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Dependencies:   NaturalTinyShell_ice libmDot-12Sept mbed-rtos mbed

Fork of ICE by Erick

src/CommandParser/cmd.cpp@11:0695c1091129, 2016-09-07 (annotated)

Committer:
jmarkel44
Date:
Wed Sep 07 12:06:02 2016 +0000
Revision:
11:0695c1091129
Parent:
5:5e77a1db4d45 
basic timer & setpoint controls (via classes) operating;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jmarkel44 0:65cfa4873284 1 /*
jmarkel44 0:65cfa4873284 2 * ===============================================================
jmarkel44 0:65cfa4873284 3 * Natural Tiny Shell (NT-Shell) Application example.
jmarkel44 0:65cfa4873284 4 * Version 0.0.6
jmarkel44 0:65cfa4873284 5 * ===============================================================
jmarkel44 0:65cfa4873284 6 * Copyright (c) 2010-2011 Shinichiro Nakamura
jmarkel44 0:65cfa4873284 7 *
jmarkel44 0:65cfa4873284 8 * Permission is hereby granted, free of charge, to any person
jmarkel44 0:65cfa4873284 9 * obtaining a copy of this software and associated documentation
jmarkel44 0:65cfa4873284 10 * files (the "Software"), to deal in the Software without
jmarkel44 0:65cfa4873284 11 * restriction, including without limitation the rights to use,
jmarkel44 0:65cfa4873284 12 * copy, modify, merge, publish, distribute, sublicense, and/or
jmarkel44 0:65cfa4873284 13 * sell copies of the Software, and to permit persons to whom the
jmarkel44 0:65cfa4873284 14 * Software is furnished to do so, subject to the following
jmarkel44 0:65cfa4873284 15 * conditions:
jmarkel44 0:65cfa4873284 16 *
jmarkel44 0:65cfa4873284 17 * The above copyright notice and this permission notice shall be
jmarkel44 0:65cfa4873284 18 * included in all copies or substantial portions of the Software.
jmarkel44 0:65cfa4873284 19 *
jmarkel44 0:65cfa4873284 20 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
jmarkel44 0:65cfa4873284 21 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
jmarkel44 0:65cfa4873284 22 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
jmarkel44 0:65cfa4873284 23 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
jmarkel44 0:65cfa4873284 24 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
jmarkel44 0:65cfa4873284 25 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
jmarkel44 0:65cfa4873284 26 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
jmarkel44 0:65cfa4873284 27 * OTHER DEALINGS IN THE SOFTWARE.
jmarkel44 0:65cfa4873284 28 * ===============================================================
jmarkel44 0:65cfa4873284 29 */
jmarkel44 0:65cfa4873284 30
jmarkel44 0:65cfa4873284 31 #include "cmd.h"
jmarkel44 0:65cfa4873284 32 #include <mbed.h>
jmarkel44 0:65cfa4873284 33 #include "ntshell.h"
jmarkel44 0:65cfa4873284 34 #include "ntopt.h"
jmarkel44 0:65cfa4873284 35 #include "global.h"
jmarkel44 0:65cfa4873284 36 #include "ConfigurationHandler.h"
jmarkel44 3:8ea4db957749 37 #include "mDot.h"
jmarkel44 0:65cfa4873284 38
jmarkel44 0:65cfa4873284 39 Serial serial(USBTX, USBRX);
jmarkel44 0:65cfa4873284 40 ntshell_t ntshell;
jmarkel44 0:65cfa4873284 41
jmarkel44 0:65cfa4873284 42 typedef struct {
