177 lines
3.8 KiB
C
177 lines
3.8 KiB
C
/*
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* shell_commands.c
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*
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* Created on: Aug 10, 2016
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* Author: tkl
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*/
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#include <stddef.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdbool.h>
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#include <stdint.h>
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#include "list.h"
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#include "driver.h"
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#include "shell.h"
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#include "queue.h"
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#include "stack.h"
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#include "kernel.h"
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#include "drive_ctrl.h"
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#include "version.h"
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#include "sensor_data.h"
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static void *drive_turn_right_cb(const char *param);
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static void *drive_turn_left_cb(const char *param);
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static void *drive_boost_cb(const char *param);
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static void *drive_retard_cb(const char *param);
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static void *drive_halt_cb(const char *param);
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static void *drive_forward_cb(const char *param);
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static void *drive_backward_cb(const char *param);
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static void *app_version(const char *param);
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static void *sys_msg_on_cb(const char *param);
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static void *sys_msg_off_cb(const char *param);
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static struct command cmd_sys_msg_on = {
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.command = "sys on",
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.description = "Switch system message on.",
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.command_callback = sys_msg_on_cb,
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};
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static struct command cmd_sys_msg_off = {
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.command = "sys off",
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.description = "Switch system message off.",
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.command_callback = sys_msg_off_cb,
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};
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static struct command cmd_app_version = {
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.command = "version",
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.description = "Get application version.",
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.command_callback = app_version,
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};
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static struct command drive_forward = {
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.command = "f",
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.description = "Start driving forward with preset speed.",
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.command_callback = drive_forward_cb,
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};
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static struct command drive_backward = {
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.command = "b",
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.description = "Start driving backward with preset speed.",
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.command_callback = drive_backward_cb,
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};
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static struct command drive_halt = {
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.command = "h",
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.description = "Stop driving.",
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.command_callback = drive_halt_cb,
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};
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static struct command drive_boost = {
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.command = "+",
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.description = "Boost speed.",
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.command_callback = drive_boost_cb,
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};
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static struct command drive_retard = {
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.command = "-",
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.description = "Retard speed",
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.command_callback = drive_retard_cb,
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};
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static struct command drive_turn_left = {
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.command = "l",
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.description = "Turn left.",
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.command_callback = drive_turn_left_cb,
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};
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static struct command drive_turn_right = {
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.command = "r",
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.description = "Turn right",
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.command_callback = drive_turn_right_cb,
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};
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int shell_commands_init(void)
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{
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shell_add_command(&cmd_app_version);
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shell_add_command(&drive_forward);
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shell_add_command(&drive_backward);
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shell_add_command(&drive_boost);
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shell_add_command(&drive_retard);
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shell_add_command(&drive_halt);
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shell_add_command(&drive_turn_left);
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shell_add_command(&drive_turn_right);
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shell_add_command(&cmd_sys_msg_off);
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shell_add_command(&cmd_sys_msg_on);
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return 0;
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}
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static void *drive_turn_right_cb(const char *param)
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{
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drive_ctrl_turn_right();
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return NULL;
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}
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static void *drive_turn_left_cb(const char *param)
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{
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drive_ctrl_turn_left();
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return NULL;
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}
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static void *drive_boost_cb(const char *param)
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{
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drive_ctrl_boost();
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return NULL;
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}
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static void *drive_retard_cb(const char *param)
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{
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drive_ctrl_retard();
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return NULL;
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}
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static void *drive_halt_cb(const char *param)
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{
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drive_ctrl_halt();
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return NULL;
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}
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static void *drive_forward_cb(const char *param)
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{
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drive_ctrl_forward();
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return NULL;
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}
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static void *drive_backward_cb(const char *param)
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{
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drive_ctrl_backward();
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return NULL;
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}
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static void *app_version(const char *param)
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{
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char *greeter = "engine_control version: ";
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shell_write(greeter, strlen(greeter));
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shell_write(MAJOR_VERSION, strlen(MAJOR_VERSION));
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shell_write(".", 1);
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shell_write(MINOR_VERSION, strlen(MINOR_VERSION));
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shell_write(".", 1);
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shell_write(BUILD_NUMBER, strlen(BUILD_NUMBER));
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shell_write("\r\n", 2);
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return NULL;
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}
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static void *sys_msg_on_cb(const char *param)
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{
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sensor_data_sys_msg(true);
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return NULL;
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}
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static void *sys_msg_off_cb(const char *param)
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{
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sensor_data_sys_msg(false);
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return NULL;
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}
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