Diff: CommandProcessor/CommandProcessor.cpp

Revision:

3:82c00c8e2cb4

Parent:

2:cfc39b0843ae

--- a/CommandProcessor/CommandProcessor.cpp	Thu Mar 02 07:36:56 2017 +0000
+++ b/CommandProcessor/CommandProcessor.cpp	Tue Mar 07 08:06:39 2017 +0000
@@ -12,140 +12,10 @@
 #include "config_pins.h"
 #include "config_table.h"
 
-void cmd_ls(Serial *pc) {
-    DPRINT(TORQUE_MODE);
-    FPRINT(MAX_TQPCT_PLUS);
-    FPRINT(MAX_TQPCT_MINUS);
-    FPRINT(TORQUE_MAX);
-    FPRINT(W_MAX);
-    FPRINT(BUS_VOLTAGE);
-    FPRINT(F_SW);
-    FPRINT(K_LOOP_D);
-    FPRINT(KI_BASE_D);
-    FPRINT(K_LOOP_Q);
-    FPRINT(KI_BASE_Q);
-    FPRINT(F_SLOW_LOOP);
-    FPRINT(INTEGRAL_MAX);
-    FPRINT(W_FILTER_STRENGTH);
-    FPRINT(DQ_FILTER_STRENGTH);
-    FPRINT(THROTTLE_FILTER_STRENGTH);
-    FPRINT(KP_D);
-    FPRINT(KI_D);
-    FPRINT(KP_Q);
-    FPRINT(KI_Q);
-    FPRINT(SLOW_LOOP_COUNTER);
-    FPRINT(POLE_PAIRS);
-    FPRINT(POS_OFFSET);
-    FPRINT(RESOLVER_LOBES);
-    DPRINT(CPR);
-    FPRINT(Ld);
-    FPRINT(Lq);
-    FPRINT(FLUX_LINKAGE);
-    FPRINT(Rs);
-    FPRINT(KT);
-    FPRINT(W_SAFE);
-    FPRINT(W_CRAZY);
-    DPRINT(TH_LIMIT_LOW);
-    DPRINT(TH_LIMIT_HIGH);
-    DPRINT(TH_LIMIT_CRAZY);
-    DPRINT(ROWS);
-    DPRINT(COLUMNS);
-    FPRINT(W_STEP);
-}
-
-void cmd_ls2(Serial *pc, char *buf) {
-    float *fptr = checkf(buf);
-    if (fptr != NULL) pc->printf("%s: %f\n", buf, *fptr);
-    int *nptr = NULL;
-    if (fptr == NULL) nptr = checkn(buf);
-    if (nptr != NULL) pc->printf("%s: %d\n", buf, *nptr);
-    if (nptr == NULL && fptr == NULL) pc->printf("%s\n", "No Such Parameter");
-}
-
-void cmd_defaults(Serial *pc) {
-    DEFAULT(TORQUE_MODE);
-    DEFAULT(MAX_TQPCT_PLUS);
-    DEFAULT(MAX_TQPCT_MINUS);
-    DEFAULT(TORQUE_MAX);
-    DEFAULT(W_MAX);
-    DEFAULT(BUS_VOLTAGE);
-    DEFAULT(F_SW);
-    DEFAULT(K_LOOP_D);
-    DEFAULT(KI_BASE_D);
-    DEFAULT(K_LOOP_Q);
-    DEFAULT(KI_BASE_Q);
-    DEFAULT(F_SLOW_LOOP);
-    DEFAULT(INTEGRAL_MAX);
-    DEFAULT(W_FILTER_STRENGTH);
-    DEFAULT(DQ_FILTER_STRENGTH);
-    DEFAULT(THROTTLE_FILTER_STRENGTH);
-    DEFAULT(KP_D);
-    DEFAULT(KI_D);
-    DEFAULT(KP_Q);
-    DEFAULT(KI_Q);
-    DEFAULT(SLOW_LOOP_COUNTER);
-    DEFAULT(POLE_PAIRS);
-    DEFAULT(POS_OFFSET);
-    DEFAULT(RESOLVER_LOBES);
-    DEFAULT(CPR);
-    DEFAULT(Ld);
-    DEFAULT(Lq);
-    DEFAULT(FLUX_LINKAGE);
-    DEFAULT(Rs);
-    DEFAULT(KT);
-    DEFAULT(W_SAFE);
-    DEFAULT(W_CRAZY);
-    DEFAULT(TH_LIMIT_LOW);
-    DEFAULT(TH_LIMIT_HIGH);
-    DEFAULT(TH_LIMIT_CRAZY);
-    DEFAULT(ROWS);
-    DEFAULT(COLUMNS);
-    DEFAULT(W_STEP);
-    pc->printf("Defaults Loaded\n");
-}
-
-void cmd_reload(Serial *pc, PreferenceWriter *pref) {
-    pref->load();
-    pc->printf("Flash Values Loaded\n");
-}
-
-void cmd_set(Serial *pc, char *buf, char *val) {
-    float *fptr = checkf(buf);
-    if (fptr != NULL) *fptr = (float) (atof(val));
-    int *nptr = NULL;
-    if (fptr == NULL) nptr = checkn(buf);
-    if (nptr != NULL) *nptr = (int) (atoi(val));
-    cmd_ls2(pc, buf);
-    if (nptr == NULL && fptr == NULL) pc->printf("%s\n", "No Such Parameter");
-}
-
-void cmd_flush(Serial *pc, PreferenceWriter *pref) {
-    if (!pref->ready()) pref->open();
-    pref->flush();
-}
-
-void cmd_cfg(Serial *pc) {
-    mode = MODE_CFG;
-    pc->printf("%s\n", "Config mode ON");
-}
-
-void cmd_exit(Serial *pc) {
-    mode = MODE_RUN;
-    pc->printf("%s\n", "Run mode ON");
-}
-
 void processCmd(Serial *pc, PreferenceWriter *pref, char *buf) {
     char *tokens[10];
     int len = tokenize(buf, tokens, 10);
     
