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AP_Menu: added check_for_input() API 

this allows for async use of the menus, so that a main loop can run
while allowing the user to enter menu commands
This commit is contained in:
Andrew Tridgell 2013-11-06 09:37:21 +11:00
parent 46724db144
commit 45381e5341
2 changed files with 155 additions and 86 deletions
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232
libraries/AP_Menu/AP_Menu.cpp
View File

@ -37,16 +37,129 @@ Menu::Menu(const prog_char *prompt, const Menu::command *commands, uint8_t entri
_argv = NULL;
}
/**
check for another input byte on the port and accumulate
return true if we have a full line ready to process
*/
bool
Menu::_check_for_input(void)
{
if (_port->available() <= 0) {
return false;
}
// loop reading characters from the input
int c = _port->read();
// carriage return -> process command
if ('\r' == c || '\n' == c) {
_inbuf[_input_len] = '\0';
_port->write('\r');
_port->write('\n');
// we have a full line to process
return true;
}
// backspace
if ('\b' == c) {
if (_input_len > 0) {
_input_len--;
_port->write('\b');
_port->write(' ');
_port->write('\b');
return false;
}
}
// printable character
if (isprint(c) && (_input_len < (_commandline_max - 1))) {
_inbuf[_input_len++] = c;
_port->write((char)c);
}
return false;
}
// run the menu
bool
Menu::_run_command(void)
{
int8_t ret;
uint8_t i;
uint8_t argc;
char *s = NULL;
_input_len = 0;
// split the input line into tokens
argc = 0;
s = NULL;
_argv[argc++].str = strtok_r(_inbuf, " ", &s);
// XXX should an empty line by itself back out of the current menu?
while (argc <= _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) {
// we got a blank line, re-display the prompt
_port->printf_P(PSTR("%S] "), FPSTR(_prompt));
return false;
}
// 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 <= _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 true;
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"))) {
// exit the menu
return true;
}
}
if (cmd_found==false)
{
_port->println_P(PSTR("Invalid command, type 'help'"));
}
return false;
}
// run the menu
void
Menu::run(void)
{
int8_t ret;
uint8_t len, i;
uint8_t argc;
int c;
char *s = NULL;
if (_port == NULL) {
// default to main serial port
_port = hal.console;
@ -62,98 +175,39 @@ Menu::run(void)
return;
// loop reading characters from the input
len = 0;
_input_len = 0;
_port->printf_P(PSTR("%S] "), FPSTR(_prompt));
for (;; ) {
c = _port->read();
if (-1 == c) {
hal.scheduler->delay(20);
continue;
}
// carriage return -> process command
if ('\r' == c || '\n' == c) {
_inbuf[len] = '\0';
_port->write('\r');
_port->write('\n');
if (_check_for_input()) {
break;
}
// backspace
if ('\b' == c) {
if (len > 0) {
len--;
_port->write('\b');
_port->write(' ');
_port->write('\b');
continue;
}
}
// printable character
if (isprint(c) && (len < (MENU_COMMANDLINE_MAX - 1))) {
_inbuf[len++] = c;
_port->write((char)c);
continue;
}
}
// split the input line into tokens
argc = 0;
s = NULL;
_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)
{
_port->println_P(PSTR("Invalid command, type 'help'"));
hal.scheduler->delay(20);
}
// we have a full command to run
if (_run_command()) break;
}
}
// check for new user input
bool
Menu::check_input(void)
{
if (_port == NULL) {
// default to main serial port
_port = hal.console;
}
_allocate_buffers();
if (_check_for_input()) {
return _run_command();
}
return false;
}
// display the list of commands in response to the 'help' command
void
Menu::_help(void)

15
libraries/AP_Menu/AP_Menu.h
View File

@ -109,6 +109,11 @@ public:
/// menu runner
void run(void);
/// check for new input on the port. Can be used
/// to allow for the menu to operate asynchronously
/// this will return true if the user asked to exit the menu
bool check_input(void);
private:
/// Implements the default 'help' command.
///
@ -135,6 +140,16 @@ private:
// allocate inbuf and args buffers
void _allocate_buffers(void);
// number of characters read so far from the port
uint8_t _input_len;
// check for next input character
bool _check_for_input(void);
// run one full entered command.
// return true if the menu loop should exit
bool _run_command(void);
// port to run on
static AP_HAL::BetterStream *_port;
};