static void cliEnter(void)
{
cliMode = 1;
beginSerialPortFunction(cliPort, FUNCTION_CLI);
setPrintfSerialPort(cliPort);
cliPrint("\r\nEntering CLI Mode, type 'exit' to return, or 'help'\r\n");
cliPrompt();
}
void cliInit(void) {
serialPrint(cliHome);
serialPrint(cliClear);
sprintf(version, "%s.%d", VERSION, getBuildNumber());
cliFuncVer(0, 0);
serialPrint("\r\nCLI ready.\r\n");
cliPrompt();
}
void cliTask(void * pdata)
{
char line[CLI_COMMAND_MAX_LEN+1];
int pos = 0;
cliPrompt();
for (;;) {
uint8_t c;
while (!cliRxFifo.pop(c)) {
CoTickDelay(10); // 20ms
}
if (c == 12) {
// clear screen
serialPrint("\033[2J\033[1;1H");
cliPrompt();
}
else if (c == 127) {
// backspace
if (pos) {
line[--pos] = '\0';
serialPutc(c);
}
}
else if (c == '\r' || c == '\n') {
// enter
serialCrlf();
line[pos] = '\0';
cliExecLine(line);
pos = 0;
cliPrompt();
}
else if (isascii(c) && pos < CLI_COMMAND_MAX_LEN) {
line[pos++] = c;
serialPutc(c);
}
}
}
void cliProcess(void)
{
if (!cliMode) {
cliMode = 1;
cliPrint("\r\nEntering CLI Mode, type 'exit' to return, or 'help'\r\n");
cliPrompt();
}
while (serialTotalBytesWaiting(core.mainport)) {
uint8_t c = serialRead(core.mainport);
if (c == '\t' || c == '?') {
// do tab completion
const clicmd_t *cmd, *pstart = NULL, *pend = NULL;
unsigned int i = bufferIndex;
for (cmd = cmdTable; cmd < cmdTable + CMD_COUNT; cmd++) {
if (bufferIndex && (strncasecmp(cliBuffer, cmd->name, bufferIndex) != 0))
continue;
if (!pstart)
pstart = cmd;
pend = cmd;
}
if (pstart) { /* Buffer matches one or more commands */
for (; ; bufferIndex++) {
if (pstart->name[bufferIndex] != pend->name[bufferIndex])
break;
if (!pstart->name[bufferIndex] && bufferIndex < sizeof(cliBuffer) - 2) {
/* Unambiguous -- append a space */
cliBuffer[bufferIndex++] = ' ';
cliBuffer[bufferIndex] = '\0';
break;
}
cliBuffer[bufferIndex] = pstart->name[bufferIndex];
}
}
if (!bufferIndex || pstart != pend) {
/* Print list of ambiguous matches */
cliPrint("\r\033[K");
for (cmd = pstart; cmd <= pend; cmd++) {
cliPrint(cmd->name);
cliWrite('\t');
}
cliPrompt();
i = 0; /* Redraw prompt */
}
for (; i < bufferIndex; i++)
cliWrite(cliBuffer[i]);
} else if (!bufferIndex && c == 4) {
cliExit(cliBuffer);
return;
} else if (c == 12) {
// clear screen
cliPrint("\033[2J\033[1;1H");
cliPrompt();
} else if (bufferIndex && (c == '\n' || c == '\r')) {
// enter pressed
clicmd_t *cmd = NULL;
clicmd_t target;
cliPrint("\r\n");
cliBuffer[bufferIndex] = 0; // null terminate
target.name = cliBuffer;
target.param = NULL;
cmd = bsearch(&target, cmdTable, CMD_COUNT, sizeof cmdTable[0], cliCompare);
if (cmd)
cmd->func(cliBuffer + strlen(cmd->name) + 1);
else
cliPrint("ERR: Unknown command, try 'help'");
memset(cliBuffer, 0, sizeof(cliBuffer));
bufferIndex = 0;
// 'exit' will reset this flag, so we don't need to print prompt again
if (!cliMode)
return;
cliPrompt();
} else if (c == 127) {
// backspace
if (bufferIndex) {
cliBuffer[--bufferIndex] = 0;
cliPrint("\010 \010");
}
} else if (bufferIndex < sizeof(cliBuffer) && c >= 32 && c <= 126) {
if (!bufferIndex && c == 32)
continue;
cliBuffer[bufferIndex++] = c;
cliWrite(c);
}
}
}
void cliCheck(void) {
cliCommand_t *cmd = NULL;
if (cliTelemetry && !(runCount % cliTelemetry)) {
maxAmps = (adcMaxAmps - adcAmpsOffset) * adcToAmps;
serialPrint(cliHome);
sprintf(tempBuf, "Telemetry @ %d Hz\r\n\n", RUN_FREQ/cliTelemetry);
serialPrint(tempBuf);
cliFuncStatus(cmd, "");
serialPrint("\n> ");
serialPrint(cliBuf);
serialPrint(cliClearEOL);
}
while (serialAvailable()) {
char c = serialRead();
cliBuf[cliBufIndex++] = c;
if (cliBufIndex == sizeof(cliBuf)) {
cliBufIndex--;
c = '\n';
}
// EOL
if (cliBufIndex && (c == '\n' || c == '\r')) {
if (cliBufIndex > 1) {
serialPrint("\r\n");
serialPrint(cliClearEOS);
cliBuf[cliBufIndex-1] = 0;
cmd = cliCommandGet(cliBuf);
if (cmd)
cmd->cmdFunc(cmd, cliBuf + strlen(cmd->name));
else
serialPrint("Command not found");
if (commandMode != CLI_MODE) {
cliBufIndex = 0;
return;
}
}
cliPrompt();
}
// tab completion
else if (c == CLI_TAB) {
char *ret;
cliBuf[--cliBufIndex] = 0;
ret = cliTabComplete(cliBuf, cliBufIndex);
if (ret) {
cliBufIndex = strlen(ret);
memcpy(cliBuf, ret, cliBufIndex);
cliBuf[cliBufIndex++] = ' ';
serialPrint("\r> ");
serialPrint(cliBuf);
serialPrint(cliClearEOL);
}
}
// interrupt
else if (c == CLI_INTR) {
cliPrompt();
}
// backspace
else if (c == CLI_BS) {
if (cliBufIndex > 1) {
cliBuf[cliBufIndex-2] = 0;
serialPrint("\r> ");
serialPrint(cliBuf);
serialWrite(' ');
serialPrint("\r> ");
serialPrint(cliBuf);
cliBufIndex -= 2;
}
else {
cliBufIndex--;
}
}
// out of range character
else if (c < 32 || c > 126) {
serialWrite(CLI_BELL);
cliBufIndex--;
}
else {
serialWrite(c);
}
}
}
