Diff: CommandProcessor/cmd_helpers.cpp

Revision:

0:2b1edabdd26b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CommandProcessor/cmd_helpers.cpp	Sun Feb 03 03:38:05 2019 +0000
@@ -0,0 +1,88 @@
+#include "mbed.h"
+#include "CommandProcessor.h"
+
+#include "globals.h"
+
+int tokenize(char *buf, char **out, int max) {
+    char* tok;
+    int k = 0;
+    
+    tok = strtok(buf, " ");
+    
+    while(tok != NULL && k < max) {
+        out[k] = tok;
+        k++;
+        tok = strtok(NULL, " ");
+    }
+    return k;
+}
+
+#define __check(x) if(strcmp(s, #x) == 0) return &x
+
+float* checkf(char *s) {
+    __check(KP);
+    __check(KI);
+    __check(I_LIMIT);
+    __check(F_SW);
+    __check(THROTTLE_DEADBAND);
+    __check(ANALOG_THROTTLE_LOW);
+    __check(ANALOG_THROTTLE_HI);
+    return NULL;
+}
+
+int* checkn(char *s) {
+    return NULL;
+}
+
+#define __strcase(in, out) case in:strcpy(result, out);break
+#define __intcase(in, out) if (strcmp(buf, in) == 0) return out
+
+char* src_to_str(int n) {
+    static char result[12];
+    switch (n) {
+        __strcase(CMD_SRC_RC, "RC");
+        __strcase(CMD_SRC_ANALOG, "Analog");
+        __strcase(CMD_SRC_TERMINAL, "Terminal");
+        __strcase(CMD_SRC_SERIAL, "Serial");
+        __strcase(CMD_SRC_CAN, "CAN");
+        __strcase(CMD_SRC_INTERNAL, "Internal");
+    default:
+        strcpy(result, "Invalid");
+        break;
+    }
+    return result;
+}
+
+int str_to_src(char *buf) {
+    __intcase("rc", CMD_SRC_RC);
+    __intcase("analog", CMD_SRC_ANALOG);
+    __intcase("terminal", CMD_SRC_TERMINAL);
+    __intcase("serial", CMD_SRC_SERIAL);
+    __intcase("can", CMD_SRC_CAN);
+    __intcase("internal", CMD_SRC_INTERNAL);
+    return -1;
+}
+
+
+char* op_to_str(int n) {
+    static char result[24];
+    switch(n) {
+        __strcase(OP_TORQUE, "Torque loop");
+        __strcase(OP_DRIVING, "Driving map");
+        __strcase(OP_SPEED, "Open-loop speed");
+        __strcase(OP_POSITION, "Position loop");
+    default:
+        strcpy(result, "Invalid");
+        break;
+    }
+    return result;
+}
+
+int str_to_op(char *buf) {
+    __intcase("torque", OP_TORQUE);
+    __intcase("driving", OP_DRIVING);
+    __intcase("speed", OP_SPEED);
+    __intcase("pos", OP_POSITION);
+    __intcase("position", OP_POSITION);
+    return -1;
+}    
\ No newline at end of file