Michael Shimniok / Mbed 2 deprecated DataBus

Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.

Dependencies:   mbed Watchdog SDFileSystem DigoleSerialDisp

UI/shell.cpp@12:5dfa1ab47838, 2018-11-29 (annotated)

Committer:
shimniok
Date:
Thu Nov 29 16:50:46 2018 +0000
Revision:
12:5dfa1ab47838
Parent:
0:a6a169de725f
Child:
15:01fb4916a5cd
Updated sensors, removed FAT filesystem class (now part of mbed I think), Updated Buttons and Shell

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 #include <stdio.h>
shimniok 12:5dfa1ab47838 2 #include <string.h>
shimniok 0:a6a169de725f 3 #include "mbed.h"
shimniok 12:5dfa1ab47838 4 #include "globals.h"
shimniok 12:5dfa1ab47838 5 #include "updater.h"
shimniok 12:5dfa1ab47838 6 #include "print.h"
shimniok 0:a6a169de725f 7 #include "DirHandle.h"
shimniok 12:5dfa1ab47838 8 #include "SDFileSystem.h"
shimniok 0:a6a169de725f 9 #include "util.h"
shimniok 0:a6a169de725f 10 #include "Buttons.h"
shimniok 0:a6a169de725f 11
shimniok 12:5dfa1ab47838 12 #define MAXBUF 128
shimniok 12:5dfa1ab47838 13 #define MAXCMDARR 21
shimniok 12:5dfa1ab47838 14
shimniok 12:5dfa1ab47838 15 char cwd[MAXBUF];
shimniok 12:5dfa1ab47838 16 char buf[MAXBUF];
shimniok 12:5dfa1ab47838 17 char path[MAXBUF];
shimniok 12:5dfa1ab47838 18 int status;
shimniok 12:5dfa1ab47838 19 bool debug=false;
shimniok 12:5dfa1ab47838 20 bool done=false;
shimniok 0:a6a169de725f 21
shimniok 12:5dfa1ab47838 22 typedef struct {
shimniok 12:5dfa1ab47838 23 const char *cmd;
shimniok 12:5dfa1ab47838 24 int (*f)(char *arg0);
shimniok 12:5dfa1ab47838 25 const char *desc;
shimniok 12:5dfa1ab47838 26 } cmd;
shimniok 0:a6a169de725f 27
shimniok 12:5dfa1ab47838 28 extern int autonomousMode();
shimniok 12:5dfa1ab47838 29 extern int resetMe();
shimniok 12:5dfa1ab47838 30 extern int gyroSwing();
shimniok 12:5dfa1ab47838 31
shimniok 12:5dfa1ab47838 32 extern "C" {
shimniok 12:5dfa1ab47838 33
shimniok 12:5dfa1ab47838 34 void shell(void *args);
shimniok 12:5dfa1ab47838 35 void docmd(char *cmdline);
shimniok 0:a6a169de725f 36 void termInput(char *cmd);
shimniok 0:a6a169de725f 37 void resolveDirectory(char *newpath, char *path);
shimniok 12:5dfa1ab47838 38 void splitName(const char *path, char *dirname, char *basename);
shimniok 12:5dfa1ab47838 39 int dols(char *arg);
shimniok 12:5dfa1ab47838 40 int docd(char *path);
shimniok 12:5dfa1ab47838 41 int dopwd(char *s);
shimniok 12:5dfa1ab47838 42 int dotouch(char *path);
shimniok 12:5dfa1ab47838 43 int dorm(char *path);
shimniok 12:5dfa1ab47838 44 int domkdir(char *path);
shimniok 12:5dfa1ab47838 45 int dohead(char *path);
shimniok 12:5dfa1ab47838 46 int docat(char *path);
shimniok 12:5dfa1ab47838 47 int dosend(char *path);
shimniok 12:5dfa1ab47838 48 int doprintfree(char *path);
shimniok 12:5dfa1ab47838 49 int doexit(char *s);
shimniok 12:5dfa1ab47838 50 int dodebug(char *s);
shimniok 12:5dfa1ab47838 51 int dohelp(char *s);
shimniok 12:5dfa1ab47838 52 int dogyroswing(char *s);
shimniok 12:5dfa1ab47838 53 int doreset(char *s);
shimniok 12:5dfa1ab47838 54 int doautonomous(char *s);
shimniok 12:5dfa1ab47838 55 int dospeed(char *arg);