-    if (mode == MODE_RUN) {
-        if (len == 1 && strcmp(tokens[0], "cfg") == 0) {
-            cmd_cfg(pc);
-        } else {
-            return;
-        }
-    }
-    
     switch (len) {
     case 1:
         if (strcmp(tokens[0], "ls") == 0) cmd_ls(pc);
@@ -153,75 +23,25 @@
         if (strcmp(tokens[0], "reload") == 0) cmd_reload(pc, pref);
         if (strcmp(tokens[0], "load") == 0) cmd_reload(pc, pref);
         if (strcmp(tokens[0], "flush") == 0) cmd_flush(pc, pref);
+        if (strcmp(tokens[0], "mode") == 0) cmd_ls2(pc, tokens[0]);
+        if (strcmp(tokens[0], "src") == 0) cmd_ls2(pc, tokens[0]);
+        if (strcmp(tokens[0], "op") == 0) cmd_ls2(pc, tokens[0]);
+        if (strcmp(tokens[0], "cfg") == 0) cmd_mode(pc, tokens[0]);
+        if (strcmp(tokens[0], "zero") == 0) cmd_mode(pc, tokens[0]);
+        if (strcmp(tokens[0], "wizard") == 0) cmd_mode(pc, tokens[0]);
         if (strcmp(tokens[0], "exit") == 0) cmd_exit(pc);
         break;
     case 2:
         if (strcmp(tokens[0], "ls") == 0) cmd_ls2(pc, tokens[1]);
         if (strcmp(tokens[0], "get") == 0) cmd_ls2(pc, tokens[1]);
+        if (strcmp(tokens[0], "setp") == 0) cmd_setp(pc, tokens[1]);
+        if (strcmp(tokens[0], "mode") == 0) cmd_mode(pc, tokens[1]);
+        if (strcmp(tokens[0], "src") == 0) cmd_src(pc, tokens[1]);
+        if (strcmp(tokens[0], "op") == 0) cmd_op(pc, tokens[1]);
         break;
     case 3:
         if (strcmp(tokens[0], "set") == 0) cmd_set(pc, tokens[1], tokens[2]);
     default:
         break;
     }
-}
-
-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(MAX_TQPCT_PLUS);
-    __check(MAX_TQPCT_MINUS);
-    __check(TORQUE_MAX);
-    __check(W_MAX);
-    __check(BUS_VOLTAGE);
-    __check(F_SW);
-    __check(K_LOOP_D);
-    __check(KI_BASE_D);
-    __check(K_LOOP_Q);
-    __check(KI_BASE_Q);
-    __check(F_SLOW_LOOP);
-    __check(INTEGRAL_MAX);
-    __check(W_FILTER_STRENGTH);
-    __check(DQ_FILTER_STRENGTH);
-    __check(THROTTLE_FILTER_STRENGTH);
-    __check(KP_D);
-    __check(KI_D);
-    __check(KP_Q);
-    __check(KI_Q);
-    __check(POLE_PAIRS);
-    __check(POS_OFFSET);
-    __check(RESOLVER_LOBES);
-    __check(Ld);
-    __check(Lq);
-    __check(FLUX_LINKAGE);
-    __check(Rs);
-    __check(KT);
-    __check(W_SAFE);
-    __check(W_CRAZY);
-    __check(W_STEP);
-    return NULL;
-}
-
-int* checkn(char *s) {
-    __check(TORQUE_MODE);
-    __check(CPR);
-    __check(TH_LIMIT_LOW);
-    __check(TH_LIMIT_HIGH);
-    __check(TH_LIMIT_CRAZY);
-    __check(ROWS);
-    __check(COLUMNS);
-    return NULL;
 }
\ No newline at end of file