/// get_next_nav_cmd - gets next "navigation" command found at or after start_index
/// returns true if found, false if not found (i.e. reached end of mission command list)
/// accounts for do_jump commands but never increments the jump's num_times_run (advance_current_nav_cmd is responsible for this)
bool AP_Mission::get_next_nav_cmd(uint16_t start_index, Mission_Command& cmd)
{
uint16_t cmd_index = start_index;
Mission_Command temp_cmd;
// search until the end of the mission command list
while(cmd_index < (unsigned)_cmd_total) {
// get next command
if (!get_next_cmd(cmd_index, temp_cmd, false)) {
// no more commands so return failure
return false;
}else{
// if found a "navigation" command then return it
if (is_nav_cmd(temp_cmd)) {
cmd = temp_cmd;
return true;
}else{
// move on in list
cmd_index++;
}
}
}
// if we got this far we did not find a navigation command
return false;
}
/// advance_current_nav_cmd - moves current nav command forward
/// do command will also be loaded
/// accounts for do-jump commands
// returns true if command is advanced, false if failed (i.e. mission completed)
bool AP_Mission::advance_current_nav_cmd()
{
Mission_Command cmd;
uint16_t cmd_index;
// exit immediately if we're not running
if (_flags.state != MISSION_RUNNING) {
return false;
}
// exit immediately if current nav command has not completed
if (_flags.nav_cmd_loaded) {
return false;
}
// stop the current running do command
_do_cmd.index = AP_MISSION_CMD_INDEX_NONE;
_flags.do_cmd_loaded = false;
_flags.do_cmd_all_done = false;
// get starting point for search
cmd_index = _nav_cmd.index;
if (cmd_index == AP_MISSION_CMD_INDEX_NONE) {
// start from beginning of the mission command list
cmd_index = AP_MISSION_FIRST_REAL_COMMAND;
}else{
// start from one position past the current nav command
cmd_index++;
}
// search until we find next nav command or reach end of command list
while (!_flags.nav_cmd_loaded) {
// get next command
if (!get_next_cmd(cmd_index, cmd, true)) {
return false;
}
// check if navigation or "do" command
if (is_nav_cmd(cmd)) {
// save previous nav command index
_prev_nav_cmd_index = _nav_cmd.index;
// set current navigation command and start it
_nav_cmd = cmd;
_flags.nav_cmd_loaded = true;
_cmd_start_fn(_nav_cmd);
}else{
// set current do command and start it (if not already set)
if (!_flags.do_cmd_loaded) {
_do_cmd = cmd;
_flags.do_cmd_loaded = true;
_cmd_start_fn(_do_cmd);
}
}
// move onto next command
cmd_index = cmd.index+1;
}
// if we got this far we must have successfully advanced the nav command
return true;
}
/* This getch behaves like normal getch, except if we're running a macro, it
* gets the next key in that macro instead of user input
*/
int Getch(){
int to_ret = 0;
if((recording_macro || (to_ret = get_next_cmd()) == 0)){
while((to_ret = getch()) == ERR);
record_cmd(to_ret);
}
return to_ret;
}
/// get_next_do_cmd - gets next "do" or "conditional" command after start_index
/// returns true if found, false if not found
/// stops and returns false if it hits another navigation command before it finds the first do or conditional command
/// accounts for do_jump commands but never increments the jump's num_times_run (advance_current_nav_cmd is responsible for this)
bool AP_Mission::get_next_do_cmd(uint16_t start_index, Mission_Command& cmd)
{
Mission_Command temp_cmd;
// check we have not passed the end of the mission list
if (start_index >= (unsigned)_cmd_total) {
return false;
}
// get next command
if (!get_next_cmd(start_index, temp_cmd, false)) {
// no more commands so return failure
