Jon Freeman / Mbed 2 deprecated Brute_TS_Controller_2018_11

Touch screen drivers control dashboard for miniature locomotive. Features meters for speed, volts, power. Switches for lights, horns. Drives multiple STM3_ESC brushless motor controllers for complete brushless loco system as used in "The Brute" - www.jons-workshop.com

Dependencies:   TS_DISCO_F746NG mbed Servo LCD_DISCO_F746NG BSP_DISCO_F746NG QSPI_DISCO_F746NG AsyncSerial FastPWM

cli_TS_nortos.cpp@10:0bdfd342f393, 2018-06-22 (annotated)

Committer:
JonFreeman
Date:
Fri Jun 22 14:35:00 2018 +0000
Revision:
10:0bdfd342f393
Parent:
cli_nortos.cpp@7:3b1f44cd4735 
seem to have broken comms a bit;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonFreeman 5:21a8ac83142c 1 //Loco_TS_2018
JonFreeman 4:67478861c670 2 #include "mbed.h"
JonFreeman 4:67478861c670 3 //#include "BufferedSerial.h"
JonFreeman 5:21a8ac83142c 4 #include "AsyncSerial.hpp"
JonFreeman 4:67478861c670 5 #include <cctype>
JonFreeman 4:67478861c670 6 #include "Electric_Loco.h"
JonFreeman 4:67478861c670 7 using namespace std;
JonFreeman 4:67478861c670 8
JonFreeman 4:67478861c670 9 //extern int I_Am () ; // Returns boards id number as ASCII char '0', '1' etc. Code for Broadcast = '\r'
JonFreeman 5:21a8ac83142c 10 //typedef double fl_typ; //
JonFreeman 4:67478861c670 11
JonFreeman 10:0bdfd342f393 12 struct parameters pccom, lococom;
JonFreeman 10:0bdfd342f393 13 void clicore (struct parameters & a) ;
JonFreeman 4:67478861c670 14 const int BROADCAST = '\r';
JonFreeman 4:67478861c670 15
JonFreeman 4:67478861c670 16 // WithOUT RTOS
JonFreeman 4:67478861c670 17 extern Serial pc;
JonFreeman 5:21a8ac83142c 18 extern AsyncSerial com;
JonFreeman 4:67478861c670 19 extern void send_test () ;
JonFreeman 4:67478861c670 20
JonFreeman 5:21a8ac83142c 21 void null_cmd (struct parameters & a)
JonFreeman 5:21a8ac83142c 22 {
JonFreeman 4:67478861c670 23 pc.printf ("At null_cmd, parameters : First %.3f, second %.3f\r\n", a.dbl[0], a.dbl[1]);
JonFreeman 4:67478861c670 24 }
JonFreeman 4:67478861c670 25
JonFreeman 10:0bdfd342f393 26 extern struct multi_bogie_options detected_bogie_options;
JonFreeman 10:0bdfd342f393 27
JonFreeman 10:0bdfd342f393 28 /*
JonFreeman 10:0bdfd342f393 29 struct single_bogie_options {
JonFreeman 10:0bdfd342f393 30 char motoradir, motorbdir, gang, svo1, svo2, comm_src, id, wheeldia, motpin, wheelgear, spare;
JonFreeman 10:0bdfd342f393 31 } ;
JonFreeman 10:0bdfd342f393 32 */
JonFreeman 10:0bdfd342f393 33 bool validate_mode_bytes (char * bytes) {
JonFreeman 10:0bdfd342f393 34 int q;
JonFreeman 10:0bdfd342f393 35 for (int i = 0; i < numof_eeprom_options; i++) {
JonFreeman 10:0bdfd342f393 36 q = (int)bytes[i];
JonFreeman 10:0bdfd342f393 37 if (i == ID)
JonFreeman 10:0bdfd342f393 38 q |= '0';
JonFreeman 10:0bdfd342f393 39 if (q < option_list[i].min || q > option_list[i].max)
JonFreeman 10:0bdfd342f393 40 return false;
JonFreeman 10:0bdfd342f393 41 }
JonFreeman 10:0bdfd342f393 42 return true;
JonFreeman 10:0bdfd342f393 43 }
JonFreeman 10:0bdfd342f393 44
JonFreeman 10:0bdfd342f393 45 extern uint32_t sys_timer_32Hz;
JonFreeman 10:0bdfd342f393 46 char * globdest = 0; // findable by code here responding to gbb
JonFreeman 10:0bdfd342f393 47 bool globflag; // findable by code here responding to gbb
