Diff: cli_TS_nortos.cpp

Revision:

14:6bcec5ac21ca

Parent:

12:a25bdf135348

--- a/cli_TS_nortos.cpp	Mon Jan 14 16:51:16 2019 +0000
+++ b/cli_TS_nortos.cpp	Mon Mar 04 17:47:27 2019 +0000
@@ -102,10 +102,10 @@
         count++;
     pc.printf   ("Board Count = %d\r\n", count);
     if  (count) {
-        pc.printf   ("Boards found ^");
+        pc.printf   ("Boards found [");
         for (int i = 0; i < count; i++)
             pc.printf   ("%c ", boards[i]);
-        pc.printf   ("\r\n");
+        pc.printf   ("]\r\n");
     }
     else
         pc.printf   ("No STM3_ESC boards found\r\n");
@@ -127,28 +127,52 @@
     pc.printf   ("ver_req_cmd not yet implemented\r\n");
 }
 
+void    queryv  (struct parameters & a) {   //  Handle response from ESC resulting from prior TSC "n?v\r" sent request - ESC'n' system voltage
+    pc.printf   ("Responding ESC id=%d, volts=%.2f\r\n", (int)a.dbl[0], a.dbl[1]);
+}
+void    queryi  (struct parameters & a) {   //  Handle response from ESC resulting from prior TSC "n?i\r" sent request - ESC'n' motor pair currents
+    pc.printf   ("Responding ESC id=%d, I MotorA=%.2f, I MotorB=%.2f\r\n", (int)a.dbl[0], a.dbl[1], a.dbl[2]);
+}
+
 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[] = {
+*
+*   struct  kb_command const xx_list[]
+*
+*   Each line in list has 3 elements
+*       e.g. "ver\r" is message we may expect to be recieved here as a command or command response sent from somewhere else
+*       "waffle" is purely to inform you something about this message
+*       cmd is pointer to function, the what to do in response to the incoming message
+*           function type is void (*foo) (struct parameters &)
+*       This gives function access to parameters recieved with the message, e.g. "?i 7.45 8.23\r"
+*   User is at liberty to send using e.g. 'STM3_ESC_Interface::message' anything to any remote connected entity at any time.
+*   It is up to the user to ensure whatever is out there can make sense of it !
+*   The list of commands and responses the 'Brute_TS_Controller' is expected to recognise and act upon
+*   One such list for commands from pc terminal, another for comms with some number of STM3_Esc boards
+*/
 struct  kb_command const command_list[] = {
     {"ls", "Lists available commands", menucmd},
-    {"?", "Lists available commands, same as ls", menucmd},
-    {"ver", "report const_version_string", TSver_cmd},        //  Report TS controller version
+    {"?", "Lists available commands, same as ls", menucmd},     //  Send this list, a menu
+    {"ver", "report const_version_string", TSver_cmd},          //  Report TS controller version
     {"boards", "List STM3_ESC boards connected", boards_cmd},
-    {"kd", "kick the dog", kd_cmd},
+    {"kd", "kick the dog", kd_cmd},                             //  Broadcast Command to STM3_ESCs, resets and enables WatchDog timeout
+    {"?v", "Ask ESC for system voltage reading", queryv},           //  Makes no sense for pc to ask this of TS controller, just to test function
+    {"?i", "Ask ESC for pair of motor current readings", queryi},   //  Makes no sense for pc to ask this of TS controller, just to test function
     {"nu", "do nothing", null_cmd},
-};
+}   ;
 
 struct  kb_command const loco_command_list[] = {
-    {"ls", "Lists available commands", menucmd},
-    {"?", "Lists available commands, same as ls", menucmd},
     {"who", "Reads 'whon' response from STM3_ESC where 'n' is board num ascii from eeprom", who_cmd},
     {"ver", "report const_version_string", ver_req_cmd},    //  Request software version of one specific ESC board
     {"mph", "bogie mph reading", upmph_cmd},    //  22/06/2018
-    {"nu", "do nothing", null_cmd},
+    {"?v", "Ask ESC for system voltage reading", queryv},
+    {"?i", "Ask ESC for pair of motor current readings", queryi},
 }   ;