Trikarus/firmware_smartstepper_trikarus/stepper_nano_zero/command.cpp

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2021-08-08 14:43:38 +02:00
/**********************************************************************
Copyright (C) 2018 MisfitTech LLC, All rights reserved.
MisfitTech uses a dual license model that allows the software to be used under
a standard GPL open source license, or a commercial license. The standard GPL
license requires that all software statically linked with MisfitTec Code is
also distributed under the same GPL V2 license terms. Details of both license
options follow:
- Open source licensing -
MisfitTech is a free download and may be used, modified, evaluated and
distributed without charge provided the user adheres to version two of the GNU
General Public License (GPL) and does not remove the copyright notice or this
text. The GPL V2 text is available on the gnu.org web site
- Commercial licensing -
Businesses and individuals that for commercial or other reasons cannot comply
with the terms of the GPL V2 license must obtain a low cost commercial license
before incorporating MisfitTech code into proprietary software for distribution in
any form. Commercial licenses can be purchased from www.misfittech.net
and do not require any source files to be changed.
This code is distributed in the hope that it will be useful. You cannot
use MisfitTech's code unless you agree that you use the software 'as is'.
MisfitTech's code is provided WITHOUT ANY WARRANTY; without even the implied
warranties of NON-INFRINGEMENT, MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. MisfitTech LLC disclaims all conditions and terms, be they
implied, expressed, or statutory.
Written by Trampas Stern for MisfitTech.
Misfit Tech invests time and resources providing this open source code,
please support MisfitTech and open-source hardware by purchasing
products from MisfitTech, www.misifittech.net!
*********************************************************************/
#include "command.h"
#include <string.h>
#define ASCII_BACKSPACE 0x08
#define ASCII_ESC 0x1B
#define ASCII_UP_ARROW 0x9b
//const char CMD_ANSI_UP[]= {ASCII_ESC,'[','A',0};
int strcicmp(char const *a, char const *b)
{
for (;; a++, b++) {
int d = tolower(*a) - tolower(*b);
if (d != 0 || !*a)
return d;
}
}
int CommandInit(sCmdUart *ptrUart, uint8_t (*kbhit)(void), uint8_t (*getch)(void),uint8_t (*putch)(char data),uint8_t (*puts)(uint8_t *buffer, uint8_t size) )
{
ptrUart->kbhit=kbhit;
ptrUart->getch=getch;
ptrUart->putch=putch;
ptrUart->puts=puts;
ptrUart->histIndex=0;
ptrUart->buffIndex=0;
return 0;
}
#ifdef PGM_P //check and see if the PGM_P is defined for the AVR
int CommandPrintf(sCmdUart *ptrUart, const char *fmt, ...)
{
int ret=0;
char vastr[MAX_STRING]={0};
//char str[MAX_STRING]={0};
char *ptr;
va_list ap;
//LOG("Command printf");
memset(vastr,0,MAX_STRING);
va_start(ap,fmt);
ret=vsprintf(vastr,(const char *)fmt,ap);
//ret=sprintf(vastr,"%s\r\n",str);
//LOG("%s",vastr);
if (ptrUart->puts!=NULL)
{
return ptrUart->puts((uint8_t *)vastr, (uint8_t)ret);
}
if (ptrUart->putch!=NULL)
{
ptr=vastr;
while(*ptr)
{
ptrUart->putch(*ptr++);
}
return ret;
}
return 0;
}
#else
int CommandPrintf(sCmdUart *ptrUart, char *fmt, ...)