jmarkel44 0:65cfa4873284 43 char *command; // command (from shell)
jmarkel44 0:65cfa4873284 44 char *description; // descrption
jmarkel44 0:65cfa4873284 45 void (*func)(int argc, char **argv); // callback function
jmarkel44 0:65cfa4873284 46 } command_table_t;
jmarkel44 0:65cfa4873284 47
jmarkel44 0:65cfa4873284 48 // see cmd.h
jmarkel44 0:65cfa4873284 49 const command_table_t cmdlist[] = {
jmarkel44 0:65cfa4873284 50 {"?", "help command", cmd_help },
jmarkel44 0:65cfa4873284 51 {"create", "create a control", cmd_create },
jmarkel44 0:65cfa4873284 52 {"destroy", "destroy a control", cmd_destroy },
jmarkel44 0:65cfa4873284 53 {"heap", "show heap statistics", cmd_heap },
jmarkel44 0:65cfa4873284 54 {"help", "help command", cmd_help },
jmarkel44 0:65cfa4873284 55 {"modify", "modify a control", cmd_modify },
jmarkel44 0:65cfa4873284 56 {"reset", "reset the controller", cmd_reset },
jmarkel44 0:65cfa4873284 57 {"showControls", "display active controls", cmd_ShowControls },
jmarkel44 0:65cfa4873284 58 {"stress", "test utility to stress control creation/deletion", cmd_stress },
jmarkel44 0:65cfa4873284 59 {NULL, NULL, NULL}
jmarkel44 0:65cfa4873284 60 };
jmarkel44 0:65cfa4873284 61
jmarkel44 0:65cfa4873284 62 int func_read(char *buf, int cnt);
jmarkel44 0:65cfa4873284 63 int func_write(const char *buf, int cnt);
jmarkel44 0:65cfa4873284 64 int func_cb_ntshell(const char *text);
jmarkel44 0:65cfa4873284 65 void func_cb_ntopt(int argc, char **argv);
jmarkel44 0:65cfa4873284 66
jmarkel44 0:65cfa4873284 67 // stress test private functions
jmarkel44 0:65cfa4873284 68 static void create ( const char *controlFile, Control_t controlType );
jmarkel44 0:65cfa4873284 69 static void destroy ( const char *controlFile );
jmarkel44 0:65cfa4873284 70
jmarkel44 0:65cfa4873284 71 /**
jmarkel44 0:65cfa4873284 72 * Serial read function.
jmarkel44 0:65cfa4873284 73 */
jmarkel44 0:65cfa4873284 74 int func_read(char *buf, int cnt)
jmarkel44 0:65cfa4873284 75 {
jmarkel44 0:65cfa4873284 76 for (int i = 0; i < cnt; i++) {
jmarkel44 0:65cfa4873284 77 buf[i] = serial.getc();
jmarkel44 0:65cfa4873284 78 }
jmarkel44 0:65cfa4873284 79 return 0;
jmarkel44 0:65cfa4873284 80 }
jmarkel44 0:65cfa4873284 81
jmarkel44 0:65cfa4873284 82 /**
jmarkel44 0:65cfa4873284 83 * Serial write function.
jmarkel44 0:65cfa4873284 84 */
jmarkel44 0:65cfa4873284 85 int func_write(const char *buf, int cnt)
jmarkel44 0:65cfa4873284 86 {
jmarkel44 0:65cfa4873284 87 for (int i = 0; i < cnt; i++) {
jmarkel44 0:65cfa4873284 88 serial.putc(buf[i]);
jmarkel44 0:65cfa4873284 89 }
jmarkel44 0:65cfa4873284 90 return 0;
jmarkel44 0:65cfa4873284 91 }
jmarkel44 0:65cfa4873284 92
jmarkel44 0:65cfa4873284 93 /**
jmarkel44 0:65cfa4873284 94 * Callback function for ntshell module.
jmarkel44 0:65cfa4873284 95 */
jmarkel44 0:65cfa4873284 96 int func_cb_ntshell(const char *text)
jmarkel44 0:65cfa4873284 97 {
jmarkel44 0:65cfa4873284 98 return ntopt_parse(text, func_cb_ntopt);
jmarkel44 0:65cfa4873284 99 }
jmarkel44 0:65cfa4873284 100
jmarkel44 0:65cfa4873284 101 /**
jmarkel44 0:65cfa4873284 102 * Callback function for ntopt module.