JonFreeman 10:0bdfd342f393 48
JonFreeman 10:0bdfd342f393 49 bool get_bogie_bytes (int bogie_id, char * dest) { // bogie_id could be e.g. 3, or '3' NOTE 22/06/2018 yet to write matching fn in bogie code
JonFreeman 10:0bdfd342f393 50 uint32_t localtime = sys_timer_32Hz + 50; // for timeout
JonFreeman 10:0bdfd342f393 51 bogie_id |= '0'; // ***** NOTE ***** THIS IS A BLOCKING FUNCTION
JonFreeman 10:0bdfd342f393 52 globdest = dest;
JonFreeman 10:0bdfd342f393 53 globflag = false;
JonFreeman 10:0bdfd342f393 54 com.printf ("%cgbb\r", bogie_id); // issue gbb command to get bogie bytes to be coded into bogie
JonFreeman 10:0bdfd342f393 55 pc.printf ("Issued %cgbb\r\n", bogie_id);
JonFreeman 10:0bdfd342f393 56 while (!globflag && (localtime > sys_timer_32Hz)) {
JonFreeman 10:0bdfd342f393 57 clicore (pccom);
JonFreeman 10:0bdfd342f393 58 clicore (lococom);
JonFreeman 10:0bdfd342f393 59 }
JonFreeman 10:0bdfd342f393 60 return globflag; // Returns false on timeout
JonFreeman 10:0bdfd342f393 61 }
JonFreeman 10:0bdfd342f393 62
JonFreeman 10:0bdfd342f393 63 void make_option_bytes_from_dbls (double * src, char * dest) { // cli has sorted text string into array of doubles
JonFreeman 10:0bdfd342f393 64 for (int i = 0; i < numof_eeprom_options; i++) { // Turn this to string of mode bytes as stored in eeprom
JonFreeman 10:0bdfd342f393 65 dest[i] = (char)src[i];
JonFreeman 10:0bdfd342f393 66 }
JonFreeman 10:0bdfd342f393 67 }
JonFreeman 10:0bdfd342f393 68
JonFreeman 10:0bdfd342f393 69 char * make_str_from_option_bytes (char * src, char * dest) { // Use for easy readback to pc
JonFreeman 10:0bdfd342f393 70 dest[0] = 0; // string null terminator
JonFreeman 10:0bdfd342f393 71 for (int i = 0; i < numof_eeprom_options; i++) {
JonFreeman 10:0bdfd342f393 72 if (i)
JonFreeman 10:0bdfd342f393 73 strcat (dest, " "); // single space between outputs, no leading or trailing space
JonFreeman 10:0bdfd342f393 74 sprintf (dest + strlen(dest), "%d", (int)src[i]);
JonFreeman 10:0bdfd342f393 75 }
JonFreeman 10:0bdfd342f393 76 return dest;
JonFreeman 10:0bdfd342f393 77 }
JonFreeman 10:0bdfd342f393 78
JonFreeman 10:0bdfd342f393 79 void buggertest (char * src) { // src is string of option bytes read from eeprom
JonFreeman 10:0bdfd342f393 80
JonFreeman 10:0bdfd342f393 81 }
JonFreeman 10:0bdfd342f393 82 void mode_cmd (struct parameters & a)
JonFreeman 10:0bdfd342f393 83 {
JonFreeman 10:0bdfd342f393 84 int error = 0, q;
JonFreeman 10:0bdfd342f393 85 // bool valid_params = false;
JonFreeman 10:0bdfd342f393 86 pc.printf ("At mode_cmd, numof parameters found=%d : numof parameters required=%d\r\n", a.numof_dbls, numof_eeprom_options);
JonFreeman 10:0bdfd342f393 87 for (int i = 0; i < numof_eeprom_options; i++) {
JonFreeman 10:0bdfd342f393 88 q = (int)a.dbl[i];
JonFreeman 10:0bdfd342f393 89 if (i == ID)
JonFreeman 10:0bdfd342f393 90 q |= '0';
JonFreeman 10:0bdfd342f393 91 // badf = false;
JonFreeman 10:0bdfd342f393 92 if (q < option_list[i].min || q > option_list[i].max) {
JonFreeman 10:0bdfd342f393 93 // badf = true;
JonFreeman 10:0bdfd342f393 94 error++;
JonFreeman 10:0bdfd342f393 95 }
JonFreeman 10:0bdfd342f393 96 // pc.printf ("Parameter %s, entered %d, %s\r\n",option_list[i].t , q, badf ? "Bad":"Good");
JonFreeman 10:0bdfd342f393 97 }
