uint8_t TURN_ParseCommand(const unsigned char *cmd, bool *handled, const CLS1_StdIOType *io) {
uint8_t res = ERR_OK;
const unsigned char *p;
uint8_t val8u;
uint16_t val16u;
if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_HELP)==0 || UTIL1_strcmp((char*)cmd, (char*)"turn help")==0) {
TURN_PrintHelp(io);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_STATUS)==0 || UTIL1_strcmp((char*)cmd, (char*)"turn status")==0) {
TURN_PrintStatus(io);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn left")==0) {
TURN_Turn(TURN_LEFT90, FALSE);
TURN_Turn(TURN_STOP, FALSE);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn right")==0) {
TURN_Turn(TURN_RIGHT90, FALSE);
TURN_Turn(TURN_STOP, FALSE);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn around")==0) {
TURN_Turn(TURN_LEFT180, FALSE);
TURN_Turn(TURN_STOP, FALSE);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn forward")==0) {
REF_ClearHistory(); /* clear values */
TURN_Turn(TURN_STEP_FW, FALSE);
TURN_Turn(TURN_STOP, FALSE);
CLS1_SendStr((unsigned char*)REF_LineKindStr(REF_HistoryLineKind()), CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", CLS1_GetStdio()->stdOut);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn backward")==0) {
TURN_Turn(TURN_STEP_BW, FALSE);
TURN_Turn(TURN_STOP, FALSE);
*handled = TRUE;
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn duty ", sizeof("turn duty ")-1)==0) {
p = cmd+sizeof("turn duty");
if (UTIL1_ScanDecimal8uNumber(&p, &val8u)==ERR_OK && val8u<=100) {
TURN_DutyPercent = val8u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument, must be in the range -100..100\r\n", io->stdErr);
res = ERR_FAILED;
}
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn time ", sizeof("turn time ")-1)==0) {
p = cmd+sizeof("turn time");
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)==ERR_OK) {
TURN_TimeMs = val16u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument\r\n", io->stdErr);
res = ERR_FAILED;
}
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn step ", sizeof("turn step ")-1)==0) {
p = cmd+sizeof("turn step");
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)==ERR_OK) {
TURN_StepMs = val16u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument\r\n", io->stdErr);
res = ERR_FAILED;
}
}
return res;
}
uint8_t TURN_ParseCommand(const unsigned char *cmd, bool *handled, const CLS1_StdIOType *io) {
uint8_t res = ERR_OK;
const unsigned char *p;
#if !PL_HAS_QUADRATURE
uint8_t val8u;
#endif
uint16_t val16u;
if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_HELP)==0 || UTIL1_strcmp((char*)cmd, (char*)"turn help")==0) {
TURN_PrintHelp(io);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)CLS1_CMD_STATUS)==0 || UTIL1_strcmp((char*)cmd, (char*)"turn status")==0) {
TURN_PrintStatus(io);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn left 45")==0) {
TURN_Turn(TURN_LEFT45);
TURN_Turn(TURN_STOP);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn left 90")==0) {
TURN_Turn(TURN_LEFT90);
TURN_Turn(TURN_STOP);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn right 45")==0) {
TURN_Turn(TURN_RIGHT45);
TURN_Turn(TURN_STOP);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn right 90")==0) {
TURN_Turn(TURN_RIGHT90);
TURN_Turn(TURN_STOP);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn around")==0) {
TURN_Turn(TURN_LEFT180);
TURN_Turn(TURN_STOP);
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn forward")==0) {
#if PL_APP_LINE_MAZE
REF_ClearHistory(); /* clear values */
#endif
TURN_Turn(TURN_STEP_FW);
TURN_Turn(TURN_STOP);
#if PL_APP_LINE_MAZE
CLS1_SendStr((unsigned char*)REF_LineKindStr(REF_HistoryLineKind()), CLS1_GetStdio()->stdOut);
CLS1_SendStr((unsigned char*)"\r\n", CLS1_GetStdio()->stdOut);
#endif
*handled = TRUE;
} else if (UTIL1_strcmp((char*)cmd, (char*)"turn backward")==0) {
TURN_Turn(TURN_STEP_BW);
TURN_Turn(TURN_STOP);
*handled = TRUE;
#if PL_HAS_QUADRATURE
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn steps90 ", sizeof("turn steps90 ")-1)==0) {
p = cmd+sizeof("turn steps90");
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)==ERR_OK) {
TURN_Steps90 = val16u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument\r\n", io->stdErr);
res = ERR_FAILED;
}
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn stepsfw ", sizeof("turn stepsfw ")-1)==0) {
p = cmd+sizeof("turn stepsfw");
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)==ERR_OK) {
TURN_StepsFwBw = val16u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument\r\n", io->stdErr);
res = ERR_FAILED;
}
#else
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn duty ", sizeof("turn duty ")-1)==0) {
p = cmd+sizeof("turn duty");
if (UTIL1_ScanDecimal8uNumber(&p, &val8u)==ERR_OK && val8u<=100) {
TURN_DutyPercent = val8u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument, must be in the range -100..100\r\n", io->stdErr);
res = ERR_FAILED;
}
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn time90 ", sizeof("turn time90 ")-1)==0) {
p = cmd+sizeof("turn time90");
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)==ERR_OK) {
TURN_Time90ms = val16u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument\r\n", io->stdErr);
res = ERR_FAILED;
}
} else if (UTIL1_strncmp((char*)cmd, (char*)"turn timefw ", sizeof("turn timefw ")-1)==0) {
p = cmd+sizeof("turn timefw");
if (UTIL1_ScanDecimal16uNumber(&p, &val16u)==ERR_OK) {
TURN_StepFwBwMs = val16u;
*handled = TRUE;
} else {
CLS1_SendStr((unsigned char*)"Wrong argument\r\n", io->stdErr);
res = ERR_FAILED;
}
#endif
}
return res;
}
