void loopCommandLine(void) {
// print status if we're not in the menu
if (! menuEnabled) {
if (TimerReached(&cmdline_looptime, 1000)) {
printStatus();
}
}
// check for serial command
unsigned int c = uart_getc();
if (!(c & UART_NO_DATA)) {
if (! menuEnabled) {
menuEnabled=1;
printHelp();
}
switch((char) c) {
case 'x': case 'X': // terminates menu
uart_puts_P("Leaving menu." NEWLINESTR);
menuEnabled=0; break;
case 'b': case 'B': // show PID values
printPID(); break;
case 'r': case 'R': // reset PID values
restorePIDDefault(); break;
case 'o': case 'O': // print out PID debug data
togglePIDDebug(); break;
case 'p':
setPID_P(getPID_P() - delta); printPID(); break;
case 'P':
setPID_P(getPID_P() + delta); printPID();break;
case 'i':
setPID_I(getPID_I() - delta); printPID(); break;
case 'I':
setPID_I(getPID_I() + delta); printPID(); break;
case 'd':
setPID_D(getPID_D() - delta); printPID(); break;
case 'D':
setPID_D(getPID_D() + delta); printPID(); break;
case 't':
setPIDSetpoint(getPIDSetpoint() - delta); printPID(); break;
case 'T':
setPIDSetpoint(getPIDSetpoint() + delta); printPID(); break;
case 's': case 'S':
savePIDConfig(); break;
case '+': {// adjust delta
delta *= 10.0;
if (delta > MAX_DELTA) delta = MAX_DELTA;
uart_print_delta();
break;
}
case '-': {// adjust delta
delta /= 10.0;
if (delta < MIN_DELTA) delta = MIN_DELTA;
uart_print_delta();
break;
}
case '?': // show menu
printHelp(); break;
}
}
}
int printPID(int offsprings){
// wypisuje identyfikator procesu
printf("%d:%d:E execution\n", offsprings, getpid());
if(offsprings != 0){
// tworzy nowy proces
switch (fork()) {
// błąd
case -1:
fprintf(stderr, "Error in fork\n");
return -1;
// proces potomny
case 0:
printf("%d:%d:C creating\n", offsprings, getpid());
//wywołaj funkcję jeszcze raz i zmniejsz licznik
return printPID(--offsprings);
// proces macierzysty
default:
printf("%d:%d:P waiting\n", offsprings, getpid());
// czeka na zakończenie procesu potomnego
if(wait(0) == -1){
fprintf(stderr, "Error in wait\n");
return -1;
}
printf("%d:%d:P closing\n", offsprings, getpid());
return 0;
}
}
return 0;
}
int main ()
{
return printPID(4);
}