shimniok 12:5dfa1ab47838 56 int dosteer(char *arg);
shimniok 12:5dfa1ab47838 57 int dotimes(char *arg);
shimniok 0:a6a169de725f 58
shimniok 12:5dfa1ab47838 59 // TODO 3 multiple arguments
shimniok 0:a6a169de725f 60
shimniok 12:5dfa1ab47838 61 const cmd command[MAXCMDARR] = {
shimniok 12:5dfa1ab47838 62 { "help", dohelp, "print this help" },
shimniok 12:5dfa1ab47838 63 { "ls", dols, "list files" },
shimniok 12:5dfa1ab47838 64 { "cd", docd, "change directory" },
shimniok 12:5dfa1ab47838 65 { "pwd", dopwd, "print working directory" },
shimniok 12:5dfa1ab47838 66 { "touch", dotouch, "create, update file" },
shimniok 12:5dfa1ab47838 67 { "mkdir", domkdir, "make directory" },
shimniok 12:5dfa1ab47838 68 { "head", dohead, "output first part of file" },
shimniok 12:5dfa1ab47838 69 { "cat", docat, "output file" },
shimniok 12:5dfa1ab47838 70 { "send", dosend, "send file to terminal" },
shimniok 12:5dfa1ab47838 71 { "rm", dorm, "remove file" },
shimniok 12:5dfa1ab47838 72 { "debug", dodebug, "toggle debug mode" },
shimniok 12:5dfa1ab47838 73 { "gyro", dogyroswing, "gyro swing" },
shimniok 12:5dfa1ab47838 74 { "auto", doautonomous, "run autonomous mode" },
shimniok 12:5dfa1ab47838 75 { "reset", doreset, "reset the MCU" },
shimniok 12:5dfa1ab47838 76 { "free", doprintfree, "heap bytes available" },
shimniok 12:5dfa1ab47838 77 { "speed", dospeed, "set speed servo output" },
shimniok 12:5dfa1ab47838 78 { "steer", dosteer, "set steering servo output" },
shimniok 12:5dfa1ab47838 79 { "time", dotimes, "display update timing stats" },
shimniok 12:5dfa1ab47838 80 // { "exit", doexit, "exit shell" },
shimniok 12:5dfa1ab47838 81 { 0, 0, 0 }
shimniok 12:5dfa1ab47838 82 };
shimniok 0:a6a169de725f 83
shimniok 12:5dfa1ab47838 84 void shell(void *args) {
shimniok 12:5dfa1ab47838 85 char cmdline[MAXBUF];
shimniok 12:5dfa1ab47838 86
shimniok 12:5dfa1ab47838 87 pc.baud(115200);
shimniok 12:5dfa1ab47838 88
shimniok 0:a6a169de725f 89 strcpy(cwd, "/log");
shimniok 0:a6a169de725f 90
shimniok 12:5dfa1ab47838 91 fputs("Type help for assistance.\n", stdout);
shimniok 12:5dfa1ab47838 92
shimniok 12:5dfa1ab47838 93 status=0;
shimniok 12:5dfa1ab47838 94 done=false;
shimniok 0:a6a169de725f 95 while (!done) {
shimniok 0:a6a169de725f 96 termInput(cmdline);
shimniok 12:5dfa1ab47838 97
shimniok 12:5dfa1ab47838 98 // interrupt operation if keypad button is pressed
shimniok 0:a6a169de725f 99 if (keypad.pressed) {
shimniok 0:a6a169de725f 100 keypad.pressed = false;
shimniok 0:a6a169de725f 101 break;
shimniok 0:a6a169de725f 102 }
shimniok 12:5dfa1ab47838 103
shimniok 12:5dfa1ab47838 104 docmd(cmdline);
shimniok 12:5dfa1ab47838 105 }
shimniok 12:5dfa1ab47838 106 fputs("exiting shell\n", stdout);
shimniok 12:5dfa1ab47838 107
shimniok 12:5dfa1ab47838 108 return;
shimniok 12:5dfa1ab47838 109 }
shimniok 12:5dfa1ab47838 110
shimniok 12:5dfa1ab47838 111
shimniok 12:5dfa1ab47838 112 /** docmd
shimniok 12:5dfa1ab47838 113 * Run a command by looking it up the command requested on the shell command line in the
shimniok 12:5dfa1ab47838 114 * command array. If it's found, run the associated function. If not, print an error.
