Diff: bt_shell/shell/bt_shell.cpp

Revision:

0:964eb6a2ef00

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bt_shell/shell/bt_shell.cpp	Wed Mar 18 22:23:48 2015 +0000
@@ -0,0 +1,149 @@
+//you could save some memory by disabling the bt_shell (the shell is not used with the PYTHON interface)
+
+#include "bt_shell.h"
+#include "tinysh.h"
+#include "motor_fnt.h"
+#include "remotecontrol_fnt.h"
+#include "recon_fnt.h"
+#include "calibrate_fnt.h"
+#include "py_machine_interface.h"
+#include "ros_machine_interface.h"
+//#include "keybindings.h"
+
+tinysh_cmd_t movecmd= {0,"move","command motor movements","[L_speed] [R_speed] [duration_ms](optional)",move_fnt,0,0,0};
+tinysh_cmd_t reconpositioncmd= {0,"resetposition","reset recon position",0,reset_position_fnt,0,0,0};
+tinysh_cmd_t flipmotorscmd= {0,"flipmotors","left right motors swap",0,flip_motors_fnt,0,0,0};
+tinysh_cmd_t remotecontrolcmd= {0,"rc","control using keyboard","[speed](optional)",remotecontrol_fnt,0,0,0};
+tinysh_cmd_t stopmotorscmd= {0,"stop","stop motors",0,stop_motors_fnt,0,0,0};
+tinysh_cmd_t gotocoordcmd= {0,"gotocoord","goto coordinates",0,goto_coord_fnt,0,0,0};
+tinysh_cmd_t calibratecmd= {0,"calibrate","calibration settings","[module] [setting] [value]",calibrate_fnt,0,0,0};
+tinysh_cmd_t scalemotorscmd= {0,"scale","scale motor output","[value]",motor_scale_fnt,0,0,0};
+//the following functions are for the python interface
+
+//save a struct that indicates which data is to be returned
+
+interface iface;
+bool send_prev = 0;
+
+//mandatory tiny shell output function
+void tinysh_char_out(unsigned char c)
+{
+    bt.lock();
+    bt.putc(c);
+    bt.unlock();
+}
+
+//mandatory tiny shell output function
+void bt_shell_init()
+{ 
+    //set prompt
+    tinysh_set_prompt("$ ");
+t.start();
+    //add custom commands here
+    tinysh_add_command(&movecmd);
+    tinysh_add_command(&reconpositioncmd);
+    tinysh_add_command(&flipmotorscmd);
+    tinysh_add_command(&remotecontrolcmd);
+    tinysh_add_command(&stopmotorscmd);
+    tinysh_add_command(&gotocoordcmd);
+    tinysh_add_command(&calibratecmd);
+    tinysh_add_command(&scalemotorscmd);
+ 
+    bt.lock();
+    while(bt.readable())
+        bt.getc();
+    bt.unlock();
+        
+    tinysh_char_in('\r');
+    tinysh_char_in('\n');
+}
+
+void bt_shell_run(){
+
+    static bool py_machine_input = false;   //this is for the python and brain file connection (not finished)
+    static bool ros_machine_input = false;  //this is for the connection to ROS
+send_flag=1; //always send stuff
+    bt.lock();
+    
+    if(!bt.readable()){
+        bt.unlock();
+        return;
+    }
+        
+    char c = bt.getc();
+    bt.unlock();
+       
+    if( c == '#' )
+        py_machine_input = true;
+    else if(c== '&'){
+        ros_machine_input = true;
+        bt.lock();
+        bt.printf("&\n\r");
+        bt.unlock();
+    }
+    if(py_machine_input)
+    {
+        bt.lock();
+        bt.baud(BT_BAUD_RATE);
+        bt.unlock();
+        //This is for the python interface
+        while(py_machine_input)
+        {
+            bt.lock();
+            if(bt.readable()) 
+            {
+                c = bt.getc();
+                bt.unlock();
+                //if(c!= '?')
+                //interface_send_data(iface);
+                py_machine_input = python_shell_connection(c);
+            }
+            bt.unlock();
+            Thread::wait(10);
+        }
+    }
+    else if(ros_machine_input)
+    {
+        while(ros_machine_input)
+        {
+            bt.lock();
+            if(bt.readable())
+            {
+                c= bt.getc();
+                bt.unlock();
+                ros_machine_input = ros_shell_connection(c);
+            }
+            bt.unlock();
+            if(send_flag)
+            {
+                print_all();
+                send_prev = 1;
+            }else if(send_prev)
+            {   
+                bt.lock();
+                bt.printf("&;STOPPED;\n\r");
+                bt.unlock();
+                send_prev = 0;
+            }
+            if(obstacle_flag && fwd_flag && !calibrate_flag) 
+            {
+                moveMotors(0,0,0);
+                obstacle_flag = 0;
+                send_flag = 0;
+                send_prev = 0;
+                fwd_flag = 0;
+                bt.lock();
+                bt.printf("&;OBSTACLE;\n\r");
+                bt.unlock();
+            }
+            Thread::yield();
+        }
+    }
+    else
+    {
+        tinysh_char_in(c);
+    }
+          
+    if ( c == '$')//c == '\n' || c == '\r')
+        py_machine_input = false;
+}
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