mirror of https://github.com/ArduPilot/ardupilot
171 lines
4.2 KiB
C++
171 lines
4.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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// Simple commandline menu system.
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//
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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 <string.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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char Menu::_inbuf[MENU_COMMANDLINE_MAX];
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Menu::arg Menu::_argv[MENU_ARGS_MAX + 1];
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AP_HAL::BetterStream *Menu::_port;
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// constructor
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Menu::Menu(const prog_char *prompt, const Menu::command *commands, uint8_t entries, preprompt ppfunc) :
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_prompt(prompt),
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_commands(commands),
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_entries(entries),
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_ppfunc(ppfunc)
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{
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}
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// run the menu
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void
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Menu::run(void)
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{
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int8_t ret;
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uint8_t len, i;
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uint8_t argc;
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int c;
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char *s = NULL;
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if (_port == NULL) {
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// default to main serial port
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_port = hal.console;
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}
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// loop performing commands
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for (;;) {
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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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return;
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// loop reading characters from the input
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len = 0;
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_port->printf_P(PSTR("%S] "), FPSTR(_prompt));
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for (;; ) {
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c = _port->read();
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if (-1 == c) {
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hal.scheduler->delay(20);
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continue;
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}
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// carriage return -> process command
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if ('\r' == c || '\n' == c) {
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_inbuf[len] = '\0';
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_port->write('\r');
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_port->write('\n');
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break;
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}
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// backspace
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if ('\b' == c) {
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if (len > 0) {
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len--;
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_port->write('\b');
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_port->write(' ');
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_port->write('\b');
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continue;
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}
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}
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// printable character
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if (isprint(c) && (len < (MENU_COMMANDLINE_MAX - 1))) {
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_inbuf[len++] = c;
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_port->write((char)c);
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continue;
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}
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}
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// split the input line into tokens
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argc = 0;
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s = NULL;
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_argv[argc++].str = strtok_r(_inbuf, " ", &s);
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// XXX should an empty line by itself back out of the current menu?
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while (argc <= MENU_ARGS_MAX) {
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_argv[argc].str = strtok_r(NULL, " ", &s);
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if ('\0' == _argv[argc].str)
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break;
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_argv[argc].i = atol(_argv[argc].str);
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_argv[argc].f = atof(_argv[argc].str); // calls strtod, > 700B !
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argc++;
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}
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if (_argv[0].str == NULL) {
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continue;
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}
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// populate arguments that have not been specified with "" and 0
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// this is safer than NULL in the case where commands may look
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// without testing argc
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i = argc;
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while (i <= MENU_ARGS_MAX) {
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_argv[i].str = "";
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_argv[i].i = 0;
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_argv[i].f = 0;
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i++;
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}
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bool cmd_found = false;
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// look for a command matching the first word (note that it may be empty)
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for (i = 0; i < _entries; i++) {
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if (!strcasecmp_P(_argv[0].str, _commands[i].command)) {
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ret = _call(i, argc);
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cmd_found=true;
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if (-2 == ret)
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return;
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break;
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}
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}
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// implicit commands
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if (i == _entries) {
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if (!strcmp(_argv[0].str, "?") || (!strcasecmp_P(_argv[0].str, PSTR("help")))) {
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_help();
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cmd_found=true;
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} else if (!strcasecmp_P(_argv[0].str, PSTR("exit"))) {
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return;
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}
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}
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if (cmd_found==false)
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{
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_port->println_P(PSTR("Invalid command, type 'help'"));
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}
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}
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}
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// display the list of commands in response to the 'help' command
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void
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Menu::_help(void)
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{
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int i;
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_port->println_P(PSTR("Commands:"));
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for (i = 0; i < _entries; i++) {
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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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}
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}
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// run the n'th command in the menu
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int8_t
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Menu::_call(uint8_t n, uint8_t argc)
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{
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func fn;
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fn = (func)pgm_read_pointer(&_commands[n].func);
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return(fn(argc, &_argv[0]));
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}
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