return false;
}else if (is_nav_cmd(temp_cmd)) {
// if it's a "navigation" command then return false because we do not progress past nav commands
return false;
}else{
// this must be a "do" or "conditional" and is not a do-jump command so return it
cmd = temp_cmd;
return true;
}
}
// set_current_cmd - jumps to command specified by index
bool AP_Mission::set_current_cmd(uint16_t index)
{
Mission_Command cmd;
// sanity check index and that we have a mission
if (index >= (unsigned)_cmd_total || _cmd_total == 1) {
return false;
}
// stop the current running do command
_do_cmd.index = AP_MISSION_CMD_INDEX_NONE;
_flags.do_cmd_loaded = false;
_flags.do_cmd_all_done = false;
// stop current nav cmd
_flags.nav_cmd_loaded = false;
// if index is zero then the user wants to completely restart the mission
if (index == 0 || _flags.state == MISSION_COMPLETE) {
_prev_nav_cmd_index = AP_MISSION_CMD_INDEX_NONE;
// reset the jump tracking to zero
init_jump_tracking();
if (index == 0) {
index = 1;
}
}
// if the mission is stopped or completed move the nav_cmd index to the specified point and set the state to stopped
// so that if the user resumes the mission it will begin at the specified index
if (_flags.state != MISSION_RUNNING) {
// search until we find next nav command or reach end of command list
while (!_flags.nav_cmd_loaded) {
// get next command
if (!get_next_cmd(index, cmd, true)) {
_nav_cmd.index = AP_MISSION_CMD_INDEX_NONE;
return false;
}
// check if navigation or "do" command
if (is_nav_cmd(cmd)) {
// set current navigation command
_nav_cmd = cmd;
_flags.nav_cmd_loaded = true;
}else{
// set current do command
if (!_flags.do_cmd_loaded) {
_do_cmd = cmd;
_flags.do_cmd_loaded = true;
}
}
// move onto next command
index = cmd.index+1;
}
// if we got this far then the mission can safely be "resumed" from the specified index so we set the state to "stopped"
_flags.state = MISSION_STOPPED;
return true;
}
// the state must be MISSION_RUNNING
// search until we find next nav command or reach end of command list
while (!_flags.nav_cmd_loaded) {
// get next command
if (!get_next_cmd(index, cmd, true)) {
// if we run out of nav commands mark mission as complete
complete();
// return true because we did what was requested
// which was apparently to jump to a command at the end of the mission
return true;
}
// check if navigation or "do" command
if (is_nav_cmd(cmd)) {
// save previous nav command index
_prev_nav_cmd_index = _nav_cmd.index;
// set current navigation command and start it
_nav_cmd = cmd;
_flags.nav_cmd_loaded = true;
_cmd_start_fn(_nav_cmd);
}else{
// set current do command and start it (if not already set)
if (!_flags.do_cmd_loaded) {
_do_cmd = cmd;
_flags.do_cmd_loaded = true;
_cmd_start_fn(_do_cmd);
}
}
// move onto next command
index = cmd.index+1;
}
// if we got this far we must have successfully advanced the nav command
return true;
}
gboolean get_next_command(gpointer data) {
get_next_cmd();
return TRUE;
}
void readline(shell_struct *shell)
{
int i;
int end = 0; /*stoppe la saisie lorsqu'il vaut 1*/
int cur_col = 0; /*dans le terminal, indique la position du pointeur*/
struct winsize ws;
ioctl(STDOUT_FILENO, TIOCGWINSZ, &ws);
int colonnes = ws.ws_col;
cur_col = shellPrompt(0);
fflush(stdout);
printf("\033[s");
struct termios oldt;
if (tcgetattr(0, &oldt) != 0) {
perror("Erreur tcget");
}
struct termios newt = oldt;
cfmakeraw(&newt);
/* On change la structure termios default, on ajout un retour chariot a chaque newline detecté */
//newt.c_oflag |= (ONLCR | OPOST);
