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CLI: enable "hit enter 3 times" support for CLI 

if you hit enter 3 times before you send any mavlink packets, we will
enter CLI mode
This commit is contained in:
Andrew Tridgell 2011-10-27 18:35:25 +11:00
parent 5770be6dc6
commit 5a44298d57
8 changed files with 88 additions and 17 deletions
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7
ArduCopter/GCS.h
View File

@ -135,10 +135,14 @@ private:
uint16_t _parameter_count; ///< cache of reportable parameters
AP_Var *_find_parameter(uint16_t index); ///< find a reportable parameter by index
mavlink_channel_t chan;
uint16_t packet_drops;
#if CLI_ENABLED == ENABLED
// this allows us to detect the user wanting the CLI to start
uint8_t crlf_count;
#endif
// waypoints
uint16_t waypoint_request_i; // request index
uint16_t waypoint_dest_sysid; // where to send requests
@ -150,7 +154,6 @@ private:
uint32_t waypoint_timelast_receive; // milliseconds
uint16_t waypoint_send_timeout; // milliseconds
uint16_t waypoint_receive_timeout; // milliseconds
float junk; //used to return a junk value for interface
// data stream rates
AP_Var_group _group;

23
ArduCopter/GCS_Mavlink.pde
View File

@ -8,6 +8,9 @@ static bool in_mavlink_delay;
// messages don't block the CPU
static mavlink_statustext_t pending_status;
// true when we have received at least 1 MAVLink packet
static bool mavlink_active;
// check if a message will fit in the payload space available
#define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_## id ##_LEN) return false
@ -539,8 +542,26 @@ GCS_MAVLINK::update(void)
{
uint8_t c = comm_receive_ch(chan);
#if CLI_ENABLED == ENABLED
/* allow CLI to be started by hitting enter 3 times, if no
heartbeat packets have been received */
if (mavlink_active == false) {
if (c == '\n' || c == '\r') {
crlf_count++;
} else {
crlf_count = 0;
}
if (crlf_count == 3) {
run_cli();
}
}
#endif
// Try to get a new message
if(mavlink_parse_char(chan, c, &msg, &status)) handleMessage(&msg);
if (mavlink_parse_char(chan, c, &msg, &status)) {
mavlink_active = true;
handleMessage(&msg);
}
}
// Update packet drops counter

5
ArduCopter/config.h
View File

@ -692,6 +692,11 @@
# define CLI_ENABLED ENABLED
#endif
// use this to disable the CLI slider switch
#ifndef CLI_SLIDER_ENABLED
# define CLI_SLIDER_ENABLED ENABLED
#endif
// delay to prevent Xbee bricking, in milliseconds
#ifndef MAVLINK_TELEMETRY_PORT_DELAY
# define MAVLINK_TELEMETRY_PORT_DELAY 2000

17
ArduCopter/system.pde
View File

@ -43,6 +43,14 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
// Create the top-level menu object.
MENU(main_menu, THISFIRMWARE, main_menu_commands);
// the user wants the CLI. It never exits
static void run_cli(void)
{
while (1) {
main_menu.run();
}
}
#endif // CLI_ENABLED
static void init_ardupilot()
@ -210,7 +218,7 @@ static void init_ardupilot()
DataFlash.Init();
#endif
#if CLI_ENABLED == ENABLED
#if CLI_ENABLED == ENABLED && CLI_SLIDER_ENABLED == ENABLED
// If the switch is in 'menu' mode, run the main menu.
//
// Since we can't be sure that the setup or test mode won't leave
@ -220,11 +228,10 @@ static void init_ardupilot()
if (check_startup_for_CLI()) {
digitalWrite(A_LED_PIN,HIGH); // turn on setup-mode LED
Serial.printf_P(PSTR("\nCLI:\n\n"));
for (;;) {
//Serial.println_P(PSTR("\nMove the slide switch and reset to FLY.\n"));
main_menu.run();
}
run_cli();
}
#else
Serial.printf_P(PSTR("\nPress ENTER 3 times to start interactive setup\n\n"));
#endif // CLI_ENABLED
if(g.esc_calibrate == 1){