JonFreeman 10:0bdfd342f393 98 if (a.numof_dbls == numof_eeprom_options && !error) { // correct num of options presented, proceed to blow eeproms
JonFreeman 10:0bdfd342f393 99 pc.printf ("Congrats - looks like valid input!!\r\n");
JonFreeman 10:0bdfd342f393 100 // sprintf (txt, "%cmode",(int)a.dbl[ID]);
JonFreeman 10:0bdfd342f393 101 com.putc ((int)a.dbl[ID]); // have already checked is valid in range
JonFreeman 10:0bdfd342f393 102 com.printf ("mode");
JonFreeman 10:0bdfd342f393 103 for (int i = 0; i < numof_eeprom_options; i++)
JonFreeman 10:0bdfd342f393 104 com.printf (" %d", (int)a.dbl[i]);
JonFreeman 10:0bdfd342f393 105 com.putc ('\r');
JonFreeman 10:0bdfd342f393 106 pc.printf ("Have sent mode parameters down to %d\r\n", (int)a.dbl[ID]);
JonFreeman 10:0bdfd342f393 107 }
JonFreeman 10:0bdfd342f393 108 else { // report only
JonFreeman 10:0bdfd342f393 109 }
JonFreeman 10:0bdfd342f393 110 }
JonFreeman 10:0bdfd342f393 111
JonFreeman 4:67478861c670 112
JonFreeman 4:67478861c670 113 void menucmd (struct parameters & a);
JonFreeman 4:67478861c670 114
JonFreeman 4:67478861c670 115 void kd_cmd (struct parameters & a) // kick the watchdog
JonFreeman 4:67478861c670 116 {
JonFreeman 4:67478861c670 117 }
JonFreeman 4:67478861c670 118
JonFreeman 10:0bdfd342f393 119 void uptem_cmd (struct parameters & a) // get temperature reading from bogie
JonFreeman 10:0bdfd342f393 120 {
JonFreeman 10:0bdfd342f393 121 int bog_id = (int)a.dbl[0] | '0';
JonFreeman 10:0bdfd342f393 122 int temp = (int)a.dbl[1];
JonFreeman 10:0bdfd342f393 123 pc.printf ("Read Temp %d from bogie id %d\r\n", temp, bog_id);
JonFreeman 10:0bdfd342f393 124 }
JonFreeman 10:0bdfd342f393 125
JonFreeman 10:0bdfd342f393 126 void gbb_cmd (struct parameters & a) // handling bogie response to get bogie constants - bogie returns as string of nums in hex format
JonFreeman 10:0bdfd342f393 127 { // decode bogie bytes and place in global array 'globdest', setting global 'globflag' when done. Code issuing 'gbb' deals with timeout
JonFreeman 10:0bdfd342f393 128 pc.printf ("Arrived at gbb_cmd\r\n");
JonFreeman 10:0bdfd342f393 129 if (globdest == 0) {
JonFreeman 10:0bdfd342f393 130 pc.printf ("Fatal null ptr in gbb_cmd\r\n");
JonFreeman 10:0bdfd342f393 131 return;
JonFreeman 10:0bdfd342f393 132 }
JonFreeman 10:0bdfd342f393 133 pc.printf ("Responding to gbb back from bogie\r\n");
JonFreeman 10:0bdfd342f393 134 for (int i = 0; i < numof_eeprom_options; i++) {
JonFreeman 10:0bdfd342f393 135 globdest[i] = (char)a.dbl[i];
JonFreeman 10:0bdfd342f393 136 }
JonFreeman 10:0bdfd342f393 137 globflag = true;
JonFreeman 10:0bdfd342f393 138 }
JonFreeman 10:0bdfd342f393 139
JonFreeman 10:0bdfd342f393 140 void upbc_cmd (struct parameters & a) // get bogie constants - wheel dia, motor pinion, wheel gear ** SUPERCEDED BY 'gbb'
JonFreeman 10:0bdfd342f393 141 {
JonFreeman 10:0bdfd342f393 142 int bog_id = (int)a.dbl[0] | '0';
JonFreeman 10:0bdfd342f393 143 int wheeldia = (int)a.dbl[1];
JonFreeman 10:0bdfd342f393 144 int motorpin = (int)a.dbl[2];
JonFreeman 10:0bdfd342f393 145 int wheelgear = (int)a.dbl[3];
JonFreeman 10:0bdfd342f393 146 pc.printf ("Read bogie constants from bogie id %d,wheel dia %d, motorpin %d, wheel gear %d\r\n", bog_id, wheeldia, motorpin, wheelgear);
JonFreeman 10:0bdfd342f393 147 for (int i = 0; i < MAX_BOGIES; i++) {
