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CommandLineInterface.cpp
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CommandLineInterface.cpp
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/*
* File: CommandLineInterface.cpp
* Author: matt
*
* Created on 01 November 2012, 16:14
*/
#include "CommandLineInterface.h"
CLI_class CLI;
pthread_mutex_t CLImutex;
CLI_class::CLI_class() {
initialiseMap_();
}
CLI_class::CLI_class(const CLI_class& orig) {
std::string stringbuf_[6] = {0};
}
CLI_class::~CLI_class() {
}
void CLI_class::open() {
while(1) {
std::string line;
do {
std::cout << "Picopter > ";
do {
std::cin.clear();
line.clear();
std::getline(std::cin, line);
} while(std::cin.fail());
} while(line.length() == 0);
std::stringstream stream(line);
int i = 0;
while(std::getline(stream, stringbuf_[i], ' ')) {
i++;
}
switch(lineMap_[stringbuf_[0]]) {
case en_stringNotDefined:
std::cout << stringbuf_[0] << " isn't a valid command" << std::endl;
break;
case en_openlog:
std::cout << "Opening log at " << stringbuf_[1] << std::endl;
LogMan.open(stringbuf_[1].c_str());
break;
case en_dumporientation:
std::cout << "Pitch " << AHRS.orientation.pitch << ", roll " << AHRS.orientation.roll << ", yaw" << AHRS.orientation.yaw << std::endl;
break;
case en_dumpsensors:
if(!Timer.started) {
AHRS.update();
}
std::cout << AHRS.calibratedData.x << ", " << AHRS.calibratedData.y << ", " << AHRS.calibratedData.z << ", " << AHRS.calibratedData.p << ", " << AHRS.calibratedData.q << ", " << AHRS.calibratedData.r << ", " << AHRS.calibratedData.temp << ", " << AHRS.calibratedData.pressure << ", " << AHRS.calibratedData.altitude << std::endl;
break;
case en_dumprawsensors:
if(!Timer.started) {
AHRS.update();
}
std::cout << std::dec << AHRS.rawData_.x << ", " << AHRS.rawData_.y << ", " << AHRS.rawData_.z << ", " << AHRS.rawData_.p << ", " << AHRS.rawData_.q << ", " << AHRS.rawData_.r << std::endl;
break;
case en_dumprawmag:
if(!Timer.started) {
AHRS.update();
}
std::cout << AHRS.rawData_.mag_x << ", " << AHRS.rawData_.mag_y << ", " << AHRS.rawData_.mag_z << std::endl;
break;
case en_dumprawrx:
if(!Timer.started) {
PICInterface.getRX();
}
std::cout << std::dec << PICInterface.rxWidths.pitch << ", " << PICInterface.rxWidths.roll << ", " << PICInterface.rxWidths.throttle << ", " << PICInterface.rxWidths.yaw << ", " << PICInterface.rxWidths.sw1 << ", " << PICInterface.rxWidths.sw2 << ", " << std::endl;
break;
case en_dumprx:
if(!Timer.started) {
PICInterface.getRX();
}
if(PICInterface.rx.sw2 == false){ //Rate mode
std::cout << std::dec << "Pitch rate demand " << PICInterface.rx.pitchRateDem << ", roll rate demand " << PICInterface.rx.rollRateDem << ", throttle " << PICInterface.rx.throttleDem << ", yaw rate demand " << PICInterface.rx.yawRateDem << std::endl;
}
else{ //Attitude mode
std::cout << std::dec << "Pitch demand " << PICInterface.rx.pitchDem << ", roll demand " << PICInterface.rx.rollDem << ", throttle " << PICInterface.rx.throttleDem << ", yaw rate demand " << PICInterface.rx.yawRateDem << std::endl;
}
break;
case en_resetmpu:
MPU6050.initialise();
std::cout << "mpu reset" << std::endl;
break;
case en_readregister:
unsigned char buf[32];
I2CInterface.readRegister(static_cast<unsigned char>(atoi(stringbuf_[1].c_str())), static_cast<unsigned char>(atoi(stringbuf_[2].c_str())), buf, static_cast<unsigned char>(atoi(stringbuf_[3].c_str())));
std::cout << buf << std::endl;
break;
case en_setRatePID:
Control.setRatePID(atof(stringbuf_[1].c_str()), atof(stringbuf_[2].c_str()), atof(stringbuf_[3].c_str()));
break;
case en_getRatePID:
Control.getRatePID();
break;
case en_setAttitudePID:
Control.setAttitudePID(atof(stringbuf_[1].c_str()), atof(stringbuf_[2].c_str()), atof(stringbuf_[3].c_str()));
break;
case en_getAttitudePID:
Control.getAttitudePID();
break;
case en_setYawPID:
break;
case en_getYawPID:
break;
case en_getdt:
std::cout << Timer.dt << std::endl;
break;
case en_startMotorTest:
Control.startMotorTest();
break;
case en_exit:
exit(1);
break;
default:
std::cout << stringbuf_[0] << " isn't a valid command" << std::endl;
break;
}
}
}
void CLI_class::initialiseMap_() {
lineMap_[""] = en_stringNotDefined;
lineMap_["openlog"] = en_openlog;
lineMap_["do"] = en_dumporientation;
lineMap_["dr"] = en_dumprawsensors;
lineMap_["ds"] = en_dumpsensors;
lineMap_["drm"] = en_dumprawmag;
lineMap_["drrx"] = en_dumprawrx;
lineMap_["drx"] = en_dumprx;
lineMap_["resetmpu"] = en_resetmpu;
lineMap_["rr"] = en_readregister;
lineMap_["srpid"] = en_setRatePID;
lineMap_["grpid"] = en_getRatePID;
lineMap_["sypid"] = en_setYawPID;
lineMap_["gypid"] = en_getYawPID;
lineMap_["sapid"] = en_setAttitudePID;
lineMap_["gapid"] = en_getAttitudePID;
lineMap_["gdt"] = en_getdt;
lineMap_["startmotortest"] = en_startMotorTest;
lineMap_["exit"] = en_exit;
}