Trikarus/firmware_smartstepper_trikarus/stepper_nano_zero/command.cpp
2020-07-20 22:21:36 +02:00

382 lines
9.1 KiB
C++

/**********************************************************************
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MisfitTech is a free download and may be used, modified, evaluated and
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text. The GPL V2 text is available on the gnu.org web site
- Commercial licensing -
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with the terms of the GPL V2 license must obtain a low cost commercial license
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This code is distributed in the hope that it will be useful. You cannot
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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
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*********************************************************************/
#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;
}