shimniok 12:5dfa1ab47838 115 */
shimniok 12:5dfa1ab47838 116 void docmd(char *cmdline) {
shimniok 12:5dfa1ab47838 117 char *arg;
shimniok 12:5dfa1ab47838 118 char cmd[MAXBUF];
shimniok 12:5dfa1ab47838 119 bool found = false;
shimniok 12:5dfa1ab47838 120
shimniok 12:5dfa1ab47838 121 arg = split(cmd, cmdline, MAXBUF, ' ');
shimniok 12:5dfa1ab47838 122 if (strlen(cmd) > 0) {
shimniok 12:5dfa1ab47838 123 //if (debug) fprintf(stdout, "cmdline:<%s> cmd:<%s> arg:<%s>\n", cmdline, cmd, arg);
shimniok 12:5dfa1ab47838 124
shimniok 12:5dfa1ab47838 125 for (int i=0; command[i].cmd; i++) {
shimniok 12:5dfa1ab47838 126 if (!strcmp(cmd, command[i].cmd)) {
shimniok 12:5dfa1ab47838 127 found = true;
shimniok 12:5dfa1ab47838 128 command[i].f(arg);
shimniok 12:5dfa1ab47838 129 }
shimniok 12:5dfa1ab47838 130 }
shimniok 12:5dfa1ab47838 131
shimniok 12:5dfa1ab47838 132 if (!found) {
shimniok 12:5dfa1ab47838 133 fputs(cmd, stdout);
shimniok 12:5dfa1ab47838 134 fputs(": command not found\n", stdout);
shimniok 0:a6a169de725f 135 }
shimniok 0:a6a169de725f 136 }
shimniok 0:a6a169de725f 137
shimniok 0:a6a169de725f 138 return;
shimniok 0:a6a169de725f 139 }
shimniok 0:a6a169de725f 140
shimniok 0:a6a169de725f 141
shimniok 0:a6a169de725f 142 /** termInput
shimniok 12:5dfa1ab47838 143 * read input from the terminal
shimniok 0:a6a169de725f 144 */
shimniok 0:a6a169de725f 145 void termInput(char *cmd) {
shimniok 0:a6a169de725f 146 int i=0;
shimniok 0:a6a169de725f 147 char c;
shimniok 0:a6a169de725f 148 bool done = false;
shimniok 0:a6a169de725f 149
shimniok 12:5dfa1ab47838 150 memset(cmd, 0, MAXBUF);
shimniok 12:5dfa1ab47838 151 fputc('(', stdout);
shimniok 12:5dfa1ab47838 152 fputs(cwd, stdout);
shimniok 12:5dfa1ab47838 153 fputs(")# ", stdout);
shimniok 0:a6a169de725f 154 do {
shimniok 0:a6a169de725f 155 cmd[i] = 0;
shimniok 12:5dfa1ab47838 156 c = fgetc(stdin);
shimniok 0:a6a169de725f 157 if (c == '\r') { // if return is hit, we're done, don't add \r to cmd
shimniok 0:a6a169de725f 158 done = true;
shimniok 12:5dfa1ab47838 159 } else if (i < MAXBUF-1) {
shimniok 0:a6a169de725f 160 if (c == 0x7f || c == '\b') { // backspace or delete
shimniok 0:a6a169de725f 161 if (i > 0) { // if we're at the beginning, do nothing
shimniok 0:a6a169de725f 162 i--;
shimniok 12:5dfa1ab47838 163 fputs("\b \b", stdout);
shimniok 12:5dfa1ab47838 164
shimniok 0:a6a169de725f 165 }
shimniok 0:a6a169de725f 166 } else {
shimniok 12:5dfa1ab47838 167 fputc(c, stdout);
shimniok 0:a6a169de725f 168 cmd[i++] = c;
shimniok 0:a6a169de725f 169 }
shimniok 0:a6a169de725f 170 }
shimniok 0:a6a169de725f 171 } while (!done);
shimniok 12:5dfa1ab47838 172 fputc('\n', stdout);
shimniok 12:5dfa1ab47838 173
shimniok 12:5dfa1ab47838 174
shimniok 0:a6a169de725f 175 }
shimniok 0:a6a169de725f 176
shimniok 0:a6a169de725f 177 /** resolveDirectory
shimniok 0:a6a169de725f 178 * resolve the directory path provided, given the cwd
shimniok 0:a6a169de725f 179 */
shimniok 0:a6a169de725f 180 void resolveDirectory(char *newpath, char *path) {
shimniok 0:a6a169de725f 181 char dirname[32], basename[16];
shimniok 0:a6a169de725f 182
shimniok 0:a6a169de725f 183 /** absolute path */
shimniok 0:a6a169de725f 184 if (path[0] == '/') {
shimniok 0:a6a169de725f 185 strcpy(newpath, path);
shimniok 0:a6a169de725f 186 }