JonFreeman 10:0bdfd342f393 148 if (detected_bogie_options.bogie[i].p[ID] == bog_id) {
JonFreeman 10:0bdfd342f393 149 detected_bogie_options.bogie[i].p[WHEELDIA] = wheeldia;
JonFreeman 10:0bdfd342f393 150 detected_bogie_options.bogie[i].p[MOTPIN] = motorpin;
JonFreeman 10:0bdfd342f393 151 detected_bogie_options.bogie[i].p[WHEELGEAR] = wheelgear;
JonFreeman 10:0bdfd342f393 152 pc.printf ("Stored in detected_bogie_options [%d]\r\n", i);
JonFreeman 10:0bdfd342f393 153 i = MAX_BOGIES;
JonFreeman 10:0bdfd342f393 154 }
JonFreeman 10:0bdfd342f393 155 }
JonFreeman 10:0bdfd342f393 156 }
JonFreeman 10:0bdfd342f393 157
JonFreeman 5:21a8ac83142c 158 extern void rpm_push (struct parameters & a) ;
JonFreeman 5:21a8ac83142c 159 void uprpm_cmd (struct parameters & a) // controller rec'd rpm from driver boards
JonFreeman 5:21a8ac83142c 160 {
JonFreeman 5:21a8ac83142c 161 rpm_push (a);
JonFreeman 7:3b1f44cd4735 162 // a.gp_i ^= 1; // toggle lsb
JonFreeman 5:21a8ac83142c 163 }
JonFreeman 5:21a8ac83142c 164
JonFreeman 5:21a8ac83142c 165 void uprdi_cmd (struct parameters & a) // controller rec'd rpm from driver boards
JonFreeman 5:21a8ac83142c 166 {
JonFreeman 5:21a8ac83142c 167 // pc.printf ("RPM %d %d\r\n", (int)a.dbl[0], (int)a.dbl[1]);
JonFreeman 5:21a8ac83142c 168 }
JonFreeman 5:21a8ac83142c 169
JonFreeman 4:67478861c670 170
JonFreeman 4:67478861c670 171 /*void who_cmd (struct parameters & a)
JonFreeman 4:67478861c670 172 {
JonFreeman 4:67478861c670 173 int i = I_Am ();
JonFreeman 4:67478861c670 174 if (I_Am() == a.target_unit)
JonFreeman 4:67478861c670 175 pc.printf ("Hi there, I am %c\r\n", a.target_unit);
JonFreeman 4:67478861c670 176 }*/
JonFreeman 4:67478861c670 177
JonFreeman 4:67478861c670 178 struct kb_command {
JonFreeman 4:67478861c670 179 const char * cmd_word; // points to text e.g. "menu"
JonFreeman 4:67478861c670 180 const char * explan;
JonFreeman 4:67478861c670 181 void (*f)(struct parameters &); // points to function
JonFreeman 4:67478861c670 182 } ;
JonFreeman 4:67478861c670 183
JonFreeman 4:67478861c670 184 struct kb_command const command_list[] = {
JonFreeman 4:67478861c670 185 {"ls", "Lists available commands", menucmd},
JonFreeman 4:67478861c670 186 {"?", "Lists available commands, same as ls", menucmd},
JonFreeman 4:67478861c670 187 // {"fw", "forward", fw_cmd},
JonFreeman 4:67478861c670 188 // {"re", "reverse", re_cmd},
JonFreeman 4:67478861c670 189 // {"rb", "regen brake 0 to 99 %", rb_cmd},
JonFreeman 4:67478861c670 190 // {"hb", "hand brake", hb_cmd},
JonFreeman 4:67478861c670 191 // {"v", "set motors V percent RANGE 0 to 100", v_cmd},
JonFreeman 4:67478861c670 192 // {"i", "set motors I percent RANGE 0 to 100", i_cmd},
JonFreeman 4:67478861c670 193 // {"vi", "set motors V and I percent RANGE 0 to 100", vi_cmd},
JonFreeman 4:67478861c670 194 // {"who", "search for connected units, e.g. 3who returs 'Hi there' if found", who_cmd},
JonFreeman 10:0bdfd342f393 195 {"mode", "read or set params in eeprom", mode_cmd},
JonFreeman 4:67478861c670 196 // {"erase", "set eeprom contents to all 0xff", erase_cmd},
JonFreeman 4:67478861c670 197 {"kd", "kick the dog", kd_cmd},
JonFreeman 10:0bdfd342f393 198 // {"rpm", "rpm reading from 2 motors", uprpm_cmd},
JonFreeman 4:67478861c670 199 {"nu", "do nothing", null_cmd},
