rcrf-wifi/rx_esp32/src/commands.c

#include <CLI/CLI.h>
#include <CMDList/CMDList.h>

#include <stdint.h>
#include <stdio.h>
#include <stdbool.h>
#include <limits.h>
#include <string.h>

#include "commands.h"
#include "logger.h"
#include "utils.h"
#include "led.h"
#include "servos.h"

typedef enum {
	BOAT_AVAILABLE,
	BOAT_INCTRL,
	BOAT_LOCKED
} boatStatus_t;
boatStatus_t BoatStatus = BOAT_AVAILABLE;

char* readInt(char* str, uint32_t* out)
{
	*out = 0;
	while ((*str >= '0') && (*str <= '9'))
	{
		*out *= 10;
		*out += *str - '0';
		str++;
	}
	return str;
}

int cmd_contrl(char* line, void* cli)
{
	uint32_t ch_d[2];
	int out = 0;
	char msg[40];

	char* arg = getNextArg(line, ':');
	if (arg == NULL)
	{
		snprintf(&msg[0], 40, "no arguments given, expect 2\n");
		CLI_stringOut((CLI_t*)cli, &msg[0]);
		out = -1;
	}
	else
	{
		readInt(arg, &ch_d[0]);
		arg = getNextArg(arg, ',');
		if (arg == NULL)
		{
			snprintf(&msg[0], 40, "one argument given, expect 2\n");
			CLI_stringOut((CLI_t*)cli, &msg[0]);
			out = -2;
		}
		else
		{
			readInt(arg, &ch_d[1]);

			servo_set(0, (uint8_t)ch_d[0]);
			servo_set(1, (uint8_t)ch_d[1]);
			snprintf(&msg[0], 40, "channel data: 0:%lu, 1:%lu\n", ch_d[0], ch_d[1]);
			CLI_stringOut((CLI_t*)cli, &msg[0]);
		}
	}
	return out;
}

// servotrim:0 410;614;819
int cmd_servotrim(char* line, void* cli)
{
	uint8_t ch;
	int out = 0;
	char msg[40];

	char* arg = getNextArg(line, ':');
	if (arg == NULL)
	{
		snprintf(&msg[0], 40, "no arguments given, expect at least one\n");
		CLI_stringOut((CLI_t*)cli, &msg[0]);
		out = -1;
	}
	else
	{
		readInt(arg, &ch);
		arg = getNextArg(arg, ' ');
		if (arg != NULL)
		{
			readInt(arg, &Servos[ch].pulse_min);
			arg = getNextArg(arg, ':');
			readInt(arg, &Servos[ch].pulse_mid);
			arg = getNextArg(arg, ':');
			readInt(arg, &Servos[ch].pulse_max);
		}
		snprintf(&msg[0], 40, "servo ch %d: %d:%d:%d\n", Servos[ch].pulse_min, Servos[ch].pulse_mid, Servos[ch].pulse_max);
		CLI_stringOut((CLI_t*)cli, &msg[0]);
	}
	return out;
}

extern volatile bool running;
int cmd_shutdown(char* line, void* cli)
{
	CLI_stringOut((CLI_t*)cli, "goodby.\n");
	running = false;
	return INT_MIN;
}

int cmd_status(char* line, void* cli)
{
	char* arg = getNextArg(line, ':');
	int ret = 0;
	if (arg != NULL)
	{
		if (strcmp(arg, "available") == 0)
		{
			BoatStatus = BOAT_AVAILABLE;
		}
		else if (strcmp(arg, "inctrl") == 0)
		{
			BoatStatus = BOAT_INCTRL;
		}
		else if (strcmp(arg, "locked") == 0)
		{
			BoatStatus = BOAT_LOCKED;
		}
		else
		{
			ret = -1;
		}
	}

	char str[20];
	switch (BoatStatus)
	{
		case BOAT_AVAILABLE:
			snprintf(&str[0], 20, "status:available\n");
			CLI_stringOut((CLI_t*)cli, &str[0]);
			break;
		case BOAT_INCTRL:
			snprintf(&str[0], 20, "status:inctrl\n");
			CLI_stringOut((CLI_t*)cli, &str[0]);
			break;
		case BOAT_LOCKED:
			snprintf(&str[0], 20, "status:locked\n");
			CLI_stringOut((CLI_t*)cli, &str[0]);
			break;
	}

   return ret;
}

int setLed(char* line, void* cli)
{
	uint32_t r, g, b;

	char* arg = getNextArg(line, ':');
	readInt(arg, &r);
	arg = getNextArg(arg, ',');
	readInt(arg, &g);
	arg = getNextArg(arg, ',');
	readInt(arg, &b);

	led_setRGB(r, g, b);

	char msg[30];
	snprintf(&msg[0], 30, "led: r%lu g%lu n%lu\n", r, g, b);
	CLI_stringOut((CLI_t*)cli, &msg[0]);
	return 0;
}

int cmd_history(char* line, void* cli)
{
	CLI_PrintHistory((CLI_t*)cli);
	return 0;
}

int cmd_showlog(char* line, void* cli)
{
	logger_printFullLog(cli);
	return 0;
}

int cmd_clearlog(char* line, void* cli)
{
	logger_clearBuffer();
	return 0;
}

const CMD_t Commands[] = {
#if TARGET == TARGET_RX
	{ "d", &cmd_contrl },
	{ "status", &cmd_status },
	{ "servotrim", &cmd_servotrim},
#elif TARGET == TARGET_TX
	{ "led", &setLed },
#endif
	{ "history", &cmd_history },
	{ "shutdown", &cmd_shutdown },
	{ "log", &cmd_showlog },
	{ "logclear", &cmd_clearlog }
};

CMDList_t* getCMDList()
{
	CMDList_t* list = CMDList_init();
	for (int i = sizeof(Commands) / sizeof(CMD_t) - 1; i >= 0; i--)
	{
		CMDList_add(list, (CMD_t*)&Commands[i], Commands[i].cmd);
	}
	return list;
}