shimniok 0:a6a169de725f 187 /** relative path */
shimniok 0:a6a169de725f 188 else {
shimniok 0:a6a169de725f 189 strcpy(newpath, cwd);
shimniok 0:a6a169de725f 190 if (path[0] != 0) {
shimniok 0:a6a169de725f 191 if (newpath[strlen(newpath)-1] != '/')
shimniok 0:a6a169de725f 192 strcat(newpath, "/");
shimniok 0:a6a169de725f 193 strcat(newpath, path);
shimniok 0:a6a169de725f 194 }
shimniok 0:a6a169de725f 195 /** Resolve .. references */
shimniok 0:a6a169de725f 196 splitName(newpath, dirname, basename);
shimniok 0:a6a169de725f 197 if (!strcmp(basename, "..")) {
shimniok 0:a6a169de725f 198 splitName(dirname, newpath, basename);
shimniok 0:a6a169de725f 199 }
shimniok 0:a6a169de725f 200 }
shimniok 0:a6a169de725f 201 }
shimniok 0:a6a169de725f 202
shimniok 12:5dfa1ab47838 203 /** splitCmd
shimniok 12:5dfa1ab47838 204 * copy t to s until space is reached
shimniok 12:5dfa1ab47838 205 * return location of delimiter+1 in t
shimniok 12:5dfa1ab47838 206 * if space not found, return t pointing to end of string
shimniok 12:5dfa1ab47838 207 * if s or t null, return null
shimniok 12:5dfa1ab47838 208 */
shimniok 0:a6a169de725f 209 char *splitCmd(char *s, char *t, int max)
shimniok 0:a6a169de725f 210 {
shimniok 0:a6a169de725f 211 int i = 0;
shimniok 0:a6a169de725f 212
shimniok 0:a6a169de725f 213 if (s == 0 || t == 0)
shimniok 0:a6a169de725f 214 return 0;
shimniok 0:a6a169de725f 215
shimniok 0:a6a169de725f 216 while (*t != 0 && i < max) {
shimniok 0:a6a169de725f 217 *s++ = *t++;
shimniok 0:a6a169de725f 218 i++;
shimniok 0:a6a169de725f 219 if (*t == ' ') {
shimniok 0:a6a169de725f 220 t++;
shimniok 0:a6a169de725f 221 break;
shimniok 0:a6a169de725f 222 }
shimniok 0:a6a169de725f 223 }
shimniok 0:a6a169de725f 224 *s = 0;
shimniok 12:5dfa1ab47838 225
shimniok 0:a6a169de725f 226 return t;
shimniok 0:a6a169de725f 227 }
shimniok 0:a6a169de725f 228
shimniok 0:a6a169de725f 229 /** splitName
shimniok 0:a6a169de725f 230 * split the path into a dirname and a
shimniok 0:a6a169de725f 231 */
shimniok 12:5dfa1ab47838 232 void splitName(const char *path, char *dirname, char *basename) {
shimniok 0:a6a169de725f 233 int sep;
shimniok 0:a6a169de725f 234
shimniok 0:a6a169de725f 235 sep = 0;
shimniok 12:5dfa1ab47838 236 //if (debug) fprintf(stdout, "%d\n", strlen(path));
shimniok 0:a6a169de725f 237 for (int i=strlen(path)-1; i >= 0; i--) {
shimniok 12:5dfa1ab47838 238 //if (debug) fprintf(stdout, "- %c\n", path[i]);
shimniok 0:a6a169de725f 239 sep = i;
shimniok 0:a6a169de725f 240 if (path[i] == '/') break;
shimniok 0:a6a169de725f 241 }
shimniok 0:a6a169de725f 242 for (int j=0; j < sep; j++) {
shimniok 12:5dfa1ab47838 243 //if (debug) fprintf(stdout, "> %c\n", path[j]);
shimniok 0:a6a169de725f 244 dirname[j] = path[j];
shimniok 0:a6a169de725f 245 dirname[j+1] = 0;
shimniok 0:a6a169de725f 246 }
shimniok 12:5dfa1ab47838 247 for (unsigned int k=sep+1; k != strlen(path); k++) {
shimniok 12:5dfa1ab47838 248 //if (debug) fprintf(stdout, "* %c\n", path[k]);
shimniok 0:a6a169de725f 249 basename[k-(sep+1)] = path[k];
shimniok 0:a6a169de725f 250 basename[k-sep] = 0;
shimniok 0:a6a169de725f 251 }
shimniok 12:5dfa1ab47838 252 //if (debug) fprintf(stdout, "d:<%s> b:<%s>\n", dirname, basename);
shimniok 12:5dfa1ab47838 253
shimniok 12:5dfa1ab47838 254
shimniok 0:a6a169de725f 255 }
