"))) {
return;
}
}
}
}
// 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", _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_word(&_commands[n].func);
return(fn(argc, &_argv[0]));
}