JonFreeman 4:67478861c670 200 };
JonFreeman 4:67478861c670 201
JonFreeman 4:67478861c670 202 const int numof_menu_items = sizeof(command_list) / sizeof(kb_command);
JonFreeman 4:67478861c670 203 void menucmd (struct parameters & a)
JonFreeman 4:67478861c670 204 {
JonFreeman 5:21a8ac83142c 205 // struct kb_command const * cl = command_list;
JonFreeman 5:21a8ac83142c 206 pc.printf("\r\n\nTS_2018 Locomotive Touch Screen Controller\r\nAt menucmd function - listing commands:-\r\n");
JonFreeman 4:67478861c670 207 for(int i = 0; i < numof_menu_items; i++)
JonFreeman 4:67478861c670 208 pc.printf("[%s]\t\t%s\r\n", command_list[i].cmd_word, command_list[i].explan);
JonFreeman 4:67478861c670 209 pc.printf("End of List of Commands\r\n");
JonFreeman 4:67478861c670 210 }
JonFreeman 4:67478861c670 211
JonFreeman 5:21a8ac83142c 212 struct kb_command const loco_command_list[] = {
JonFreeman 5:21a8ac83142c 213 {"ls", "Lists available commands", menucmd},
JonFreeman 5:21a8ac83142c 214 {"?", "Lists available commands, same as ls", menucmd},
JonFreeman 5:21a8ac83142c 215 {"rpm", "rpm reading from 2 motors", uprpm_cmd},
JonFreeman 5:21a8ac83142c 216 {"rdi", "rpm reading from 2 motors", uprdi_cmd},
JonFreeman 10:0bdfd342f393 217 {"tem", "report temperature", uptem_cmd},
JonFreeman 10:0bdfd342f393 218 {"bc", "bogie constants - wheel dia, motor pinion, wheel gear", upbc_cmd},
JonFreeman 10:0bdfd342f393 219 {"gbb", "get bogie bytes, all of them", gbb_cmd},
JonFreeman 5:21a8ac83142c 220 {"nu", "do nothing", null_cmd},
JonFreeman 5:21a8ac83142c 221 } ;
JonFreeman 5:21a8ac83142c 222
JonFreeman 5:21a8ac83142c 223
JonFreeman 5:21a8ac83142c 224 /*struct parameters {
JonFreeman 5:21a8ac83142c 225 struct kb_command const * clist;
JonFreeman 5:21a8ac83142c 226 char cmd_line[120];
JonFreeman 5:21a8ac83142c 227 char * cmd_line_ptr;
JonFreeman 5:21a8ac83142c 228 int32_t position_in_list, numof_dbls, target_unit, numof_menu_items;
JonFreeman 5:21a8ac83142c 229 double dbl[MAX_PARAMS];
JonFreeman 5:21a8ac83142c 230 bool respond;
JonFreeman 5:21a8ac83142c 231 } ;
JonFreeman 5:21a8ac83142c 232 */
JonFreeman 5:21a8ac83142c 233 int getc (int which_port)
JonFreeman 5:21a8ac83142c 234 {
JonFreeman 5:21a8ac83142c 235 if (which_port == 0)
JonFreeman 5:21a8ac83142c 236 return pc.getc ();
JonFreeman 5:21a8ac83142c 237 if (which_port == 1)
JonFreeman 5:21a8ac83142c 238 return com.getc ();
JonFreeman 5:21a8ac83142c 239 return -1;
JonFreeman 5:21a8ac83142c 240 }
JonFreeman 5:21a8ac83142c 241 int readable (int which_port)
JonFreeman 5:21a8ac83142c 242 {
JonFreeman 5:21a8ac83142c 243 if (which_port == 0)
JonFreeman 5:21a8ac83142c 244 return pc.readable ();
JonFreeman 5:21a8ac83142c 245 if (which_port == 1)
JonFreeman 5:21a8ac83142c 246 return com.readable ();
JonFreeman 5:21a8ac83142c 247 return -1;
JonFreeman 5:21a8ac83142c 248
JonFreeman 5:21a8ac83142c 249 }
JonFreeman 5:21a8ac83142c 250
JonFreeman 5:21a8ac83142c 251 void setup_pccom ()
JonFreeman 5:21a8ac83142c 252 {
JonFreeman 5:21a8ac83142c 253 pccom.clist = command_list;
JonFreeman 5:21a8ac83142c 254 pccom.numof_menu_items = sizeof(command_list) / sizeof(kb_command);
JonFreeman 5:21a8ac83142c 255 pccom.com_no = 0;
JonFreeman 5:21a8ac83142c 256 pccom.cl_index = 0;
