Diff: cli_nortos.cpp

Revision:

5:21a8ac83142c

Parent:

4:67478861c670

Child:

6:57dc760effd4

--- a/cli_nortos.cpp	Mon Apr 09 07:51:37 2018 +0000
+++ b/cli_nortos.cpp	Tue May 01 08:34:36 2018 +0000
@@ -1,63 +1,45 @@
+//Loco_TS_2018
 #include "mbed.h"
 //#include "BufferedSerial.h"
+#include "AsyncSerial.hpp"
 #include <cctype>
 #include "Electric_Loco.h"
 using namespace std;
 
 //extern  int I_Am    ()  ;      //  Returns boards id number as ASCII char '0', '1' etc. Code for Broadcast = '\r'
-//typedef double  fl_typ;  //  
+//typedef double  fl_typ;  //
 
 const int   BROADCAST   = '\r';
-const   int MAX_PARAMS = 20;
-struct  parameters  {
-//    int32_t times[numof_menu_items];
-//    int32_t times[50];
-    int32_t position_in_list, last_time, numof_dbls, target_unit;
-    double  dbl[MAX_PARAMS];
-    bool    respond;
-}   ;
 
 //  WithOUT RTOS
 extern  Serial pc;
-//extern  void    set_I_limit (double p)  ;   //  Sets max motor current
-//extern  void    set_V_limit (double p)  ;   //  Sets max motor voltage
+extern  AsyncSerial com;
 extern  void    send_test   ()  ;
 
-void    null_cmd (struct parameters & a)   {
+void    null_cmd (struct parameters & a)
+{
     pc.printf   ("At null_cmd, parameters : First %.3f, second %.3f\r\n", a.dbl[0], a.dbl[1]);
 }
 
 
-/*struct  motorpairoptions    {   //  This to be user settable in eeprom, 32 bytes
-    uint8_t MotA_dir,   //  0 or 1
-            MotB_dir,   //  0 or 1
-            gang,       //  0 for separate control (robot mode), 1 for ganged loco bogie mode
-            serv1,      //  0, 1, 2 = Not used, Input, Output
-            serv2,      //  0, 1, 2 = Not used, Input, Output
-            cmd_source, //  0 Invalid, 1 COM1, 2 COM2, 3 Pot, 4 Servo1, 5 Servo2
-            last;
-}   ;
-*/
-/*struct  optpar  {
-    int min, max, def;
-    const char * t;
-}   ;
-struct  optpar const option_list[] = {
-    {0, 1, 1, "MotorA direction 0 or 1"},
-    {0, 1, 0, "MotorB direction 0 or 1"},
-    {0, 1, 1, "gang 0 for separate control (robot mode), 1 for ganged loco bogie mode"},
-    {0, 2, 2, "Servo1 0, 1, 2 = Not used, Input, Output"},
-    {0, 2, 2, "Servo2 0, 1, 2 = Not used, Input, Output"},
-    {1, 5, 2, "Command source 0 Invalid, 1 COM1, 2 COM2, 3 Pot, 4 Servo1, 5 Servo2"},
-    {0, 9, 0, "Alternative ID 0 to 9"},
-}   ;
-*/
 void    menucmd (struct parameters & a);
 
 void    kd_cmd (struct parameters & a)  //  kick the watchdog
 {
 }
 
+extern  void    rpm_push    (struct parameters & a)  ;
+void    uprpm_cmd (struct parameters & a)  //  controller rec'd rpm from driver boards
+{
+    rpm_push    (a);
+    a.gp_i ^= 1;    //  toggle lsb
+}
+
+void    uprdi_cmd (struct parameters & a)  //  controller rec'd rpm from driver boards
+{
+//    pc.printf   ("RPM %d %d\r\n", (int)a.dbl[0], (int)a.dbl[1]);
+}
+
 
