void com_save(char *text[], char *path)
{
//删除旧有文件
unlink(path);
//新建文件并打开
int fd = open(path, O_WRONLY|O_CREATE);
if (fd == -1)
{
printf(1, "save failed, file can't open:\n");
setProgramStatus(SHELL);
exit();
}
if (text[0] == NULL)
{
close(fd);
return;
}
//写数据
write(fd, text[0], strlen(text[0]));
int i = 1;
for (; text[i] != NULL; i++)
{
printf(fd, "\n");
write(fd, text[i], strlen(text[i]));
}
close(fd);
printf(1, "saved successfully\n");
changed = 0;
return;
}
void dearmVehicle(){
int i = 1;
for (i = 1; i <= NUM_CHANNELS; i++){
setPWM(i, MIN_PWM);
}
setProgramStatus(UNARMED);
p_priority numPacket = PRIORITY1;
while (!vehicleArmed){
imuCommunication();
asm("CLRWDT");
writeDatalink(numPacket%3); //TODO: Change this for multiple packets
readDatalink();
inboundBufferMaintenance();
outboundBufferMaintenance();
Delay(200);
asm("CLRWDT");
numPacket = (numPacket + 1) % 3;
}
setProgramStatus(MAIN_EXECUTION);
}
void armVehicle(int delayTime){
setProgramStatus(ARMING);
asm("CLRWDT");
Delay(delayTime);
asm("CLRWDT");
setPWM(ROLL_OUT_CHANNEL, 0);
setPWM(PITCH_OUT_CHANNEL, 0);
setPWM(THROTTLE_OUT_CHANNEL, MIN_PWM);
setPWM(YAW_OUT_CHANNEL, 0);
setPWM(FLAP_OUT_CHANNEL, MIN_PWM);
asm("CLRWDT");
Delay(delayTime);
asm("CLRWDT");
}
void initialization(int* outputSignal){
setPWM(THROTTLE_OUT_CHANNEL, MIN_PWM);
p_priority numPacket = PRIORITY1;
setProgramStatus(UNARMED);
// char str[20];
// sprintf(str,"AM:%d, PM:%d",sizeof(AMData), sizeof(PMData));
// debug(str);
while (!vehicleArmed){
imuCommunication();
checkDMA();
asm("CLRWDT");
writeDatalink(numPacket%3);
readDatalink();
inboundBufferMaintenance();
outboundBufferMaintenance();
asm("CLRWDT");
Delay(200);
asm("CLRWDT");
numPacket = (numPacket + 1) % 3;
}
}
void com_exit(char *text[], char *path)
{
//询问是否保存
if (changed == 1)
{
printf(1, "save the file? y/n\n");
char input[MAX_LINE_LENGTH] = {};
gets(input, MAX_LINE_LENGTH);
input[strlen(input)-1] = '\0';
if (strcmp(input, "y") == 0)
com_save(text, path);
}
//释放内存
int i = 0;
for (; text[i] != NULL; i++)
{
free(text[i]);
text[i] = 0;
}
//退出
setProgramStatus(SHELL);
exit();
}
int main(int argc, char *argv[])
{
setProgramStatus(EDITOR);
if (argc == 1)
{
printf(1, "please input the command as [editor file_name]\n");
setProgramStatus(SHELL);
exit();
}
//存放文件内容
char *text[MAX_LINE_NUMBER] = {};
text[0] = malloc(MAX_LINE_LENGTH);
memset(text[0], 0, MAX_LINE_LENGTH);
//存储当前最大的行号，从0开始。即若line_number == x，则从text[0]到text[x]可用
int line_number = 0;
//尝试打开文件
int fd = open(argv[1], O_RDONLY);
//如果文件存在，则打开并读取里面的内容
if (fd != -1)
{
char buf[BUF_SIZE] = {};
int len = 0;
while ((len = read(fd, buf, BUF_SIZE)) > 0)
{
int i = 0;
int next = 0;
int is_full = 0;
while (i < len)
{
//拷贝"\n"之前的内容
for (i = next; i < len && buf[i] != '\n'; i++)
;
strcat_n(text[line_number], buf+next, i-next);
//必要时新建一行
if (i < len && buf[i] == '\n')
{
if (line_number >= MAX_LINE_NUMBER - 1)
is_full = 1;
else
{
line_number++;
text[line_number] = malloc(MAX_LINE_LENGTH);
memset(text[line_number], 0, MAX_LINE_LENGTH);
}
}
if (is_full == 1 || i >= len - 1)
break;
else
next = i + 1;
}
if (is_full == 1)
break;
}
close(fd);
}
//输出文件内容
show_text(text);
//输出帮助
com_help(text);
//处理命令
char input[MAX_LINE_LENGTH] = {};
while (1)
{
printf(1, "\nplease input command:\n");
memset(input, 0, MAX_LINE_LENGTH);
gets(input, MAX_LINE_LENGTH);
int len = strlen(input);
input[len-1] = '\0';
len --;
//寻找命令中第一个空格
int pos = MAX_LINE_LENGTH - 1;
int j = 0;
for (; j < 8; j++)
{
if (input[j] == ' ')
{
pos = j + 1;
break;
}
}
//ins
if (input[0] == 'i' && input[1] == 'n' && input[2] == 's')
{
if (input[3] == '-')
com_ins(text, atoi(&input[4]), &input[pos]);
else
com_ins(text, line_number+1, &input[pos]);
//插入操作需要更新行号
line_number = get_line_number(text);
}
//mod
else if (input[0] == 'm' && input[1] == 'o' && input[2] == 'd')
{
if (input[3] == '-')
com_mod(text, atoi(&input[4]), &input[pos]);
else
com_mod(text, line_number + 1, &input[pos]);
}
//del
else if (input[0] == 'd' && input[1] == 'e' && input[2] == 'l')
{
if (input[3] == '-')
com_del(text, atoi(&input[4]));
else
com_del(text, line_number + 1);
//删除操作需要更新行号
line_number = get_line_number(text);
}
else if (strcmp(input, "show") == 0)
{
auto_show = 1;
printf(1, "enable show current contents after text changed.\n");
}
else if (strcmp(input, "hide") == 0)
{
auto_show = 0;
printf(1, "disable show current contents after text changed.\n");
}
else if (strcmp(input, "help") == 0)
com_help(text);
else if (strcmp(input, "save") == 0 || strcmp(input, "CTRL+S\n") == 0)
com_save(text, argv[1]);
else if (strcmp(input, "exit") == 0)
com_exit(text, argv[1]);
else
{
printf(1, "invalid command.\n");
com_help(text);
}
}
setProgramStatus(SHELL);
exit();
}