shimniok 0:a6a169de725f 256
shimniok 0:a6a169de725f 257 /** ls
shimniok 0:a6a169de725f 258 * lists files in the current working directory, 4 columns
shimniok 0:a6a169de725f 259 */
shimniok 12:5dfa1ab47838 260 int dols(char *arg) {
shimniok 12:5dfa1ab47838 261 //if (debug) fprintf(stdout, "%s\n", cwd);
shimniok 0:a6a169de725f 262 DIR *d;
shimniok 0:a6a169de725f 263 struct dirent *p;
shimniok 12:5dfa1ab47838 264
shimniok 12:5dfa1ab47838 265 resolveDirectory(path, arg);
shimniok 12:5dfa1ab47838 266
shimniok 0:a6a169de725f 267 int count=0;
shimniok 0:a6a169de725f 268 if ((d = opendir(path)) != NULL) {
shimniok 0:a6a169de725f 269 while ((p = readdir(d)) != NULL) {
shimniok 12:5dfa1ab47838 270 int pad = 20 - strlen(p->d_name);
shimniok 12:5dfa1ab47838 271 while (pad-- > 0) fputc(' ', stdout);
shimniok 12:5dfa1ab47838 272 fputs(p->d_name, stdout);
shimniok 0:a6a169de725f 273 if (count++ >= 3) {
shimniok 0:a6a169de725f 274 count = 0;
shimniok 12:5dfa1ab47838 275 fputc('\n', stdout);
shimniok 0:a6a169de725f 276 }
shimniok 0:a6a169de725f 277 }
shimniok 12:5dfa1ab47838 278 fputc('\n', stdout);
shimniok 0:a6a169de725f 279 if (count < 3)
shimniok 12:5dfa1ab47838 280 fputc('\n', stdout);
shimniok 0:a6a169de725f 281 closedir(d);
shimniok 12:5dfa1ab47838 282 status = 0;
shimniok 0:a6a169de725f 283 } else {
shimniok 12:5dfa1ab47838 284 fputs(path, stdout);
shimniok 12:5dfa1ab47838 285 fputs(": No such directory\n", stdout);
shimniok 12:5dfa1ab47838 286 status = 1;
shimniok 0:a6a169de725f 287 }
shimniok 12:5dfa1ab47838 288
shimniok 12:5dfa1ab47838 289 return status;
shimniok 0:a6a169de725f 290 }
shimniok 0:a6a169de725f 291
shimniok 0:a6a169de725f 292 /** cd
shimniok 0:a6a169de725f 293 * changes current working directory
shimniok 0:a6a169de725f 294 */
shimniok 12:5dfa1ab47838 295 int docd(char *arg) {
shimniok 12:5dfa1ab47838 296
shimniok 12:5dfa1ab47838 297 resolveDirectory(path, arg);
shimniok 0:a6a169de725f 298 strcpy(cwd, path);
shimniok 12:5dfa1ab47838 299
shimniok 12:5dfa1ab47838 300 return 0;
shimniok 0:a6a169de725f 301 }
shimniok 0:a6a169de725f 302
shimniok 0:a6a169de725f 303 /** pwd
shimniok 0:a6a169de725f 304 * print current working directory
shimniok 0:a6a169de725f 305 */
shimniok 12:5dfa1ab47838 306 int dopwd(char *arg) {
shimniok 12:5dfa1ab47838 307 fputs(cwd, stdout);
shimniok 12:5dfa1ab47838 308 fputc('\n', stdout);
shimniok 12:5dfa1ab47838 309 //fprintf(stdout, "%s\n", cwd);
shimniok 12:5dfa1ab47838 310
shimniok 12:5dfa1ab47838 311 return 0;
shimniok 0:a6a169de725f 312 }
shimniok 0:a6a169de725f 313
shimniok 0:a6a169de725f 314 /** touch
shimniok 0:a6a169de725f 315 * create an empty file
shimniok 0:a6a169de725f 316 */
shimniok 12:5dfa1ab47838 317 int dotouch(char *arg) {
shimniok 0:a6a169de725f 318 FILE *fp;
shimniok 12:5dfa1ab47838 319
shimniok 12:5dfa1ab47838 320 resolveDirectory(path, arg);
shimniok 0:a6a169de725f 321 if ((fp = fopen(path, "w")) != NULL) {
shimniok 0:a6a169de725f 322 fclose(fp);
shimniok 12:5dfa1ab47838 323 status = 0;
shimniok 0:a6a169de725f 324 } else {
shimniok 12:5dfa1ab47838 325 fputs(path, stdout);
shimniok 12:5dfa1ab47838 326 fputs(": No such file\n", stdout);
shimniok 12:5dfa1ab47838 327 status = 1;
shimniok 0:a6a169de725f 328 }
shimniok 12:5dfa1ab47838 329
shimniok 12:5dfa1ab47838 330 return status;