jmarkel44 0:65cfa4873284 103 */
jmarkel44 0:65cfa4873284 104 void func_cb_ntopt(int argc, char **argv)
jmarkel44 0:65cfa4873284 105 {
jmarkel44 0:65cfa4873284 106 if (argc == 0) {
jmarkel44 0:65cfa4873284 107 return;
jmarkel44 0:65cfa4873284 108 }
jmarkel44 0:65cfa4873284 109 int execnt = 0;
jmarkel44 0:65cfa4873284 110 const command_table_t *p = &cmdlist[0];
jmarkel44 0:65cfa4873284 111 while (p->command != NULL) {
jmarkel44 0:65cfa4873284 112 if (strcmp(argv[0], p->command) == 0) {
jmarkel44 0:65cfa4873284 113 p->func(argc, argv);
jmarkel44 0:65cfa4873284 114 execnt++;
jmarkel44 0:65cfa4873284 115 }
jmarkel44 0:65cfa4873284 116 p++;
jmarkel44 0:65cfa4873284 117 }
jmarkel44 0:65cfa4873284 118 if (execnt == 0) {
jmarkel44 0:65cfa4873284 119 printf("Command not found.\r\n");
jmarkel44 0:65cfa4873284 120 }
jmarkel44 0:65cfa4873284 121 wait_ms(250);
jmarkel44 0:65cfa4873284 122 }
jmarkel44 0:65cfa4873284 123
jmarkel44 0:65cfa4873284 124 /************************* callback functions *******************************/
jmarkel44 0:65cfa4873284 125 void cmd_help(int argc, char **argv)
jmarkel44 0:65cfa4873284 126 {
jmarkel44 0:65cfa4873284 127 UNUSED(argc);
jmarkel44 0:65cfa4873284 128 UNUSED(argv);
jmarkel44 0:65cfa4873284 129
jmarkel44 0:65cfa4873284 130 const command_table_t *tblPtr = cmdlist;
jmarkel44 0:65cfa4873284 131
jmarkel44 0:65cfa4873284 132 while (tblPtr->command) {
jmarkel44 0:65cfa4873284 133 printf("\r%-32s:\t%s\n", tblPtr->command, tblPtr->description);
jmarkel44 0:65cfa4873284 134 tblPtr++;
jmarkel44 0:65cfa4873284 135 }
jmarkel44 0:65cfa4873284 136 printf("\r\n");
jmarkel44 0:65cfa4873284 137 }
jmarkel44 0:65cfa4873284 138
jmarkel44 0:65cfa4873284 139
jmarkel44 0:65cfa4873284 140 void cmd_ShowControls(int argc, char **argv)
jmarkel44 0:65cfa4873284 141 {
jmarkel44 0:65cfa4873284 142 UNUSED(argc);
jmarkel44 0:65cfa4873284 143 UNUSED(argv);
jmarkel44 11:0695c1091129 144 DisplayControlLists();
jmarkel44 0:65cfa4873284 145 }
jmarkel44 0:65cfa4873284 146
jmarkel44 0:65cfa4873284 147 void cmd_reset(int argc, char **argv)
jmarkel44 0:65cfa4873284 148 {
jmarkel44 0:65cfa4873284 149 UNUSED(argc);
jmarkel44 0:65cfa4873284 150 UNUSED(argv);
jmarkel44 0:65cfa4873284 151 NVIC_SystemReset();
jmarkel44 0:65cfa4873284 152 }
jmarkel44 0:65cfa4873284 153
jmarkel44 0:65cfa4873284 154 void cmd_create(int argc, char **argv)
jmarkel44 0:65cfa4873284 155 {
jmarkel44 0:65cfa4873284 156 if ( argc != 3 ) {
jmarkel44 0:65cfa4873284 157 printf("\r\nusage: create [controlName] [controlType]\n");
jmarkel44 0:65cfa4873284 158 printf("\rcontrolType-> 0=timer, 1=PID, 2=setpoint, 3=composite, 4=manual\n");
jmarkel44 0:65cfa4873284 159 return;
jmarkel44 0:65cfa4873284 160 }
jmarkel44 0:65cfa4873284 161 // send a message to the configuration handler to create the control
jmarkel44 0:65cfa4873284 162 Message_t *msg = MailBox.alloc();
jmarkel44 0:65cfa4873284 163 memset(msg, 0, sizeof(Message_t));
