mirror of https://github.com/ArduPilot/ardupilot
AP_Menu: ported to AP_HAL
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ec53515648
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3b1150d857
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@ -4,19 +4,22 @@
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// Simple commandline menu system.
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// Simple commandline menu system.
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//
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//
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_HAL.h>
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#include <stdlib.h>
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#include <ctype.h>
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#include <ctype.h>
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#include <string.h>
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#include <string.h>
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#include <avr/pgmspace.h>
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#include "AP_Menu.h"
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#include "AP_Menu.h"
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extern const AP_HAL::HAL& hal;
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// statics
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// statics
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char Menu::_inbuf[MENU_COMMANDLINE_MAX];
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char Menu::_inbuf[MENU_COMMANDLINE_MAX];
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Menu::arg Menu::_argv[MENU_ARGS_MAX + 1];
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Menu::arg Menu::_argv[MENU_ARGS_MAX + 1];
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FastSerial *Menu::_port;
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AP_HAL::BetterStream *Menu::_port;
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// constructor
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// constructor
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@ -40,11 +43,11 @@ Menu::run(void)
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if (_port == NULL) {
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if (_port == NULL) {
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// default to main serial port
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// default to main serial port
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_port = &Serial;
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_port = hal.console;
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}
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}
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// loop performing commands
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// loop performing commands
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for (;; ) {
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for (;;) {
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// run the pre-prompt function, if one is defined
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// run the pre-prompt function, if one is defined
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if ((NULL != _ppfunc) && !_ppfunc())
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if ((NULL != _ppfunc) && !_ppfunc())
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@ -148,7 +151,7 @@ Menu::_help(void)
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_port->println_P(PSTR("Commands:"));
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_port->println_P(PSTR("Commands:"));
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for (i = 0; i < _entries; i++) {
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for (i = 0; i < _entries; i++) {
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delay(10);
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hal.scheduler->delay(10);
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_port->printf_P(PSTR(" %S\n"), FPSTR(_commands[i].command));
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_port->printf_P(PSTR(" %S\n"), FPSTR(_commands[i].command));
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}
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}
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}
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}
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@ -17,6 +17,7 @@
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#define __AP_MENU_H__
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#define __AP_MENU_H__
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#include <inttypes.h>
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#include <inttypes.h>
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#include <AP_HAL.h>
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#define MENU_COMMANDLINE_MAX 32 ///< maximum input line length
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#define MENU_COMMANDLINE_MAX 32 ///< maximum input line length
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#define MENU_ARGS_MAX 4 ///< maximum number of arguments
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#define MENU_ARGS_MAX 4 ///< maximum number of arguments
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@ -56,7 +57,7 @@ public:
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///
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///
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typedef int8_t (*func)(uint8_t argc, const struct arg *argv);
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typedef int8_t (*func)(uint8_t argc, const struct arg *argv);
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static void set_port(FastSerial *port) {
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static void set_port(AP_HAL::BetterStream *port) {
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_port = port;
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_port = port;
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}
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}
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@ -126,7 +127,7 @@ private:
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static arg _argv[MENU_ARGS_MAX + 1]; ///< arguments
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static arg _argv[MENU_ARGS_MAX + 1]; ///< arguments
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// port to run on
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// port to run on
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static FastSerial *_port;
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static AP_HAL::BetterStream *_port;
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};
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};
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/// Macros used to define a menu.
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/// Macros used to define a menu.
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@ -1,27 +1,28 @@
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <AP_Common.h>
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#include <AP_Math.h>
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#include <AP_Progmem.h>
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#include <AP_Menu.h>
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#include <AP_Menu.h>
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#include <AP_HAL.h>
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#include <AP_HAL_AVR.h>
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FastSerialPort0(Serial);
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const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
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int8_t
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int8_t
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menu_test(uint8_t argc, const Menu::arg *argv)
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menu_test(uint8_t argc, const Menu::arg *argv)
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{
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{
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int i;
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int i;
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Serial.printf("This is a test with %d arguments\n", argc);
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hal.console->printf("This is a test with %d arguments\n", argc);
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for (i = 1; i < argc; i++) {
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for (i = 1; i < argc; i++) {
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Serial.printf("%d: int %ld float ", i, argv[i].i);
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hal.console->printf("%d: int %ld float ", i, argv[i].i);
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Serial.println(argv[i].f, 6); // gross
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hal.console->println(argv[i].f, 6); // gross
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}
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}
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}
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}
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int8_t
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int8_t
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menu_auto(uint8_t argc, const Menu::arg *argv)
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menu_auto(uint8_t argc, const Menu::arg *argv)
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{
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{
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Serial.println("auto text");
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hal.console->println("auto text");
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}
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}
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const struct Menu::command top_menu_commands[] PROGMEM = {
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const struct Menu::command top_menu_commands[] PROGMEM = {
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@ -34,7 +35,7 @@ MENU(top, "menu", top_menu_commands);
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void
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void
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setup(void)
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setup(void)
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{
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{
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Serial.begin(38400);
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hal.console->println_P(PSTR("AP_Menu unit test"));
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top.run();
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top.run();
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}
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}
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@ -43,3 +44,4 @@ loop(void)
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{
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{
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}
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}
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AP_HAL_MAIN();
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