shimniok 0:a6a169de725f 331 }
shimniok 0:a6a169de725f 332
shimniok 12:5dfa1ab47838 333 int dorm(char *arg) {
shimniok 12:5dfa1ab47838 334 resolveDirectory(path, arg);
shimniok 12:5dfa1ab47838 335 return remove(path);
shimniok 12:5dfa1ab47838 336 }
shimniok 12:5dfa1ab47838 337
shimniok 12:5dfa1ab47838 338 int domkdir(char *arg) {
shimniok 12:5dfa1ab47838 339 resolveDirectory(path, arg);
shimniok 12:5dfa1ab47838 340 return mkdir(path, S_IRWXU|S_IRWXG|S_IRWXO);
shimniok 12:5dfa1ab47838 341 }
shimniok 12:5dfa1ab47838 342
shimniok 0:a6a169de725f 343 /** head
shimniok 0:a6a169de725f 344 * print the first 10 lines of a file
shimniok 0:a6a169de725f 345 */
shimniok 12:5dfa1ab47838 346 int dohead(char *arg) {
shimniok 0:a6a169de725f 347 FILE *fp;
shimniok 0:a6a169de725f 348 char line = 0;
shimniok 12:5dfa1ab47838 349
shimniok 12:5dfa1ab47838 350 resolveDirectory(path, arg);
shimniok 0:a6a169de725f 351 if ((fp = fopen(path, "r")) != NULL) {
shimniok 0:a6a169de725f 352 while (!feof(fp) && line++ < 10) {
shimniok 0:a6a169de725f 353 fgets(buf, 128, fp);
shimniok 12:5dfa1ab47838 354 fputs(buf, stdout);
shimniok 0:a6a169de725f 355 }
shimniok 0:a6a169de725f 356 fclose(fp);
shimniok 12:5dfa1ab47838 357 status = 0;
shimniok 0:a6a169de725f 358 } else {
shimniok 12:5dfa1ab47838 359 fputs(path, stdout);
shimniok 12:5dfa1ab47838 360 fputs(": No such file\n", stdout);
shimniok 12:5dfa1ab47838 361 status = 1;
shimniok 0:a6a169de725f 362 }
shimniok 12:5dfa1ab47838 363
shimniok 12:5dfa1ab47838 364 return status;
shimniok 0:a6a169de725f 365 }
shimniok 0:a6a169de725f 366
shimniok 0:a6a169de725f 367 /** cat
shimniok 0:a6a169de725f 368 * display the content of a file
shimniok 0:a6a169de725f 369 */
shimniok 12:5dfa1ab47838 370 int docat(char *arg) {
shimniok 0:a6a169de725f 371 FILE *fp;
shimniok 0:a6a169de725f 372
shimniok 12:5dfa1ab47838 373 resolveDirectory(path, arg);
shimniok 0:a6a169de725f 374 if ((fp = fopen(path, "r")) != NULL) {
shimniok 12:5dfa1ab47838 375 while (fgets(buf, 127, fp)) {
shimniok 12:5dfa1ab47838 376 fputs(buf, stdout);
shimniok 0:a6a169de725f 377 }
shimniok 0:a6a169de725f 378 fclose(fp);
shimniok 12:5dfa1ab47838 379 status = 0;
shimniok 0:a6a169de725f 380 } else {
shimniok 12:5dfa1ab47838 381 fputs(path, stdout);
shimniok 12:5dfa1ab47838 382 fputs(": No such file\n", stdout);
shimniok 12:5dfa1ab47838 383 status = 1;
shimniok 0:a6a169de725f 384 }
shimniok 12:5dfa1ab47838 385
shimniok 12:5dfa1ab47838 386 return status;
shimniok 0:a6a169de725f 387 }
shimniok 0:a6a169de725f 388
shimniok 0:a6a169de725f 389 /** send
shimniok 0:a6a169de725f 390 * Simple serial file transfer protocol
shimniok 0:a6a169de725f 391 * Initiates escape sequence: ^A^B, sends filename, ^C, and then file
shimniok 0:a6a169de725f 392 * contents followed by ^D
shimniok 0:a6a169de725f 393 */
shimniok 12:5dfa1ab47838 394 int dosend(char *arg) {
shimniok 0:a6a169de725f 395 FILE *fp;
shimniok 0:a6a169de725f 396 char dirname[32], basename[16];
shimniok 0:a6a169de725f 397
shimniok 12:5dfa1ab47838 398 resolveDirectory(path, arg);
shimniok 0:a6a169de725f 399 if ((fp = fopen(path, "r")) != NULL) {
shimniok 0:a6a169de725f 400 splitName(path, dirname, basename);
shimniok 12:5dfa1ab47838 401 fputc(0x01, stdout);
shimniok 12:5dfa1ab47838 402 fputc(0x02, stdout);