7
ArduPlane/GCS.h
View File

@ -135,10 +135,14 @@ private:
uint16_t _parameter_count; ///< cache of reportable parameters
AP_Var *_find_parameter(uint16_t index); ///< find a reportable parameter by index
mavlink_channel_t chan;
uint16_t packet_drops;
#if CLI_ENABLED == ENABLED
// this allows us to detect the user wanting the CLI to start
uint8_t crlf_count;
#endif
// waypoints
uint16_t waypoint_request_i; // request index
uint16_t waypoint_dest_sysid; // where to send requests
@ -150,7 +154,6 @@ private:
uint32_t waypoint_timelast_receive; // milliseconds
uint16_t waypoint_send_timeout; // milliseconds
uint16_t waypoint_receive_timeout; // milliseconds
float junk; //used to return a junk value for interface
// data stream rates
AP_Var_group _group;

22
ArduPlane/GCS_Mavlink.pde
View File

@ -9,6 +9,8 @@ static bool in_mavlink_delay;
// messages don't block the CPU
static mavlink_statustext_t pending_status;
// true when we have received at least 1 MAVLink packet
static bool mavlink_active;
// check if a message will fit in the payload space available
#define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_## id ##_LEN) return false
@ -805,8 +807,26 @@ GCS_MAVLINK::update(void)
{
uint8_t c = comm_receive_ch(chan);
#if CLI_ENABLED == ENABLED
/* allow CLI to be started by hitting enter 3 times, if no
heartbeat packets have been received */
if (mavlink_active == 0) {
if (c == '\n' || c == '\r') {
crlf_count++;
} else {
crlf_count = 0;
}
if (crlf_count == 3) {
run_cli();
}
}
#endif
// Try to get a new message
if (mavlink_parse_char(chan, c, &msg, &status)) handleMessage(&msg);
if (mavlink_parse_char(chan, c, &msg, &status)) {
mavlink_active = 1;
handleMessage(&msg);
}
}
// Update packet drops counter

5
ArduPlane/config.h
View File

@ -662,6 +662,11 @@
# define CLI_ENABLED ENABLED
#endif
// use this to disable the CLI slider switch
#ifndef CLI_SLIDER_ENABLED
# define CLI_SLIDER_ENABLED ENABLED
#endif
// delay to prevent Xbee bricking, in milliseconds
#ifndef MAVLINK_TELEMETRY_PORT_DELAY
# define MAVLINK_TELEMETRY_PORT_DELAY 2000

19
ArduPlane/system.pde
View File

@ -43,6 +43,14 @@ static const struct Menu::command main_menu_commands[] PROGMEM = {
// Create the top-level menu object.
MENU(main_menu, THISFIRMWARE, main_menu_commands);
// the user wants the CLI. It never exits
static void run_cli(void)
{
while (1) {
main_menu.run();
}
}
#endif // CLI_ENABLED
static void init_ardupilot()
@ -185,7 +193,7 @@ static void init_ardupilot()
// the system in an odd state, we don't let the user exit the top
// menu; they must reset in order to fly.
//
#if CLI_ENABLED == ENABLED
#if CLI_ENABLED == ENABLED && CLI_SLIDER_ENABLED == ENABLED
if (digitalRead(SLIDE_SWITCH_PIN) == 0) {
digitalWrite(A_LED_PIN,HIGH); // turn on setup-mode LED
Serial.printf_P(PSTR("\n"
@ -194,14 +202,13 @@ static void init_ardupilot()
"If using the Arduino Serial Monitor, ensure Line Ending is set to Carriage Return.\n"
"Type 'help' to list commands, 'exit' to leave a submenu.\n"
"Visit the 'setup' menu for first-time configuration.\n"));
for (;;) {
Serial.println_P(PSTR("\nMove the slide switch and reset to FLY.\n"));
main_menu.run();
}
Serial.println_P(PSTR("\nMove the slide switch and reset to FLY.\n"));
run_cli();
}
#else
Serial.printf_P(PSTR("\nPress ENTER 3 times to start interactive setup\n\n"));
#endif // CLI_ENABLED
if(g.log_bitmask != 0){
// TODO - Here we will check on the length of the last log
// We don't want to create a bunch of little logs due to powering on and off