AP_Menu: ported to AP_HAL

libraries/AP_Menu/AP_Menu.cpp

@@ -4,19 +4,22 @@
 // Simple commandline menu system.
 //
 
-#include <FastSerial.h>
 #include <AP_Common.h>
+#include <AP_Progmem.h>
+#include <AP_HAL.h>
 
+#include <stdlib.h>
 #include <ctype.h>
 #include <string.h>
-#include <avr/pgmspace.h>
 
 #include "AP_Menu.h"
 
+extern const AP_HAL::HAL& hal;
+
 // statics
 char Menu::_inbuf[MENU_COMMANDLINE_MAX];
 Menu::arg Menu::_argv[MENU_ARGS_MAX + 1];
-FastSerial *Menu::_port;
+AP_HAL::BetterStream *Menu::_port;
 
 
 // constructor
@@ -36,15 +39,15 @@ Menu::run(void)
     uint8_t len, i;
     uint8_t argc;
     int c;
-    char                *s;
+    char *s;
 
 	if (_port == NULL) {
 		// default to main serial port
-		_port = &Serial;
+		_port = hal.console;
 	}
 
     // loop performing commands
-    for (;; ) {
+    for (;;) {
 
         // run the pre-prompt function, if one is defined
         if ((NULL != _ppfunc) && !_ppfunc())
@@ -148,7 +151,7 @@ Menu::_help(void)
 
     _port->println_P(PSTR("Commands:"));
     for (i = 0; i < _entries; i++) {
-		delay(10);
+		hal.scheduler->delay(10);
         _port->printf_P(PSTR("  %S\n"), FPSTR(_commands[i].command));
 	}
 }

libraries/AP_Menu/AP_Menu.h

@@ -17,6 +17,7 @@
 #define __AP_MENU_H__
 
 #include <inttypes.h>
+#include <AP_HAL.h>
 
 #define MENU_COMMANDLINE_MAX    32      ///< maximum input line length
 #define MENU_ARGS_MAX                   4       ///< maximum number of arguments
@@ -56,7 +57,7 @@ public:
     ///
     typedef int8_t (*func)(uint8_t argc, const struct arg *argv);
 
-	static void set_port(FastSerial *port) {
+	static void set_port(AP_HAL::BetterStream *port) {
 		_port = port;
 	}
 
@@ -126,7 +127,7 @@ private:
     static arg              _argv[MENU_ARGS_MAX + 1];                   ///< arguments
 
 	// port to run on
-	static FastSerial       *_port;
+	static AP_HAL::BetterStream  *_port;
 };
 
 /// Macros used to define a menu.

libraries/AP_Menu/examples/menu/menu.pde

@@ -1,27 +1,28 @@
 
-#include <FastSerial.h>
 #include <AP_Common.h>
-#include <AP_Math.h>
+#include <AP_Progmem.h>
 #include <AP_Menu.h>
+#include <AP_HAL.h>
+#include <AP_HAL_AVR.h>
 
-FastSerialPort0(Serial);
+const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
 
 int8_t
 menu_test(uint8_t argc, const Menu::arg *argv)
 {
     int i;
 
-    Serial.printf("This is a test with %d arguments\n", argc);
+    hal.console->printf("This is a test with %d arguments\n", argc);
     for (i = 1; i < argc; i++) {
-        Serial.printf("%d: int %ld  float ", i, argv[i].i);
-        Serial.println(argv[i].f, 6);    // gross
+        hal.console->printf("%d: int %ld  float ", i, argv[i].i);
+        hal.console->println(argv[i].f, 6);    // gross
     }
 }
 
 int8_t
 menu_auto(uint8_t argc, const Menu::arg *argv)
 {
-    Serial.println("auto text");
+    hal.console->println("auto text");
 }
 
 const struct Menu::command top_menu_commands[] PROGMEM = {
@@ -34,7 +35,7 @@ MENU(top, "menu", top_menu_commands);
 void
 setup(void)
 {
-    Serial.begin(38400);
+    hal.console->println_P(PSTR("AP_Menu unit test"));
     top.run();
 }
 
@@ -43,3 +44,4 @@ loop(void)
 {
 }
 
+AP_HAL_MAIN();