Diff: cli.cpp

Revision:

0:77803b3ee157

Child:

1:450090bdb6f4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/cli.cpp	Fri Jun 28 19:32:51 2019 +0000
@@ -0,0 +1,226 @@
+/*
+Command Line Interpreter code module.
+Purpose -
+    Provides easy interface to pc terminal programme for use during programme development, debug etc.
+    Also usable as comms subsystem in finished code for accepting commands, reporting data etc.
+*/
+#include "mbed.h"
+#include "Alternator.h"
+//#include "BufferedSerial.h"
+#include <cctype>
+using namespace std;
+
+extern  eeprom_settings     mode     ;
+//eeprom_settings     mode     ;
+
+extern  int ver, vef, measured_pw_us;
+extern  uint32_t    ReadEngineRPM  ()   ;
+extern  double  Read_BatteryVolts   ()  ;
+
+
+
+
+
+const   int MAX_PARAMS = 10;
+struct  parameters  {
+    int32_t times[50];
+    int32_t position_in_list, last_time, numof_dbls;
+    double  dbl[MAX_PARAMS];
+}   ;
+
+//  WithOUT RTOS
+//extern  BufferedSerial pc;
+extern  Serial pc;
+//extern  BufferedSerial pc;
+extern  double  test_pot;    //  These used in knifeandfork code testing only
+
+//extern  int numof_eeprom_options2    ;
+//extern  struct  optpar const option_list2[]  ;
+extern  struct optpar  option_list2[]    ;
+
+/**void    mode_cmd (struct parameters & a)       //  With no params, reads eeprom contents. With params sets eeprom contents
+*   mode_cmd called only from pc comms. No sense calling from Touch Screen Controller
+*
+*   Called without parameters - Lists to pc terminal current settings
+*
+*/
+void    mode19_cmd (struct parameters & a)       //  With no params, reads eeprom contents. With params sets eeprom contents
+{
+    char            temps[36];
+    int i;
+    pc.printf   ("\r\nmode - Set system data in EEPROM - Jan 2019\r\nSyntax 'mode' with no parameters lists current state.\r\n");
+    if  (a.numof_dbls)  {           //  If more than 0 parameters supplied
+        for (i = 0; i < a.numof_dbls; i++)
+            temps[i] = (char)a.dbl[i];          //  recast doubles to char
+        while   (i < 33)
+            temps[i++] = 0;
+        i = (int)a.dbl[0];
+        switch  (i) {
+            case    0:    case    1:    case    2:    case    3:    case    4:
+            case    5:    case    6:    case    7:    case    8:
+                if  (temps[1] >= option_list2[i].min && temps[1] <= option_list2[i].max)
+                    mode.wr(temps[1], RPM0 + i);
+                break;
+            case    37: //  set pwm scale factor
+                if  (temps[1] >= option_list2[PWM_SCALE].min && temps[1] <= option_list2[PWM_SCALE].max)
+                    mode.wr(temps[1], PWM_SCALE);
+                break;
+            case    83: //  set to defaults
+                mode.set_defaults   ();
+                break;
+            case    9:      //  9 Save settings
+                mode.save   ();
+                pc.printf   ("Saving settings to EEPROM\r\n");
+                break;
+            default:
+                break;
+        }       //  endof   switch
+    }           //  endof   //  If more than 0 parameters supplied
+    else    {
+        pc.printf   ("No Changes\r\n");
+    }
+    pc.printf   ("mode 0\t%s, [%d]\r\n", option_list2[0].t, mode.rd(RPM0));
+    pc.printf   ("mode 1\t%s, [%d]\r\n", option_list2[1].t, mode.rd(RPM1));
+    pc.printf   ("mode 2\t%s, [%d]\r\n", option_list2[2].t, mode.rd(RPM2));
+    pc.printf   ("mode 3\t%s, [%d]\r\n", option_list2[3].t, mode.rd(RPM3));
+    pc.printf   ("mode 4\t%s, [%d]\r\n", option_list2[4].t, mode.rd(RPM4));
+    pc.printf   ("mode 5\t%s, [%d]\r\n", option_list2[5].t, mode.rd(RPM5));
+    pc.printf   ("mode 6\t%s, [%d]\r\n", option_list2[6].t, mode.rd(RPM6));
+    pc.printf   ("mode 7\t%s, [%d]\r\n", option_list2[7].t, mode.rd(RPM7));
+    pc.printf   ("mode 8\t%s, [%d]\r\n", option_list2[8].t, mode.rd(RPM8));
+
+    pc.printf   ("mode 37\t%s, [%d]\r\n", option_list2[PWM_SCALE].t, mode.rd(PWM_SCALE));
+    pc.printf   ("mode 83\tSet to defaults\r\n");
+    pc.printf   ("mode 9\tSave settings\r\r\n");
+
+}
+
+void    gpcmd   (struct parameters & a)   {
+    pc.printf   ("pwm=%d\r\n", mode.get_pwm    ((int)a.dbl[0]));
+}
+
+void    rfcmd   (struct parameters & a)   {
+    pc.printf   ("ver = %d, vef = %d, measured_pw_us = %d\r\n", ver, vef, measured_pw_us);
+}
+
+extern  double  glob_rpm;
+extern  void    set_RPM_demand  (uint32_t   d)  ;
+
+void    set_rpm_cmd   (struct parameters & a)   {
+    pc.printf   ("setting RPM to %d\r\n",(int)a.dbl[0]);
+    set_RPM_demand  ((uint32_t)a.dbl[0]);
+}
+
+void    speedcmd   (struct parameters & a)   {
+    int s = ReadEngineRPM  ();
+    pc.printf   ("speed %d, %.2f, pwm %d\r\n", s, glob_rpm, mode.get_pwm(s));
+}
+
+void    vcmd    (struct parameters & a)   {
+    pc.printf   ("volts %.2f\r\n", Read_BatteryVolts());
+}
+