if (tcsetattr(0, TCSANOW, &newt) != 0) {
perror("Erreur tcset");
}
char *com_hist;
int count = 0;/*sauvegarde le nombre de char dans le buffer*/
int pos = 0;/*position du curseur dans le buffer buf*/
/*variables pour la tabulation*/
struct tab tabu;
init_tab(&tabu);
shell->buf[count] = '\0';
do {
int t, m;
int c = getbigchar();
switch (c) {
case 1: /*C^a*/
while (pos > 0) {
move_left(&pos,&cur_col,colonnes);
}
break;
case 3: /*C^c*/
shell->buf[0] = '\0';
break;
case 4: /*C^D*/
shell->end_b = 1;
end = 1;
shell->buf[0] = '\n';
break;
case 5: /*C^e*/
while (pos != count) {
move_right(&pos,&cur_col,colonnes,count);
}
break;
case 9:/*TAB autocompletion */
tabu.tab = 1;
/*tab est pressé pour la première fois*/
if (tabu.noccur == 0){
/*on récupère le dernier mot*/
tabu.lw = lastword(shell->buf, &(shell->buf[pos]), &(tabu.after_com), ' ');
/*on sauvegarde la position*/
tabu.save_pos = pos - strlen(tabu.lw);
}
/*on efface*/
while( pos > tabu.save_pos){
move_left(&pos,&cur_col,colonnes);
del_char(&pos, &cur_col, colonnes, &count, shell);
}
++tabu.noccur;
tabu.suggest = look_up_command(tabu.lw, tabu.noccur, tabu.after_com);
if (!strncmp(tabu.suggest, "",1)){
tabu.noccur = 1;
tabu.suggest = tabu.lw; /*on reprend le mot de base*/
}
/*on insère*/
i = 0;
while (tabu.suggest[i] != '\0') {
insert_char(&pos, &cur_col, colonnes, &count, shell, tabu.suggest[i]);
i++;
}
break;
case 11:/*^Ck*/
strncpy(shell->save_buf, &shell->buf[pos], count - pos);
shell->save_buf[(count + 1) - pos] = '\0';
while(pos != count) {
del_char(&pos,&cur_col,colonnes,&count,shell);
}
break;
case 13:/*Enter*/
end = 1;
while (pos != count) {
move_right(&pos,&cur_col,colonnes,count);
}
strncmp(shell->buf, "\0", 1) ? insert_new_cmd(shell->buf) : 0;
shell->buf[pos] = '\0';
break;
case 25:/*C^y*/
i = 0;
while (shell->save_buf[i] != '\0') {
insert_char(&pos, &cur_col, colonnes, &count, shell, shell->save_buf[i]);
i++;
}
break;
case 2: /*C^b*/
case KLEFT:
move_left(&pos, &cur_col, colonnes);
break;
case 6:/*C^f*/
case KRIGHT:
move_right(&pos, &cur_col, colonnes, count);
break;
case KUP:/*historique -*/
if (!is_empty_hist()){
printf("\033[u");
printf("\033[K");
cur_col = shellPrompt(0);
com_hist = get_prev_cmd();
printf("%s", com_hist);
strncpy(shell->buf, com_hist, strlen(com_hist) + 1);
cur_col += strlen(com_hist);
count = strlen(com_hist);
pos = count;
}
break;
case KDOWN:/*historique +*/
if (!is_empty_hist()){
printf("\033[u");
printf("\033[K");
cur_col = shellPrompt(0);
com_hist = get_next_cmd();
printf("%s", com_hist);
strncpy(shell->buf, com_hist, strlen(com_hist) + 1);
cur_col += strlen(com_hist);
count = strlen(com_hist);
pos = count;
}
break;
case KDEL: /* Touche suppr */
del_char(&pos,&cur_col,colonnes,&count,shell);
break;
case 127: /* Touche retour (del) */
tabu.noccur = 0;
if (pos == 0) {
break;
}
if (pos < count) {
for (i = pos - 1; i < count; i++) {
shell->buf[i] = shell->buf[i + 1];
}
} else {
shell->buf[pos - 1] = '\0';
}
if (cur_col > 0) {
printf("\033[D");
cur_col--;
} else {
printf("\033[A\033[%dC", colonnes - 1);
cur_col = colonnes - 1;
}
count--;
pos--;
printf("%s ", &shell->buf[pos]);
t = count - pos + 1;
m = (t + cur_col - 1) / colonnes;
if (m > 0) {
printf("\033[%dA", m);
}
t -= m * colonnes;
if (t > 0) {
printf("\033[%dD", t);
} else if (t < 0) {
printf("\033[%dC", -t);
}
break;
default:
if (tabu.tab){
tabu.noccur = 0;
}
insert_char(&pos, &cur_col, colonnes, &count, shell, c);
break;
}
fflush(stdout);
} while (!end);
if (tcsetattr(0, TCSANOW, &oldt) != 0) {
perror("erreur tcset");
}
printf("\n");
}
