/*
** Print an array of words in columns.
*/
void el_print_columns(int ac, char **av)
{
char *p;
int i;
int j;
int k;
int len;
int skip;
int longest;
int cols;
/* Find longest name, determine column count from that. */
for (longest = 0, i = 0; i < ac; i++)
if ((j = strlen((char *)av[i])) > longest)
longest = j;
cols = tty_cols / (longest + 3);
tty_puts(NEWLINE);
for (skip = ac / cols + 1, i = 0; i < skip; i++) {
for (j = i; j < ac; j += skip) {
for (p = av[j], len = strlen((char *)p), k = len; --k >= 0; p++)
tty_put(*p);
if (j + skip < ac)
while (++len < longest + 3)
tty_put(' ');
}
tty_puts(NEWLINE);
}
}
static void clear_line(void)
{
rl_point = -(int)strlen(rl_prompt);
tty_put('\r');
ceol();
rl_point = 0;
rl_end = 0;
rl_line_buffer[0] = '\0';
}
static void reposition(void)
{
int i;
tty_put('\r');
tty_puts(rl_prompt);
for (i = 0; i < rl_point; i++)
tty_show(rl_line_buffer[i]);
}
void loop_states(void)
{
char c;
for(;;)
{
for(;robot_state == CONNECTED;)
{
//wait for commands
if(!bt_rx_empty())
{
c = bt_get_block();
if (is_endchar(c))
{
char buffer[128];
if (bt_get_command(buffer))
{
// interpret command
if (interpret_command(buffer) && robot_state == CONNECTED)
{
tty_puts("COMMAND: ");
tty_puts(buffer);
tty_puts("\r\n");
}
}
}
}
}
for(;robot_state == DISCONNECTED;)
{
//loopback BLUETOOTH <--> UART1 interface (ttyUSB)
if (!tty_rx_empty())
{
c = tty_get_noblock();
bt_put(c);
}
if(!bt_rx_empty())
{
c = bt_get_noblock();
tty_put(c);
//still check for commands as connected disconnected
if (is_endchar(c))
{
char buffer[128];
if (bt_get_command(buffer))
{
interpret_command(buffer);
}
}
}
}
}
}
int tty_bufc(char ch)
{
int rc=OK;
if(out_bufpos==OUT_MAXBUF) {
rc=tty_put(out_buffer,OUT_MAXBUF);
out_bufpos=0;
}
out_buffer[out_bufpos++]=ch;
return rc;
}
static el_status_t delete_string(int count)
{
int i;
char *p;
if (count <= 0 || rl_end == rl_point)
return el_ring_bell();
if (count == 1 && rl_point == rl_end - 1) {
/* Optimize common case of delete at end of line. */
rl_end--;
p = &rl_line_buffer[rl_point];
i = 1;
tty_put(' ');
if (ISCTL(*p)) {
i = 2;
tty_put(' ');
} else if (rl_meta_chars && ISMETA(*p)) {
i = 3;
tty_put(' ');
tty_put(' ');
}
tty_backn(i);
*p = '\0';
return CSmove;
}
if (rl_point + count > rl_end && (count = rl_end - rl_point) <= 0)
return CSstay;
if (count > 1)
save_yank(rl_point, count);
for (p = &rl_line_buffer[rl_point], i = rl_end - (rl_point + count) + 1; --i >= 0; p++)
p[0] = p[count];
ceol();
rl_end -= count;
tty_string(&rl_line_buffer[rl_point]);
return CSmove;
}
static void ceol(void)
{
int extras;
int i;
char *p;
for (extras = 0, i = rl_point, p = &rl_line_buffer[i]; i <= rl_end; i++, p++) {
tty_put(' ');
if (ISMETA(*p)) {
if (rl_meta_chars) {
tty_put(' ');
tty_put(' ');
extras += 2;
}
} if (ISCTL(*p)) {
tty_put(' ');
extras++;
}
}
for (i += extras; i > rl_point; i--)
tty_back();
}
static void tty_show(unsigned char c)
{
if (c == DEL) {
tty_put('^');
tty_put('?');
} else if (ISCTL(c)) {
tty_put('^');
tty_put(UNCTL(c));
} else if (rl_meta_chars && ISMETA(c)) {
tty_put('M');
tty_put('-');
tty_put(UNMETA(c));
} else {
tty_put(c);
}
}
void tty_puts(const char * string)
{
#ifdef BUFFERED
while(*string)
{
buffer_put(&u1tx, *string);
usart_enable_tx_interrupt(USART1);
string++;
}
#else
while(*string)
{
tty_put(*string);
string++;
}
#endif
}
int tty_putc(char ch) { return tty_put((byte*)&ch,1); }
int tty_bufflush()
{
int rc=tty_put(out_buffer,out_bufpos);
out_bufpos=0;
return rc;
}
el_status_t el_ring_bell(void)
{
tty_put('\07');
tty_flush();
return CSstay;
}
static void tty_puts(const char *p)
{
while (*p)
tty_put(*p++);
}