JonFreeman 5:21a8ac83142c 257 pccom.gp_i = 0; // general puropse integer, not used to 30/4/2018
JonFreeman 5:21a8ac83142c 258 }
JonFreeman 5:21a8ac83142c 259
JonFreeman 5:21a8ac83142c 260 void setup_lococom ()
JonFreeman 5:21a8ac83142c 261 {
JonFreeman 5:21a8ac83142c 262 lococom.clist = loco_command_list;
JonFreeman 5:21a8ac83142c 263 lococom.numof_menu_items = sizeof(loco_command_list) / sizeof(kb_command);
JonFreeman 5:21a8ac83142c 264 lococom.com_no = 1;
JonFreeman 5:21a8ac83142c 265 lococom.cl_index = 0;
JonFreeman 5:21a8ac83142c 266 lococom.gp_i = 0; // general puropse integer, toggles 0 / 1 to best guess source of rpm
JonFreeman 5:21a8ac83142c 267 }
JonFreeman 5:21a8ac83142c 268
JonFreeman 5:21a8ac83142c 269 void clicore (struct parameters & a)
JonFreeman 5:21a8ac83142c 270 {
JonFreeman 5:21a8ac83142c 271 int ch;
JonFreeman 5:21a8ac83142c 272 char * pEnd;
JonFreeman 5:21a8ac83142c 273 while (readable(a.com_no)) {
JonFreeman 5:21a8ac83142c 274 ch = getc (a.com_no);
JonFreeman 10:0bdfd342f393 275 if(ch != '\r') { // was this the 'Enter' key?
JonFreeman 10:0bdfd342f393 276 // if(ch != '\r' && ch != '\n') // was this the 'Enter' key?
JonFreeman 10:0bdfd342f393 277 // if (ch != '\n') a.cmd_line[a.cl_index++] = ch; // added char to command being assembled
JonFreeman 5:21a8ac83142c 278 a.cmd_line[a.cl_index++] = ch; // added char to command being assembled
JonFreeman 10:0bdfd342f393 279 }
JonFreeman 5:21a8ac83142c 280 else { // key was CR, may or may not be command to lookup
JonFreeman 5:21a8ac83142c 281 a.target_unit = BROADCAST; // Broadcast
JonFreeman 5:21a8ac83142c 282 a.cmd_line_ptr = a.cmd_line;
JonFreeman 5:21a8ac83142c 283 a.cmd_line[a.cl_index] = 0; // null terminate command string
JonFreeman 5:21a8ac83142c 284 if(a.cl_index) { // If have got some chars to lookup
JonFreeman 5:21a8ac83142c 285 int i, wrdlen;
JonFreeman 5:21a8ac83142c 286 if (isdigit(a.cmd_line[0])) { // Look for command with prefix digit
JonFreeman 5:21a8ac83142c 287 a.cmd_line_ptr++; // point past identified digit prefix
JonFreeman 5:21a8ac83142c 288 a.target_unit = a.cmd_line[0]; // '0' to '9'
JonFreeman 5:21a8ac83142c 289 //pc.printf ("Got prefix %c\r\n", cmd_line[0]);
JonFreeman 5:21a8ac83142c 290 }
JonFreeman 5:21a8ac83142c 291 for (i = 0; i < a.numof_menu_items; i++) { // Look for input match in command list
JonFreeman 5:21a8ac83142c 292 wrdlen = strlen(a.clist[i].cmd_word);
JonFreeman 5:21a8ac83142c 293 if(strncmp(a.clist[i].cmd_word, a.cmd_line_ptr, wrdlen) == 0 && !isalpha(a.cmd_line_ptr[wrdlen])) { // If match found
JonFreeman 5:21a8ac83142c 294 for (int k = 0; k < MAX_PARAMS; k++) {
JonFreeman 5:21a8ac83142c 295 a.dbl[k] = 0.0;
JonFreeman 5:21a8ac83142c 296 }
JonFreeman 5:21a8ac83142c 297 a.position_in_list = i;
JonFreeman 5:21a8ac83142c 298 a.numof_dbls = 0;
JonFreeman 5:21a8ac83142c 299 pEnd = a.cmd_line_ptr + wrdlen;
JonFreeman 5:21a8ac83142c 300 while (*pEnd) { // Assemble all numerics as doubles
JonFreeman 5:21a8ac83142c 301 a.dbl[a.numof_dbls++] = strtod (pEnd, &pEnd);
JonFreeman 5:21a8ac83142c 302 while (*pEnd && !isdigit(*pEnd) && '-' != *pEnd && '+' != *pEnd) {
JonFreeman 5:21a8ac83142c 303 pEnd++;
JonFreeman 5:21a8ac83142c 304 }
JonFreeman 5:21a8ac83142c 305 }
JonFreeman 5:21a8ac83142c 306 //pc.printf ("\r\n"); // Not allowed as many may output this.