{
int ret=0;
char vastr[MAX_STRING]={0};
char *ptr;
va_list ap;
memset(vastr,0,MAX_STRING);
va_start(ap,fmt);
ret=vsprintf(vastr,(char *)fmt,ap);
if (ptrUart->puts!=NULL)
{
return ptrUart->puts((uint8_t *)vastr, (uint8_t)ret);
}
if (ptrUart->putch!=NULL)
{
ptr=vastr;
while(*ptr)
{
ptrUart->putch(*ptr++);
}
return ret;
}
return 0;
}
#endif
// the delimiter is command/parameter delimiter
// by default a ' '0x20 is used but for the TDR with GUI a ':' was preferred, not sure why
// set to ' '/0x20 if you want normal command parsing, like DOS
unsigned int CommandParse(sCmdUart *ptrUart,sCommand *ptrCmds, char *str, char delimitor )
{
char *ptr;
char *ptr2;
unsigned int i;
//char cmd[MAX_STRING];
char buff[MAX_CMD_LENGTH];
char argv[MAX_ARGS][MAX_ARG_LENGTH];
char *ptrArgv[MAX_ARGS];
unsigned int numArgs;
int emptyArg=0;
sCommand cmd_list;
while (*str==0x20 || *str=='\n' || *str=='\r' || *str=='\t') str++;
//first we need find command and arguments
ptr=strchr(str,delimitor); //find first char
//LOG("2parsing %s",str);
if (ptr==0)
{
//we have two options, frist whole thing is command
//second bad command
if(strlen(str)>0)
ptr=str+strlen(str);
else
return 0; //bad command
}
//copy string to command buffer.
i=0;
ptr2=str;
while(ptr!=0 && ptr!=ptr2 && i<(MAX_CMD_LENGTH-1))
{
//if (*ptr2!='\n' && *ptr2!='\r') //do not include newlines
{
buff[i++]=*ptr2;
}
ptr2++;
}
buff[i]=0;
//now buff contains the command let's get the args
numArgs=0;
while(*ptr!=0 && (*ptr==' ' || *ptr==delimitor))
ptr++; //increment pointer past ' '
if (*ptr!=0)
{
if (*ptr==34) // " char
{
ptr++;
ptr2=strchr(ptr,34); //find match
} else if (*ptr==39) // 'char
{
ptr++;
ptr2=strchr(ptr,39); //find match
} else
{
ptr2=strchr(ptr,delimitor);
}
if (ptr2==0)
{
//we have two options, frist whole thing is command
//second bad command
//LOG("strlen ptr is %d",strlen(ptr));
if(strlen(ptr)>0)
ptr2=ptr+strlen(ptr);
}
emptyArg=0;
while((ptr2!=0 && numArgs<MAX_ARGS) || emptyArg==1)
{
int j;
emptyArg=0;
j=0;
//LOG("arg %s",ptr);
while (ptr2!=ptr && j<(MAX_ARG_LENGTH-1) && ptr2!=0)
{
argv[numArgs][j++]=*ptr++;
}
argv[numArgs][j++]=0;
numArgs++;
ptr2=0;
if (*ptr!=0)
{
if (*ptr==34 || *ptr==39) ptr++;
if (*ptr==delimitor && strlen(ptr)==1)
{
//LOG("Empty arg");
emptyArg=1;
}
while(*ptr!=0 && (*ptr==' ' || *ptr==delimitor))//p || *ptr==34 || *ptr==39))
ptr++; //increment pointer past ' '
if (*ptr==34) // " char
{
ptr++;
ptr2=strchr(ptr,34); //find match
} else if (*ptr==39) // 'char
{
ptr++;
ptr2=strchr(ptr,39); //find match
} else
{
ptr2=strchr(ptr,delimitor);
}
if (ptr2==0)
{
//we have two options, frist whole thing is command
//second bad command
if(strlen(ptr)>0)
ptr2=ptr+strlen(ptr);
}
}
}
}
for(i=0; i<MAX_ARGS; i++)
{