shimniok 12:5dfa1ab47838 403 fputs(basename, stdout);
shimniok 12:5dfa1ab47838 404 fputc(0x03, stdout);
shimniok 0:a6a169de725f 405 while (!feof(fp)) {
shimniok 0:a6a169de725f 406 if (fgets(buf, 127, fp) != NULL)
shimniok 12:5dfa1ab47838 407 fputs(buf, stdout);
shimniok 0:a6a169de725f 408 }
shimniok 0:a6a169de725f 409 fclose(fp);
shimniok 12:5dfa1ab47838 410 fputc(0x04, stdout);
shimniok 12:5dfa1ab47838 411 status = 0;
shimniok 0:a6a169de725f 412 } else {
shimniok 12:5dfa1ab47838 413 fputs(path, stdout);
shimniok 12:5dfa1ab47838 414 fputs(": No such file\n", stdout);
shimniok 12:5dfa1ab47838 415 status = 1;
shimniok 12:5dfa1ab47838 416 }
shimniok 12:5dfa1ab47838 417
shimniok 12:5dfa1ab47838 418 return status;
shimniok 12:5dfa1ab47838 419 }
shimniok 12:5dfa1ab47838 420
shimniok 12:5dfa1ab47838 421 int doprintfree(char *arg) {
shimniok 12:5dfa1ab47838 422 //printInt(stdout, xPortGetFreeHeapSize());
shimniok 12:5dfa1ab47838 423 fputs(" bytes free.\n", stdout);
shimniok 12:5dfa1ab47838 424
shimniok 12:5dfa1ab47838 425 return 0;
shimniok 12:5dfa1ab47838 426 }
shimniok 12:5dfa1ab47838 427
shimniok 12:5dfa1ab47838 428 /** doexit
shimniok 12:5dfa1ab47838 429 * set a flag to exit the shell
shimniok 12:5dfa1ab47838 430 */
shimniok 12:5dfa1ab47838 431 int doexit(char *arg) {
shimniok 12:5dfa1ab47838 432 done = true;
shimniok 12:5dfa1ab47838 433
shimniok 12:5dfa1ab47838 434 return 0;
shimniok 12:5dfa1ab47838 435 }
shimniok 12:5dfa1ab47838 436
shimniok 12:5dfa1ab47838 437 /** dodebug
shimniok 12:5dfa1ab47838 438 * toggle the debug state variable
shimniok 12:5dfa1ab47838 439 */
shimniok 12:5dfa1ab47838 440 int dodebug(char *arg) {
shimniok 12:5dfa1ab47838 441 debug = !debug;
shimniok 12:5dfa1ab47838 442
shimniok 12:5dfa1ab47838 443 return 0;
shimniok 12:5dfa1ab47838 444 }
shimniok 12:5dfa1ab47838 445
shimniok 12:5dfa1ab47838 446 /** dohelp
shimniok 12:5dfa1ab47838 447 * print the list of commands and descriptions
shimniok 12:5dfa1ab47838 448 */
shimniok 12:5dfa1ab47838 449 int dohelp(char *arg) {
shimniok 12:5dfa1ab47838 450 for (int i=0; command[i].cmd; i++) {
shimniok 12:5dfa1ab47838 451 int pad = 10 - strlen(command[i].cmd);
shimniok 12:5dfa1ab47838 452 while (pad--) fputc(' ', stdout);
shimniok 12:5dfa1ab47838 453 fputs(command[i].cmd, stdout);
shimniok 12:5dfa1ab47838 454 fputs(": ", stdout);
shimniok 12:5dfa1ab47838 455 fputs(command[i].desc, stdout);
shimniok 12:5dfa1ab47838 456 fputc('\n', stdout);
shimniok 0:a6a169de725f 457 }
shimniok 12:5dfa1ab47838 458
shimniok 12:5dfa1ab47838 459 return 0;
shimniok 0:a6a169de725f 460 }
shimniok 12:5dfa1ab47838 461
shimniok 12:5dfa1ab47838 462 /** dogyroswing
shimniok 12:5dfa1ab47838 463 * perform gyro swing, call external function
shimniok 12:5dfa1ab47838 464 */
shimniok 12:5dfa1ab47838 465 int dogyroswing(char *arg) {
shimniok 12:5dfa1ab47838 466 gyroSwing();
shimniok 12:5dfa1ab47838 467
shimniok 12:5dfa1ab47838 468 return 0;
shimniok 12:5dfa1ab47838 469 }
shimniok 12:5dfa1ab47838 470
shimniok 12:5dfa1ab47838 471 /** doreset
shimniok 12:5dfa1ab47838 472 * reset the processor
shimniok 12:5dfa1ab47838 473 */
shimniok 12:5dfa1ab47838 474 int doreset(char *arg) {
shimniok 12:5dfa1ab47838 475 resetMe();
shimniok 12:5dfa1ab47838 476 return 0; // won't ever reach this line...
