Keisuke Sehara / Mbed 2 deprecated STM32_Whisking

fast-feedback virtual target task code on STM Nucleo

Dependencies:   mbed

config.cpp@5:849446d19406, 2018-05-24 (annotated)

Committer:
gwappa
Date:
Thu May 24 14:47:48 2018 +0000
Revision:
5:849446d19406
Child:
6:13d180af7501
add configuration functionality (to be tested)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gwappa 5:849446d19406 1 #include "config.h"
gwappa 5:849446d19406 2 #include "IO.h"
gwappa 5:849446d19406 3
gwappa 5:849446d19406 4 namespace config {
gwappa 5:849446d19406 5
gwappa 5:849446d19406 6 struct HelpResponder: public CommandResponder
gwappa 5:849446d19406 7 {
gwappa 5:849446d19406 8 virtual ~HelpResponder() { }
gwappa 5:849446d19406 9
gwappa 5:849446d19406 10 virtual bool parse(const char& c)
gwappa 5:849446d19406 11 {
gwappa 5:849446d19406 12 if (c != CMD_CHAR_HELP) {
gwappa 5:849446d19406 13 return false;
gwappa 5:849446d19406 14 }
gwappa 5:849446d19406 15 writeSettingsToSerial();
gwappa 5:849446d19406 16 return true;
gwappa 5:849446d19406 17 }
gwappa 5:849446d19406 18
gwappa 5:849446d19406 19 virtual bool writeSettings() {
gwappa 5:849446d19406 20 return false;
gwappa 5:849446d19406 21 }
gwappa 5:849446d19406 22
gwappa 5:849446d19406 23 virtual void echoback() {
gwappa 5:849446d19406 24 // do nothing
gwappa 5:849446d19406 25 }
gwappa 5:849446d19406 26 };
gwappa 5:849446d19406 27
gwappa 5:849446d19406 28 HelpResponder help_;
gwappa 5:849446d19406 29
gwappa 5:849446d19406 30 struct CallbackHandler
gwappa 5:849446d19406 31 {
gwappa 5:849446d19406 32 char command;
gwappa 5:849446d19406 33 CommandResponder* responder;
gwappa 5:849446d19406 34
gwappa 5:849446d19406 35 CallbackHandler* prev;
gwappa 5:849446d19406 36 CallbackHandler* next;
gwappa 5:849446d19406 37
gwappa 5:849446d19406 38
gwappa 5:849446d19406 39 private:
gwappa 5:849446d19406 40
gwappa 5:849446d19406 41 CallbackHandler(const char& command, CommandResponder* resp):
gwappa 5:849446d19406 42 command(command), responder(resp), prev(0), next(0) { }
gwappa 5:849446d19406 43
gwappa 5:849446d19406 44 static void append(CallbackHandler** list, CallbackHandler* item) {
gwappa 5:849446d19406 45 if ((*list) == 0) {
gwappa 5:849446d19406 46 // no content
gwappa 5:849446d19406 47 (*list) = item;
gwappa 5:849446d19406 48 item->prev = 0;
gwappa 5:849446d19406 49 item->next = 0;
gwappa 5:849446d19406 50
gwappa 5:849446d19406 51 } else {
gwappa 5:849446d19406 52 // search the end of the list
gwappa 5:849446d19406 53 while((*list)->next != 0) {
gwappa 5:849446d19406 54 *list = (*list)->next;
gwappa 5:849446d19406 55 }
gwappa 5:849446d19406 56
gwappa 5:849446d19406 57 (*list)->next = item;
gwappa 5:849446d19406 58 item->prev = (*list);
gwappa 5:849446d19406 59 }
gwappa 5:849446d19406 60 }
gwappa 5:849446d19406 61
gwappa 5:849446d19406 62 static void drop(CallbackHandler** head, CallbackHandler* item) {
gwappa 5:849446d19406 63 if (item == 0) {
gwappa 5:849446d19406 64 return;
gwappa 5:849446d19406 65 }
gwappa 5:849446d19406 66
gwappa 5:849446d19406 67 if (item == *head) {
gwappa 5:849446d19406 68 *head = item->next;
gwappa 5:849446d19406 69 } else {
gwappa 5:849446d19406 70 item->prev->next = item->next;
gwappa 5:849446d19406 71 }
gwappa 5:849446d19406 72 if (item->next != 0) {
gwappa 5:849446d19406 73 item->next->prev = item->prev;
gwappa 5:849446d19406 74 }
gwappa 5:849446d19406 75
gwappa 5:849446d19406 76 delete item;
gwappa 5:849446d19406 77 }
gwappa 5:849446d19406 78
gwappa 5:849446d19406 79 public:
gwappa 5:849446d19406 80
gwappa 5:849446d19406 81 static void append(CallbackHandler** list, const char& command, CommandResponder* resp) {
gwappa 5:849446d19406 82 append(list, new CallbackHandler(command, resp));
gwappa 5:849446d19406 83 }
gwappa 5:849446d19406 84
gwappa 5:849446d19406 85 static void drop(CallbackHandler** head, const char& command) {
gwappa 5:849446d19406 86 CallbackHandler* current = *head;
gwappa 5:849446d19406 87
gwappa 5:849446d19406 88 // check for `command` from the head to the tail