jmarkel44 0:65cfa4873284 164 msg->action = ACTION_CREATE;
jmarkel44 0:65cfa4873284 165 msg->control = (Control_t) atoi(argv[2]);
jmarkel44 0:65cfa4873284 166 strncpy(msg->controlFile, argv[1], sizeof(msg->controlFile)-1);
jmarkel44 0:65cfa4873284 167
jmarkel44 0:65cfa4873284 168 printf("%s: Sending a create request for control %s type = %u\r\n",
jmarkel44 0:65cfa4873284 169 __func__, msg->controlFile, msg->control);
jmarkel44 0:65cfa4873284 170
jmarkel44 0:65cfa4873284 171 MailBox.put(msg);
jmarkel44 0:65cfa4873284 172 return;
jmarkel44 0:65cfa4873284 173 }
jmarkel44 0:65cfa4873284 174
jmarkel44 0:65cfa4873284 175 void cmd_destroy(int argc, char **argv)
jmarkel44 0:65cfa4873284 176 {
jmarkel44 11:0695c1091129 177 if ( argc != 3 ) {
jmarkel44 0:65cfa4873284 178 printf("\r\nusage: destroy [threadName]\r\n");
jmarkel44 0:65cfa4873284 179 return;
jmarkel44 0:65cfa4873284 180 }
jmarkel44 0:65cfa4873284 181
jmarkel44 0:65cfa4873284 182 // send a message to the configuration handler to destroy the control
jmarkel44 0:65cfa4873284 183 Message_t *msg = MailBox.alloc();
jmarkel44 0:65cfa4873284 184 memset(msg, 0, sizeof(Message_t));
jmarkel44 0:65cfa4873284 185 msg->action = ACTION_DESTROY;
jmarkel44 0:65cfa4873284 186 strncpy(msg->controlFile, argv[1], sizeof(msg->controlFile)-1);
jmarkel44 0:65cfa4873284 187
jmarkel44 0:65cfa4873284 188 printf("%s: Sending a destroy request for control %s\r\n",
jmarkel44 0:65cfa4873284 189 __func__, msg->controlFile);
jmarkel44 0:65cfa4873284 190
jmarkel44 0:65cfa4873284 191 MailBox.put(msg);
jmarkel44 0:65cfa4873284 192 return;
jmarkel44 0:65cfa4873284 193 }
jmarkel44 0:65cfa4873284 194
jmarkel44 0:65cfa4873284 195 void cmd_heap(int argc, char **argv)
jmarkel44 0:65cfa4873284 196 {
jmarkel44 0:65cfa4873284 197 UNUSED(argc), UNUSED(argv);
jmarkel44 0:65cfa4873284 198 __heapstats((__heapprt)fprintf,stderr); // print initial free heap size
jmarkel44 0:65cfa4873284 199 }
jmarkel44 0:65cfa4873284 200
jmarkel44 0:65cfa4873284 201 void cmd_modify(int argc, char **argv)
jmarkel44 0:65cfa4873284 202 {
jmarkel44 0:65cfa4873284 203 // stubbed
jmarkel44 3:8ea4db957749 204 printf("\rNot yet implemented.\n");
jmarkel44 0:65cfa4873284 205 return;
jmarkel44 0:65cfa4873284 206 }
jmarkel44 0:65cfa4873284 207
jmarkel44 0:65cfa4873284 208
jmarkel44 0:65cfa4873284 209 void cmd_stress(int argc, char **argv)
jmarkel44 0:65cfa4873284 210 {
jmarkel44 0:65cfa4873284 211 UNUSED(argc), UNUSED(argv);
jmarkel44 0:65cfa4873284 212 static int counter = 0;
jmarkel44 0:65cfa4873284 213 const unsigned int delay = 1.0;
jmarkel44 3:8ea4db957749 214
jmarkel44 2:da28f21b72a1 215 cmd_heap(0, 0);
jmarkel44 0:65cfa4873284 216
jmarkel44 0:65cfa4873284 217 // let's just run forever to see what happens
jmarkel44 2:da28f21b72a1 218 while ( ++ counter < 100 ) {
jmarkel44 0:65cfa4873284 219 wait(delay);
jmarkel44 0:65cfa4873284 220 create("TimerControl00.json", CONTROL_TIMER);
jmarkel44 0:65cfa4873284 221 wait(delay);