 /*void    who_cmd (struct parameters & a)
 {
@@ -75,7 +57,6 @@
 struct  kb_command const command_list[] = {
     {"ls", "Lists available commands", menucmd},
     {"?", "Lists available commands, same as ls", menucmd},
-//    {"s", "seredgetest", s_cmd},
 //    {"fw", "forward", fw_cmd},
 //    {"re", "reverse", re_cmd},
 //    {"rb", "regen brake 0 to 99 %", rb_cmd},
@@ -87,18 +68,128 @@
 //    {"mode", "read or set params in eeprom", mode_cmd},
 //    {"erase", "set eeprom contents to all 0xff", erase_cmd},
     {"kd", "kick the dog", kd_cmd},
+    {"rpm", "rpm reading from 2 motors", uprpm_cmd},
     {"nu", "do nothing", null_cmd},
 };
 
 const int numof_menu_items = sizeof(command_list) / sizeof(kb_command);
 void    menucmd (struct parameters & a)
 {
-    pc.printf("\r\n\nDouble Brushless Motor Driver 2018\r\nAt menucmd function - listing commands:-\r\n");
+//    struct kb_command const * cl = command_list;
+    pc.printf("\r\n\nTS_2018 Locomotive Touch Screen Controller\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");
 }
 
+struct  kb_command const loco_command_list[] = {
+    {"ls", "Lists available commands", menucmd},
+    {"?", "Lists available commands, same as ls", menucmd},
+    {"rpm", "rpm reading from 2 motors", uprpm_cmd},
+    {"rdi", "rpm reading from 2 motors", uprdi_cmd},
+    {"nu", "do nothing", null_cmd},
+}   ;
+
+struct parameters pccom, lococom;
+
+/*struct  parameters  {
+    struct kb_command const * clist;
+    char    cmd_line[120];
+    char    * cmd_line_ptr;
+    int32_t position_in_list, numof_dbls, target_unit, numof_menu_items;
+    double  dbl[MAX_PARAMS];
+    bool    respond;
+}   ;
+*/
+int getc    (int which_port)
+{
+    if  (which_port == 0)
+        return  pc.getc ();
+    if  (which_port == 1)
+        return  com.getc    ();
+    return  -1;
+}
+int readable    (int which_port)
+{
+    if  (which_port == 0)
+        return  pc.readable ();
+    if  (which_port == 1)
+        return  com.readable    ();
+    return  -1;
+
+}
+
+void setup_pccom ()
+{
+    pccom.clist = command_list;
+    pccom.numof_menu_items = sizeof(command_list) / sizeof(kb_command);
+    pccom.com_no    = 0;
+    pccom.cl_index  = 0;
+    pccom.gp_i      = 0;    //  general puropse integer, not used to 30/4/2018
+}
+
+void    setup_lococom ()
+{
+    lococom.clist = loco_command_list;
+    lococom.numof_menu_items = sizeof(loco_command_list) / sizeof(kb_command);
+    lococom.com_no  = 1;
+    lococom.cl_index    = 0;
+    lococom.gp_i        = 0;    //  general puropse integer, toggles 0 / 1 to best guess source of rpm
+}
+
+void    clicore (struct parameters & a)
+{
+    int ch;
+    char * pEnd;
+    while   (readable(a.com_no))    {
+        ch = getc   (a.com_no);
+        if(ch != '\r')  //  was this the 'Enter' key?
+            a.cmd_line[a.cl_index++] = ch;  //  added char to command being assembled
+        else    {   //  key was CR, may or may not be command to lookup
+            a.target_unit = BROADCAST;    //  Broadcast
+            a.cmd_line_ptr = a.cmd_line;
+            a.cmd_line[a.cl_index] = 0; //  null terminate command string
+            if(a.cl_index)    {   //  If have got some chars to lookup
+                int i, wrdlen;
+                if  (isdigit(a.cmd_line[0]))  {   //  Look for command with prefix digit
+                    a.cmd_line_ptr++;     //  point past identified digit prefix
+                    a.target_unit = a.cmd_line[0];  //  '0' to '9'
+                    //pc.printf ("Got prefix %c\r\n", cmd_line[0]);
+                }
+                for (i = 0; i < a.numof_menu_items; i++)   {   //  Look for input match in command list
+                    wrdlen = strlen(a.clist[i].cmd_word);
+                    if(strncmp(a.clist[i].cmd_word, a.cmd_line_ptr, wrdlen) == 0 && !isalpha(a.cmd_line_ptr[wrdlen]))  {   //  If match found
+                        for (int k = 0; k < MAX_PARAMS; k++)    {
+                            a.dbl[k] = 0.0;
+                        }
+                        a.position_in_list = i;
+                        a.numof_dbls = 0;
+                        pEnd = a.cmd_line_ptr + wrdlen;
+                        while   (*pEnd)  {          //  Assemble all numerics as doubles
+                            a.dbl[a.numof_dbls++] = strtod    (pEnd, &pEnd);
+                            while   (*pEnd && !isdigit(*pEnd) && '-' != *pEnd && '+' != *pEnd)  {
+                                pEnd++;
+                            }
+                        }
+                        //pc.printf   ("\r\n");   //  Not allowed as many may output this.
+                        //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();
+//                            if  ((param_block.target_unit == BROADCAST) && (I_Am() == '0'))
+//                                param_block.respond = true;
+                        a.clist[i].f(a);   //  execute command
+                        i = a.numof_menu_items + 1;    //  to exit for loop
+                    }   //  end of match found
+                }       // End of for numof_menu_items
+                if(i == a.numof_menu_items)
+                    pc.printf("No Match Found for CMD [%s]\r\n", a.cmd_line);
+            }           //  End of If have got some chars to lookup
+            //pc.printf("\r\n>");
+            a.cl_index = 0;
+        }               // End of else key was CR, may or may not be command to lookup
+    }                   //  End of while (pc.readable())
+}
+
 