gwappa 5:849446d19406 89 while( current != 0 ){
gwappa 5:849446d19406 90 if (current->command == command) {
gwappa 5:849446d19406 91 // drop this
gwappa 5:849446d19406 92 drop(head, current);
gwappa 5:849446d19406 93 return;
gwappa 5:849446d19406 94 }
gwappa 5:849446d19406 95
gwappa 5:849446d19406 96 current = current->next;
gwappa 5:849446d19406 97 }
gwappa 5:849446d19406 98 }
gwappa 5:849446d19406 99
gwappa 5:849446d19406 100 static CallbackHandler* helpCommand(const char& command) {
gwappa 5:849446d19406 101 return new CallbackHandler(command, &help_);
gwappa 5:849446d19406 102 }
gwappa 5:849446d19406 103 };
gwappa 5:849446d19406 104
gwappa 5:849446d19406 105 CallbackHandler* handlers_ = CallbackHandler::helpCommand(CMD_CHAR_HELP);
gwappa 5:849446d19406 106
gwappa 5:849446d19406 107 void addCommand(const char& command, CommandResponder* resp)
gwappa 5:849446d19406 108 {
gwappa 5:849446d19406 109 CallbackHandler::append(&handlers_, command, resp);
gwappa 5:849446d19406 110 }
gwappa 5:849446d19406 111
gwappa 5:849446d19406 112 void removeCommand(const char& command)
gwappa 5:849446d19406 113 {
gwappa 5:849446d19406 114 CallbackHandler::drop(&handlers_, command);
gwappa 5:849446d19406 115 }
gwappa 5:849446d19406 116
gwappa 5:849446d19406 117 void handleSerial()
gwappa 5:849446d19406 118 {
gwappa 5:849446d19406 119 char in = IO::getc();
gwappa 5:849446d19406 120
gwappa 5:849446d19406 121 if (isWhitespace(in)) {
gwappa 5:849446d19406 122 return;
gwappa 5:849446d19406 123 }
gwappa 5:849446d19406 124
gwappa 5:849446d19406 125 CallbackHandler* current = handlers_;
gwappa 5:849446d19406 126 while(current != 0) {
gwappa 5:849446d19406 127 if ( current->responder->parse(in) ) {
gwappa 5:849446d19406 128 // the handler accepted the input character
gwappa 5:849446d19406 129 break;
gwappa 5:849446d19406 130 }
gwappa 5:849446d19406 131 }
gwappa 5:849446d19406 132
gwappa 5:849446d19406 133 if (current != 0) {
gwappa 5:849446d19406 134 current->responder->echoback();
gwappa 5:849446d19406 135
gwappa 5:849446d19406 136 } else {
gwappa 5:849446d19406 137 // no matched handler
gwappa 5:849446d19406 138 IO::error("%c",in);
gwappa 5:849446d19406 139 }
gwappa 5:849446d19406 140 }
gwappa 5:849446d19406 141
gwappa 5:849446d19406 142 void writeSettingsToSerial() {
gwappa 5:849446d19406 143 IO::write(IO::CONFIG_HEADER);
gwappa 5:849446d19406 144
gwappa 5:849446d19406 145 CallbackHandler* current = handlers_;
gwappa 5:849446d19406 146
gwappa 5:849446d19406 147 while (current != 0) {
gwappa 5:849446d19406 148 if (current->responder->writeSettings()) {
gwappa 5:849446d19406 149 // some output occurred
gwappa 5:849446d19406 150 IO::write(STR_DELIMITER);
gwappa 5:849446d19406 151 }
gwappa 5:849446d19406 152 current = current->next;
gwappa 5:849446d19406 153 }
gwappa 5:849446d19406 154 IO::write(STR_NEWLINE);
gwappa 5:849446d19406 155 }
gwappa 5:849446d19406 156 }
gwappa 5:849446d19406 157
gwappa 5:849446d19406 158 Action::Action(const char& command, Callback<void()> f):
gwappa 5:849446d19406 159 command_(command), handler_(f)
gwappa 5:849446d19406 160 {
gwappa 5:849446d19406 161 config::addCommand(command_, this);
gwappa 5:849446d19406 162 }
gwappa 5:849446d19406 163
gwappa 5:849446d19406 164 Action::~Action()
gwappa 5:849446d19406 165 {
gwappa 5:849446d19406 166 config::removeCommand(command_);
gwappa 5:849446d19406 167 }
gwappa 5:849446d19406 168
gwappa 5:849446d19406 169 bool Action::parse(const char& c)
gwappa 5:849446d19406 170 {
gwappa 5:849446d19406 171 if (c != command_) {
gwappa 5:849446d19406 172 return false;
gwappa 5:849446d19406 173 }
gwappa 5:849446d19406 174 handler_();
gwappa 5:849446d19406 175 return true;
gwappa 5:849446d19406 176 }
gwappa 5:849446d19406 177
gwappa 5:849446d19406 178 bool Action::writeSettings() { return false; }
gwappa 5:849446d19406 179
gwappa 5:849446d19406 180 void Action::echoback() {
gwappa 5:849446d19406 181 IO::result("done");
gwappa 5:849446d19406 182 }