jmarkel44 0:65cfa4873284 222 create("PIDControl00.json", CONTROL_PID);
jmarkel44 0:65cfa4873284 223 wait(delay);
jmarkel44 0:65cfa4873284 224 create("SetpointControl00.json", CONTROL_SETPOINT);
jmarkel44 0:65cfa4873284 225 wait(delay);
jmarkel44 0:65cfa4873284 226 create("CompositeControl00.json", CONTROL_COMPOSITE);
jmarkel44 0:65cfa4873284 227 wait(delay);
jmarkel44 0:65cfa4873284 228 create("ManualControl00.json", CONTROL_MANUAL);
jmarkel44 0:65cfa4873284 229 wait(delay);
jmarkel44 0:65cfa4873284 230
jmarkel44 0:65cfa4873284 231 cmd_heap(0, 0);
jmarkel44 0:65cfa4873284 232
jmarkel44 0:65cfa4873284 233 wait(2.5);
jmarkel44 0:65cfa4873284 234
jmarkel44 0:65cfa4873284 235 // now delete everything
jmarkel44 0:65cfa4873284 236 destroy("TimerControl00.json");
jmarkel44 0:65cfa4873284 237 wait(delay);
jmarkel44 0:65cfa4873284 238 destroy("PIDControl00.json");
jmarkel44 0:65cfa4873284 239 wait(delay);
jmarkel44 0:65cfa4873284 240 destroy("SetpointControl00.json");
jmarkel44 0:65cfa4873284 241 wait(delay);
jmarkel44 0:65cfa4873284 242 destroy("CompositeControl00.json");
jmarkel44 0:65cfa4873284 243 wait(delay);
jmarkel44 0:65cfa4873284 244 destroy("ManualControl00.json");
jmarkel44 0:65cfa4873284 245 wait(delay);
jmarkel44 0:65cfa4873284 246 printf("\rInterval => %u\n", ++counter);
jmarkel44 0:65cfa4873284 247 cmd_heap(0, 0);
jmarkel44 0:65cfa4873284 248 wait(2.5);
jmarkel44 0:65cfa4873284 249 }
jmarkel44 0:65cfa4873284 250 }
jmarkel44 0:65cfa4873284 251
jmarkel44 0:65cfa4873284 252 static void create(const char *controlFile, Control_t controlType)
jmarkel44 0:65cfa4873284 253 {
jmarkel44 0:65cfa4873284 254 Message_t *msg = MailBox.alloc();
jmarkel44 0:65cfa4873284 255 memset(msg, 0, sizeof(Message_t));
jmarkel44 0:65cfa4873284 256 msg->action = ACTION_CREATE;
jmarkel44 0:65cfa4873284 257 msg->control = controlType;
jmarkel44 0:65cfa4873284 258 strncpy(msg->controlFile, controlFile, sizeof(msg->controlFile)-1);
jmarkel44 0:65cfa4873284 259
jmarkel44 0:65cfa4873284 260 printf("\r%s: Sending a create request for control %s\r\n",
jmarkel44 0:65cfa4873284 261 __func__, msg->controlFile);
jmarkel44 0:65cfa4873284 262
jmarkel44 0:65cfa4873284 263 MailBox.put(msg);
jmarkel44 0:65cfa4873284 264 }
jmarkel44 0:65cfa4873284 265
jmarkel44 0:65cfa4873284 266 static void destroy(const char *controlFile)
jmarkel44 0:65cfa4873284 267 {
jmarkel44 0:65cfa4873284 268 Message_t *msg = MailBox.alloc();
jmarkel44 0:65cfa4873284 269 memset(msg, 0, sizeof(Message_t));
jmarkel44 0:65cfa4873284 270 msg->action = ACTION_DESTROY;
jmarkel44 0:65cfa4873284 271 strncpy(msg->controlFile, controlFile, sizeof(msg->controlFile)-1);
jmarkel44 0:65cfa4873284 272
jmarkel44 0:65cfa4873284 273 printf("\r%s: Sending a destroy request for control %s\r\n",
jmarkel44 0:65cfa4873284 274 __func__, msg->controlFile);
jmarkel44 0:65cfa4873284 275
jmarkel44 0:65cfa4873284 276 MailBox.put(msg);
jmarkel44 0:65cfa4873284 277 }
jmarkel44 0:65cfa4873284 278