Add a simple commandline menu library.

The library has an interface suitable for both interactive and automated use (i.e. Arduino console or GCS operation).


git-svn-id: https://arducopter.googlecode.com/svn/trunk@544 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_Common/AP_Common.h

@@ -6,23 +6,18 @@
 // your option) any later version.
 //
 
-#ifndef _AP_COMMON_H
-#define _AP_COMMON_H
-
-#include <stdint.h>
-
 ///
 /// @file 		AP_Common.h
 /// @brief		Common definitions and utility routines for the ArduPilot
 ///				libraries.
 ///
-/// @note		For correct operation, all sketches and libraries should
-///				include this header *before* any other.  In
-///				particular, this is critical for things like the
-///				FastSerial library, which need the opportunity to
-///				override parts of the Arduino infrastructure.
-///
 
+#ifndef _AP_COMMON_H
+#define _AP_COMMON_H
+
+#include <stdint.h>
+
+#include "include/menu.h"		/// simple menu subsystem
 
 ////////////////////////////////////////////////////////////////////////////////
 /// @name	Types

libraries/AP_Common/examples/menu/menu.pde

@@ -0,0 +1,38 @@
+
+#include <FastSerial.h>
+#include <AP_Common.h>
+
+#include <avr/pgmspace.h>
+
+FastSerialPort0(Serial);
+
+int
+menu_test(uint8_t argc, const Menu::arg *argv)
+{
+	int	i;
+
+	Serial.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
+	}
+}
+
+const struct Menu::command top_menu_commands[] PROGMEM = {
+	{"test",			menu_test},
+};
+
+MENU(top, "menu", top_menu_commands);
+
+void
+setup(void)
+{
+	Serial.begin(38400);
+	top.run();
+}
+
+void
+loop(void)
+{
+}
+

libraries/AP_Common/include/menu.h

@@ -0,0 +1,61 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+
+/// @file	menu.h
+/// @brief	Simple commandline menu subsystem.
+
+#define MENU_COMMANDLINE_MAX	32	///< maximum input line length
+#define MENU_ARGS_MAX			4	///< maximum number of arguments
+#define MENU_COMMAND_MAX		14	///< maximum size of a command name
+
+/// Class defining and handling one menu tree
+class Menu {
+public:
+	/// argument passed to a menu function
+	struct arg {
+		const char	*str;			///< string form of the argument
+		long		i;				///< integer form of the argument (if a number)
+		float		f;				///< floating point form of the argument (if a number)
+	};
+
+	/// menu command function
+	///
+	typedef int			(*func)(uint8_t argc, const struct arg *argv);
+	
+	/// menu command description
+	///
+	/// Note that the array of menu commands is expected to be in program 
+	/// memory.
+	struct command {
+		const char	command[MENU_COMMAND_MAX];						///< name of the command
+		int			(*func)(uint8_t argc, const struct arg *argv);	///< callback function
+	};
+
+	/// constructor
+	///
+	/// @param prompt		The prompt to be displayed with this menu.
+	/// @param commands		An array of ::command structures.
+	/// @param entries		The number of entries in the menu.
+	///
+	Menu(const char *prompt, const struct command *commands, uint8_t entries);
+
+	/// menu runner
+	void				run(void);
+	
+private:
+	void				_help(void);					///< implements the 'help' command
+	const char			*_prompt;						///< prompt to display
+	const command		*_commands;						///< array of commands
+	const uint8_t		_entries;						///< size of the menu
+
+	static char			_inbuf[MENU_COMMANDLINE_MAX];	///< input buffer
+	static arg			_argv[MENU_ARGS_MAX + 1];		///< arguments
+};
+
+/// Macro used to define a menu.
+///
+/// Use name.run() to run the menu.
+///
+#define MENU(name, prompt, commands)							\
+	static const char __menu_name__ ##name[] PROGMEM = prompt;	\
+	static Menu name(__menu_name__ ##name, commands, sizeof(commands) / sizeof(commands[0]))
+	

libraries/AP_Common/menu.cpp

@@ -0,0 +1,108 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+
+//
+// Simple commandline menu system.
+//
+
+#include <FastSerial.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) :
+	_prompt(prompt),
+	_commands(commands),
+	_entries(entries)
+{
+}
+
+// run the menu
+void
+Menu::run(void)
+{
+	uint8_t		len, i, ret;
+	uint8_t		argc;
+	int			c;
+	func		fn;
+		
+	// loop performing commands
+	for (;;) {
+	
+		// 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(_inbuf, " ");
+		while (argc <= MENU_ARGS_MAX) {
+			_argv[argc].str = strtok(NULL, " ");
+			if ('\0' == _argv[argc].str)
+				break;
+			_argv[argc].i = atol(_argv[argc].str);
+			_argv[argc].f = atof(_argv[argc].str);	// calls strtod, > 700B !
+			argc++;
+		}
+			
+		// look for a command matching the first word (note that it may be empty)
+		for (i = 0; i < _entries; i++) {
+			if (!strcmp_P(_argv[0].str, _commands[i].command)) {
+				fn = (func)pgm_read_word(&_commands[i].func);
+				ret = fn(argc, &_argv[0]);
+				if (-2 == ret)
+					return;
+			}
+		}
+
+		// if the menu doesn't provide more comprehensive help, print the command list
+		if ((i == _entries) && (!strcmp(_argv[0].str, "?") || (!strcmp_P(_argv[0].str, PSTR("help")))))
+			_help();
+	}			
+}
+
+// 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);
+}