 /*
 New - March 2018
@@ -109,70 +200,67 @@
 But for BROADCAST commands, '0' may respond on behalf of the group
 */
 //void    command_line_interpreter    (void const *argument)
-void    command_line_interpreter    ()
+/*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, * cmd_line_ptr;
-static struct  parameters  param_block  ;
-//        com = &com2;
-//        while  (pc.readable()) {
-        while  (pc.readable()) {
-            ch = tolower(pc.getc());
-            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')  //  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
-                param_block.target_unit = BROADCAST;    //  Broadcast
-                cmd_line_ptr = cmd_line;
-                cmd_line[cl_index] = 0; //  null terminate command string
-                if(cl_index)    {   //  If have got some chars to lookup
-                    int i, wrdlen;
-                    if  (isdigit(cmd_line[0]))  {   //  Look for command with prefix digit
-                        cmd_line_ptr++;     //  point past identified digit prefix
-                        param_block.target_unit = cmd_line[0];  //  '0' to '9'
-                        //pc.printf ("Got prefix %c\r\n", cmd_line[0]);
-                    }
-                    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_ptr, wrdlen) == 0 && !isalpha(cmd_line_ptr[wrdlen]))  {   //  If match found
-                            for (int k = 0; k < MAX_PARAMS; k++)    {
-                                param_block.dbl[k] = 0.0;
+    const int MAX_CMD_LEN = 120;
+    static  char    cmd_line[MAX_CMD_LEN + 4];
+    static  int     cl_index = 0;
+    int ch;
+    char * pEnd, * cmd_line_ptr;
+    static struct  parameters  param_block  ;
+    while  (pc.readable()) {
+        ch = pc.getc();
+//            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')  //  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
+            param_block.target_unit = BROADCAST;    //  Broadcast
+            cmd_line_ptr = cmd_line;
+            cmd_line[cl_index] = 0; //  null terminate command string
+            if(cl_index)    {   //  If have got some chars to lookup
+                int i, wrdlen;
+                if  (isdigit(cmd_line[0]))  {   //  Look for command with prefix digit
+                    cmd_line_ptr++;     //  point past identified digit prefix
+                    param_block.target_unit = cmd_line[0];  //  '0' to '9'
+                    //pc.printf ("Got prefix %c\r\n", cmd_line[0]);
+                }
+                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_ptr, wrdlen) == 0 && !isalpha(cmd_line_ptr[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.numof_dbls = 0;
+                        pEnd = cmd_line_ptr + 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++;
                             }
-                            param_block.position_in_list = i;
-                            param_block.last_time = clock    ();
-                            param_block.numof_dbls = 0;
-                            pEnd = cmd_line_ptr + 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");   //  Not allowed as many may output this.
-                            //for (int k = 0; k < param_block.numof_dbls; k++)
-                            //    pc.printf   ("Read %.3f\r\n", param_block.dbl[k]);
+                        }
+                        //pc.printf   ("\r\n");   //  Not allowed as many may output this.
+                        //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();
 //                            if  ((param_block.target_unit == BROADCAST) && (I_Am() == '0'))
 //                                param_block.respond = true;
-                            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())
+                        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())
 //        Thread::wait(20);  //  Using RTOS on this project
 //    }
 }
+*/
 
-