shimniok 12:5dfa1ab47838 477 }
shimniok 12:5dfa1ab47838 478
shimniok 12:5dfa1ab47838 479 /** doautonomous
shimniok 12:5dfa1ab47838 480 * call external doAutonomous mode to perform an autonomous run
shimniok 12:5dfa1ab47838 481 */
shimniok 12:5dfa1ab47838 482 int doautonomous(char *arg) {
shimniok 12:5dfa1ab47838 483 autonomousMode();
shimniok 12:5dfa1ab47838 484
shimniok 12:5dfa1ab47838 485 return 0;
shimniok 12:5dfa1ab47838 486 }
shimniok 12:5dfa1ab47838 487
shimniok 12:5dfa1ab47838 488
shimniok 12:5dfa1ab47838 489 int dospeed(char *arg) {
shimniok 12:5dfa1ab47838 490 // TODO 3 dospeed()
shimniok 12:5dfa1ab47838 491 // int v = atoi(arg);
shimniok 12:5dfa1ab47838 492 // if (config.escMin < v && v < config.escMax {
shimniok 12:5dfa1ab47838 493 // fputs("speed=", stdout);
shimniok 12:5dfa1ab47838 494 // setThrottle(v);
shimniok 12:5dfa1ab47838 495 // printFloat(stdout, getThrottle(), 4);
shimniok 12:5dfa1ab47838 496 // fputc('\n', stdout);
shimniok 12:5dfa1ab47838 497 // }
shimniok 12:5dfa1ab47838 498 return 0;
shimniok 12:5dfa1ab47838 499 }
shimniok 12:5dfa1ab47838 500
shimniok 12:5dfa1ab47838 501 int dosteer(char *arg) {
shimniok 12:5dfa1ab47838 502 float v = cvstof(arg);
shimniok 12:5dfa1ab47838 503 fputs("angle=", stdout);
shimniok 12:5dfa1ab47838 504 printFloat(stdout, v, 4);
shimniok 12:5dfa1ab47838 505 fputs(" servo=", stdout);
shimniok 12:5dfa1ab47838 506 setSteering(v);
shimniok 12:5dfa1ab47838 507 // TODO 4 printFloat(stdout, getSteering(), 4);
shimniok 12:5dfa1ab47838 508 fputc('\n', stdout);
shimniok 12:5dfa1ab47838 509 return 0;
shimniok 12:5dfa1ab47838 510 }
shimniok 12:5dfa1ab47838 511
shimniok 12:5dfa1ab47838 512 int dotimes(char *arg) {
shimniok 12:5dfa1ab47838 513 int i;
shimniok 12:5dfa1ab47838 514 for (i = 1; i < 8; i++) {
shimniok 12:5dfa1ab47838 515 printInt(stdout, i);
shimniok 12:5dfa1ab47838 516 fputc(':', stdout);
shimniok 12:5dfa1ab47838 517 // TODO 4 printInt(stdout, getUpdateTime(i)-getUpdateTime(i-1));
shimniok 12:5dfa1ab47838 518 fputc('\n', stdout);
shimniok 12:5dfa1ab47838 519 }
shimniok 12:5dfa1ab47838 520 fputs("total:", stdout);
shimniok 12:5dfa1ab47838 521 // TODO 4 printInt(stdout, getUpdateTime(7)-getUpdateTime(0));
shimniok 12:5dfa1ab47838 522 fputc('\n', stdout);
shimniok 12:5dfa1ab47838 523 return 0;
shimniok 12:5dfa1ab47838 524 }
shimniok 12:5dfa1ab47838 525
shimniok 12:5dfa1ab47838 526 } // extern C