+extern  void    set_servo   (double p)  ;   //  Only for test, called from cli
+
+void    set_servo_cmd    (struct parameters & a)   {
+    double p = a.dbl[0] / 100.0;
+    pc.printf   ("servo %.2f\r\n", p);
+    set_servo   (p);
+}
+
+void    null_cmd (struct parameters & a)   {
+    pc.printf   ("At null_cmd, parameters : First %.3f, second %.3f\r\n", a.dbl[0], a.dbl[1]);
+}
+
+void    menucmd (struct parameters & a);
+
+struct kb_command  {
+    const char * cmd_word;         //  points to text e.g. "menu"
+    const char * explan;
+    void (*f)(struct parameters &);   //  points to function
+}  ;
+
+struct  kb_command const command_list[] = {
+    {"?", "Lists available commands, same as ls", menucmd},
+    {"ls", "Lists available commands, same as menu", menucmd},
+    {"rf", "Check rise and fall on VEXT", rfcmd},
+    {"s", "Speed, RPM", speedcmd},
+    {"v", "Read Battery volts", vcmd},
+    {"gp","Get pwm from RPM", gpcmd},
+    {"mode", "See or set eeprom values", mode19_cmd},
+    {"nu", "do nothing", null_cmd},
+    {"ser","set throttle servo direct 0 - 99", set_servo_cmd},
+    {"sv","set engine RPM demand 3000 - 6000", set_rpm_cmd},
+};
+
+const int numof_menu_items = sizeof(command_list) / sizeof(kb_command);
+void    menucmd (struct parameters & a)
+{
+    pc.printf("\r\nIntelligent Alternator Controller - Jon Freeman 2019\r\nAt menucmd function - listing commands:-\r\n");
+    for(int i = 0; i < numof_menu_items; i++)
+        pc.printf("[%s]\t\t%s\r\n", command_list[i].cmd_word, command_list[i].explan);
+    pc.printf("End of List of Commands\r\n");
+}
+
+void    command_line_interpreter    ()
+{
+    const int MAX_CMD_LEN = 120;
+    static  char    cmd_line[MAX_CMD_LEN + 4];
+    static  int     cl_index = 0;
+    int ch;
+    char * pEnd;
+    static struct  parameters  param_block  ;
+    while  (pc.readable()) {
+        ch = tolower(pc.getc());
+       // pc.printf("%c", ch);
+        if  (cl_index > MAX_CMD_LEN)  {   //  trap out stupidly long command lines
+            pc.printf   ("Error!! Stupidly long cmd line\r\n");
+            cl_index = 0;
+        }
+        if  (ch == '\r' || ch >= ' ' && ch <= 'z')
+            pc.printf("%c", ch);
+        else    {                   //  Using <Ctrl>+ 'F', 'B' for Y, 'L', 'R' for X, 'U', 'D' for Z
+            cl_index = 0;           //                 6    2          12   18         21   4
+            pc.printf("[%d]", ch);
+            //nudger  (ch); //  was used on cnc to nudge axes a tad
+        }
+        if(ch != '\r')  //  was this the 'Enter' key?
+            cmd_line[cl_index++] = ch;  //  added char to command being assembled
+        else    {   //  key was CR, may or may not be command to lookup
+            cmd_line[cl_index] = 0; //  null terminate command string
+            if(cl_index)    {   //  If have got some chars to lookup
+                int i, wrdlen;
+                for (i = 0; i < numof_menu_items; i++)   {   //  Look for input match in command list
+                    wrdlen = strlen(command_list[i].cmd_word);
+                    if(strncmp(command_list[i].cmd_word, cmd_line, wrdlen) == 0 && !isalpha(cmd_line[wrdlen]))  {   //  If match found
+                        for (int k = 0; k < MAX_PARAMS; k++)    {
+                            param_block.dbl[k] = 0.0;
+                        }
+                        param_block.position_in_list = i;
+                        param_block.last_time = clock    ();
+                        param_block.numof_dbls = 0;
+                        pEnd = cmd_line + wrdlen;
+                        while   (*pEnd)  {          //  Assemble all numerics as doubles
+                            param_block.dbl[param_block.numof_dbls++] = strtod    (pEnd, &pEnd);
+                            while   (*pEnd && !isdigit(*pEnd) && '-' != *pEnd && '+' != *pEnd)  {   
+                                pEnd++;
+                            }
+                        }
+                        pc.printf   ("\r\n");
+//                        for (int k = 0; k < param_block.numof_dbls; k++)
+//                            pc.printf   ("Read %.3f\r\n", param_block.dbl[k]);
+                        param_block.times[i] = clock();
+                        command_list[i].f(param_block);   //  execute command
+                        i = numof_menu_items + 1;    //  to exit for loop
+                    }   //  end of match found
+                }       // End of for numof_menu_items
+                if(i == numof_menu_items)
+                    pc.printf("No Match Found for CMD [%s]\r\n", cmd_line);
+            }           //  End of If have got some chars to lookup
+            pc.printf("\r\n>");
+            cl_index = 0;
+        }               // End of else key was CR, may or may not be command to lookup
+    }                   //  End of while (pc.readable())
+}
+
+