JonFreeman 5:21a8ac83142c 307 //for (int k = 0; k < param_block.numof_dbls; k++)
JonFreeman 5:21a8ac83142c 308 // pc.printf ("Read %.3f\r\n", param_block.dbl[k]);
JonFreeman 5:21a8ac83142c 309 // param_block.times[i] = clock();
JonFreeman 5:21a8ac83142c 310 // if ((param_block.target_unit == BROADCAST) && (I_Am() == '0'))
JonFreeman 5:21a8ac83142c 311 // param_block.respond = true;
JonFreeman 5:21a8ac83142c 312 a.clist[i].f(a); // execute command
JonFreeman 5:21a8ac83142c 313 i = a.numof_menu_items + 1; // to exit for loop
JonFreeman 5:21a8ac83142c 314 } // end of match found
JonFreeman 5:21a8ac83142c 315 } // End of for numof_menu_items
JonFreeman 5:21a8ac83142c 316 if(i == a.numof_menu_items)
JonFreeman 5:21a8ac83142c 317 pc.printf("No Match Found for CMD [%s]\r\n", a.cmd_line);
JonFreeman 5:21a8ac83142c 318 } // End of If have got some chars to lookup
JonFreeman 5:21a8ac83142c 319 //pc.printf("\r\n>");
JonFreeman 5:21a8ac83142c 320 a.cl_index = 0;
JonFreeman 5:21a8ac83142c 321 } // End of else key was CR, may or may not be command to lookup
JonFreeman 5:21a8ac83142c 322 } // End of while (pc.readable())
JonFreeman 5:21a8ac83142c 323 }
JonFreeman 5:21a8ac83142c 324
JonFreeman 4:67478861c670 325
JonFreeman 4:67478861c670 326 /*
JonFreeman 4:67478861c670 327 New - March 2018
JonFreeman 4:67478861c670 328 Using opto isolated serial port, paralleled up using same pair to multiple boards running this code.
JonFreeman 4:67478861c670 329 New feature - commands have optional prefix digit 0-9 indicating which unit message is addressed to.
JonFreeman 4:67478861c670 330 Commands without prefix digit - broadcast to all units, none to respond.
JonFreeman 4:67478861c670 331 Only units recognising its address from prefix digit may respond. This avoids bus contention.
JonFreeman 4:67478861c670 332 But for BROADCAST commands, '0' may respond on behalf of the group
JonFreeman 4:67478861c670 333 */
JonFreeman 4:67478861c670 334 //void command_line_interpreter (void const *argument)
JonFreeman 5:21a8ac83142c 335 /*void command_line_interpreter ()
JonFreeman 4:67478861c670 336 {
JonFreeman 5:21a8ac83142c 337 const int MAX_CMD_LEN = 120;
JonFreeman 5:21a8ac83142c 338 static char cmd_line[MAX_CMD_LEN + 4];
JonFreeman 5:21a8ac83142c 339 static int cl_index = 0;
JonFreeman 5:21a8ac83142c 340 int ch;
JonFreeman 5:21a8ac83142c 341 char * pEnd, * cmd_line_ptr;
JonFreeman 5:21a8ac83142c 342 static struct parameters param_block ;
JonFreeman 5:21a8ac83142c 343 while (pc.readable()) {
JonFreeman 5:21a8ac83142c 344 ch = pc.getc();
JonFreeman 5:21a8ac83142c 345 // if (cl_index > MAX_CMD_LEN) { // trap out stupidly long command lines
JonFreeman 5:21a8ac83142c 346 // pc.printf ("Error!! Stupidly long cmd line\r\n");
JonFreeman 5:21a8ac83142c 347 // cl_index = 0;
JonFreeman 5:21a8ac83142c 348 // }
JonFreeman 5:21a8ac83142c 349 if(ch != '\r') // was this the 'Enter' key?
