File content as of revision 2:7b3822eacad8:

//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::wait(20);
//            Thread::yield();
        }
    }
    else
    {
        tinysh_char_in(c);
    }
          
    if ( c == '$')//c == '\n' || c == '\r')
        py_machine_input = false;
}