ptrArgv[i]=argv[i];
}
//now let's parse the command
i=0;
memcpy(&cmd_list, &ptrCmds[i], sizeof(sCommand));
//LOG("command is %s %d",buff,numArgs);
while(cmd_list.function!=0)
{
/*char str[20];
strcpy_P(str,cmd_list.name);
LOG("checkign '%s' to '%s'",buff,str);
LOG("comapre is %d",strcmp_P(buff,cmd_list.name));
*/
//memcpy_P(&p, cmd_list.name, sizeof(PGM_P));
#ifdef PGM_P //check and see if the PGM_P is defined for the AVR
if (strlen(buff)==strlen_P(cmd_list.name))
{
if (strcicmp(buff,cmd_list.name)==0) //ignore device ID
#else
if (strlen(buff)==strlen(cmd_list.name))
{
if (strcicmp(buff,cmd_list.name)==0) //ignore device ID
#endif
{
//LOG("calling function");
//return 1;
return (*cmd_list.function)(ptrUart,numArgs,ptrArgv);
}
}
i=i+1;
memcpy(&cmd_list, &ptrCmds[i], sizeof(sCommand));
}
CommandPrintf(ptrUart,PSTR("Unknown command (try 'help')\n\r"));
return -1;
}
//This function will process commands from the UART
int CommandProcess(sCmdUart *ptrUart,sCommand *ptrCmds, char delimitor, char *cmdPrompt)
{
if(ptrUart->kbhit())
{
ptrUart->data=ptrUart->getch();
//echo the data
ptrUart->putch(ptrUart->data);
//if the data is the CR we need to process buffer
if (ptrUart->data==0x0D)
{
ptrUart->putch(0x0A);
if (strlen(ptrUart->buffer)>0)
{
if (ptrUart->lastChar!=ASCII_UP_ARROW)
{
strcpy(ptrUart->bufferHist[ptrUart->histIndex],ptrUart->buffer);
ptrUart->histIndex=(ptrUart->histIndex+1) % CMD_HISTORY;
}
CommandParse(ptrUart,ptrCmds,ptrUart->buffer,delimitor);
}
CommandPrintf(ptrUart,PSTR("\n\r%s"),cmdPrompt);
ptrUart->buffIndex=0;
ptrUart->buffer[ptrUart->buffIndex]=0;
}
if (ptrUart->data==ASCII_BACKSPACE) //backspace
{
if (ptrUart->buffIndex>0)
{
ptrUart->buffIndex--;
ptrUart->buffer[ptrUart->buffIndex]='\0';
//Echo the backspace
ptrUart->putch(' ');
ptrUart->putch(ASCII_BACKSPACE);
}
}else if (ptrUart->data != 0x0A && ptrUart->data !=0x0D && ptrUart->data<127)
{
ptrUart->buffer[ptrUart->buffIndex++]=ptrUart->data;
ptrUart->buffer[ptrUart->buffIndex]=0;
}
if (ptrUart->buffIndex>=(MAX_CMD_LENGTH-1))
{
CommandPrintf(ptrUart,PSTR("\n\rERROR: Command buffer overflow\n\r"));\
ERROR("Command buffer overflow");
ptrUart->buffIndex=0;
ptrUart->buffer[0]=0;
CommandPrintf(ptrUart,PSTR("\n\r%s"),cmdPrompt);
}
}
if (strstr(ptrUart->buffer,ANSI_UP)) //up arrow
{
uint8_t i;
CommandPrintf(ptrUart,PSTR("\n\r%s"),cmdPrompt);
i=CMD_HISTORY-1;
if (ptrUart->histIndex>0)
{
i=ptrUart->histIndex-1;
}
if (strlen(ptrUart->bufferHist[i])>0)
{
strcpy(ptrUart->buffer,ptrUart->bufferHist[i]);
ptrUart->buffIndex=strlen(ptrUart->buffer);
CommandPrintf(ptrUart,PSTR("%s"),ptrUart->buffer);
}else
{
ptrUart->buffIndex=0;
ptrUart->buffer[0]=0;
}
ptrUart->data=ASCII_UP_ARROW;
}
ptrUart->lastChar=ptrUart->data;
return 0;
}