JonFreeman 5:21a8ac83142c 350 cmd_line[cl_index++] = ch; // added char to command being assembled
JonFreeman 5:21a8ac83142c 351 else { // key was CR, may or may not be command to lookup
JonFreeman 5:21a8ac83142c 352 param_block.target_unit = BROADCAST; // Broadcast
JonFreeman 5:21a8ac83142c 353 cmd_line_ptr = cmd_line;
JonFreeman 5:21a8ac83142c 354 cmd_line[cl_index] = 0; // null terminate command string
JonFreeman 5:21a8ac83142c 355 if(cl_index) { // If have got some chars to lookup
JonFreeman 5:21a8ac83142c 356 int i, wrdlen;
JonFreeman 5:21a8ac83142c 357 if (isdigit(cmd_line[0])) { // Look for command with prefix digit
JonFreeman 5:21a8ac83142c 358 cmd_line_ptr++; // point past identified digit prefix
JonFreeman 5:21a8ac83142c 359 param_block.target_unit = cmd_line[0]; // '0' to '9'
JonFreeman 5:21a8ac83142c 360 //pc.printf ("Got prefix %c\r\n", cmd_line[0]);
JonFreeman 5:21a8ac83142c 361 }
JonFreeman 5:21a8ac83142c 362 for (i = 0; i < numof_menu_items; i++) { // Look for input match in command list
JonFreeman 5:21a8ac83142c 363 wrdlen = strlen(command_list[i].cmd_word);
JonFreeman 5:21a8ac83142c 364 if(strncmp(command_list[i].cmd_word, cmd_line_ptr, wrdlen) == 0 && !isalpha(cmd_line_ptr[wrdlen])) { // If match found
JonFreeman 5:21a8ac83142c 365 for (int k = 0; k < MAX_PARAMS; k++) {
JonFreeman 5:21a8ac83142c 366 param_block.dbl[k] = 0.0;
JonFreeman 5:21a8ac83142c 367 }
JonFreeman 5:21a8ac83142c 368 param_block.position_in_list = i;
JonFreeman 5:21a8ac83142c 369 param_block.numof_dbls = 0;
JonFreeman 5:21a8ac83142c 370 pEnd = cmd_line_ptr + wrdlen;
JonFreeman 5:21a8ac83142c 371 while (*pEnd) { // Assemble all numerics as doubles
JonFreeman 5:21a8ac83142c 372 param_block.dbl[param_block.numof_dbls++] = strtod (pEnd, &pEnd);
JonFreeman 5:21a8ac83142c 373 while (*pEnd && !isdigit(*pEnd) && '-' != *pEnd && '+' != *pEnd) {
JonFreeman 5:21a8ac83142c 374 pEnd++;
JonFreeman 4:67478861c670 375 }
JonFreeman 5:21a8ac83142c 376 }
JonFreeman 5:21a8ac83142c 377 //pc.printf ("\r\n"); // Not allowed as many may output this.
JonFreeman 5:21a8ac83142c 378 //for (int k = 0; k < param_block.numof_dbls; k++)
JonFreeman 5:21a8ac83142c 379 // pc.printf ("Read %.3f\r\n", param_block.dbl[k]);
JonFreeman 4:67478861c670 380 // param_block.times[i] = clock();
JonFreeman 4:67478861c670 381 // if ((param_block.target_unit == BROADCAST) && (I_Am() == '0'))
JonFreeman 4:67478861c670 382 // param_block.respond = true;
JonFreeman 5:21a8ac83142c 383 command_list[i].f(param_block); // execute command
JonFreeman 5:21a8ac83142c 384 i = numof_menu_items + 1; // to exit for loop
JonFreeman 5:21a8ac83142c 385 } // end of match found
JonFreeman 5:21a8ac83142c 386 } // End of for numof_menu_items
JonFreeman 5:21a8ac83142c 387 if(i == numof_menu_items)
JonFreeman 5:21a8ac83142c 388 pc.printf("No Match Found for CMD [%s]\r\n", cmd_line);
JonFreeman 5:21a8ac83142c 389 } // End of If have got some chars to lookup
JonFreeman 5:21a8ac83142c 390 //pc.printf("\r\n>");
JonFreeman 5:21a8ac83142c 391 cl_index = 0;
JonFreeman 5:21a8ac83142c 392 } // End of else key was CR, may or may not be command to lookup
JonFreeman 5:21a8ac83142c 393 } // End of while (pc.readable())
JonFreeman 4:67478861c670 394 // Thread::wait(20); // Using RTOS on this project
JonFreeman 4:67478861c670 395 // }
JonFreeman 4:67478861c670 396 }
JonFreeman 5:21a8ac83142c 397 */
JonFreeman 4:67478861c670 398