Non-verbose, floating point, list commands, force uppercase

Cmd.cpp

@@ -35,7 +35,7 @@
     \file Cmd.c
 
     This implements a simple command line interface for the Arduino so that
-    its possible to execute individual functions within the sketch. 
+    its possible to execute individual functions within the sketch.
 */
 /**************************************************************************/
 #include <avr/pgmspace.h>
@@ -59,6 +59,8 @@ const char cmd_banner[] PROGMEM = "*************** CMD *******************";
 const char cmd_prompt[] PROGMEM = "CMD >> ";
 const char cmd_unrecog[] PROGMEM = "CMD: Command not recognized.";
 
+static Stream* stream;
+
 /**************************************************************************/
 /*!
     Generate the main command prompt
@@ -68,13 +70,13 @@ void cmd_display()
 {
     char buf[50];
 
-    Serial.println();
+    stream->println();
 
     strcpy_P(buf, cmd_banner);
-    Serial.println(buf);
+    stream->println(buf);
 
     strcpy_P(buf, cmd_prompt);
-    Serial.print(buf);
+    stream->print(buf);
 }
 
 /**************************************************************************/
@@ -100,7 +102,7 @@ void cmd_parse(char *cmd)
     {
         argv[++i] = strtok(NULL, " ");
     } while ((i < 30) && (argv[i] != NULL));
-    
+
     // save off the number of arguments for the particular command.
     argc = i;
 
@@ -118,7 +120,7 @@ void cmd_parse(char *cmd)
 
     // command not recognized. print message and re-generate prompt.
     strcpy_P(buf, cmd_unrecog);
-    Serial.println(buf);
+    stream->println(buf);
 
     cmd_display();
 }
@@ -127,36 +129,41 @@ void cmd_parse(char *cmd)
 /*!
     This function processes the individual characters typed into the command
     prompt. It saves them off into the message buffer unless its a "backspace"
-    or "enter" key. 
+    or "enter" key.
 */
 /**************************************************************************/
 void cmd_handler()
 {
-    char c = Serial.read();
+    char c = stream->read();
 
     switch (c)
     {
     case '\r':
         // terminate the msg and reset the msg ptr. then send
         // it to the handler for processing.
         *msg_ptr = '\0';
-        Serial.print("\r\n");
+        stream->print("\r\n");
         cmd_parse((char *)msg);
         msg_ptr = msg;
         break;
-
+
+    case '\n':
+        // ignore newline characters. they usually come in pairs
+        // with the \r characters we use for newline detection.
+        break;
+
     case '\b':
-        // backspace 
-        Serial.print(c);
+        // backspace
+        stream->print(c);
         if (msg_ptr > msg)
         {
             msg_ptr--;
         }
         break;
-    
+
     default:
         // normal character entered. add it to the buffer
-        Serial.print(c);
+        stream->print(c);
         *msg_ptr++ = c;
         break;
     }
@@ -170,7 +177,7 @@ void cmd_handler()
 /**************************************************************************/
 void cmdPoll()
 {
-    while (Serial.available())
+    while (stream->available())
     {
         cmd_handler();
     }
@@ -179,28 +186,27 @@ void cmdPoll()
 /**************************************************************************/
 /*!
     Initialize the command line interface. This sets the terminal speed and
-    and initializes things. 
+    and initializes things.
 */
 /**************************************************************************/
-void cmdInit(uint32_t speed)
+void cmdInit(Stream *str)
 {
+    stream = str;
     // init the msg ptr
     msg_ptr = msg;
 
     // init the command table
     cmd_tbl_list = NULL;
 
-    // set the serial speed
-    Serial.begin(speed);
 }
 
 /**************************************************************************/
 /*!
     Add a command to the command table. The commands should be added in
-    at the setup() portion of the sketch. 
+    at the setup() portion of the sketch.
 */
 /**************************************************************************/
-void cmdAdd(char *name, void (*func)(int argc, char **argv))
+void cmdAdd(const char *name, void (*func)(int argc, char **argv))
 {
     // alloc memory for command struct
     cmd_tbl = (cmd_t *)malloc(sizeof(cmd_t));
@@ -221,6 +227,18 @@ void cmdAdd(char *name, void (*func)(int argc, char **argv))
     cmd_tbl_list = cmd_tbl;
 }
 
+/**************************************************************************/
+/*!
+    Get a pointer to the stream used by the interpreter. This allows
+    commands to use the same communication channel as the interpreter
+    without tracking it in the main program.
+*/
+/**************************************************************************/
+Stream* cmdGetStream(void)
+{
+    return stream;
+}
+
 /**************************************************************************/
 /*!
     Convert a string to a number. The base must be specified, ie: "32" is a

Cmd.h

@@ -32,7 +32,7 @@
 
 *******************************************************************/
 /*!
-    \file 
+    \file
     \ingroup
 
 
@@ -43,6 +43,7 @@
 
 #define MAX_MSG_SIZE    60
 #include <stdint.h>
+#include <Arduino.h>
 
 // command line structure
 typedef struct _cmd_t
@@ -52,9 +53,10 @@ typedef struct _cmd_t
     struct _cmd_t *next;
 } cmd_t;
 
-void cmdInit(uint32_t speed);
+void cmdInit(Stream *);
 void cmdPoll();
-void cmdAdd(char *name, void (*func)(int argc, char **argv));
+void cmdAdd(const char *name, void (*func)(int argc, char **argv));
+Stream* cmdGetStream(void);
 uint32_t cmdStr2Num(char *str, uint8_t base);
 
 #endif //CMD_H

README.md

@@ -0,0 +1,74 @@
+== CmdArduino
+
+
+CmdArduino is a small library to parse commands from the Serial port
+or anything else which implements the Stream API.  It is based on the
+original by Akiba at Freaklabs.org
+
+To use it create your command functions, then wire them up in your setup function.
+All command functions must take `int arg_cnt, char ** args` as it's parameters
+and return `void`.
+Here's an example from a simple robot:
+
+```
+void left(int arg_cnt, char **args) {
+    LeftMotor->run(FORWARD);
+    delay(200);
+    LeftMotor->run(RELEASE);
+}
+
+void right(int arg_cnt, char **args) {
+    RightMotor->run(FORWARD);
+    delay(200);
+    RightMotor->run(RELEASE);
+}
+
+void setup() {
+    Serial.begin(9600);
+    cmdInit(&Serial);
+    cmdAdd('left',left);
+    cmdAdd('right',right);
+}
+```
+
+Call `cmdInit` with a pointer to the stream you are using. Call `cmdAdd`
+to attach a string command to the command function.  Now you can type `left`
+or `right` into your serial port to command the robot.  The serial port
+will be parsed using newline, `\n`, as the delimiter. The command name should
+be the first item and any arguments after that.  For example, to tell the robot
+to turn left for three seconds, type in:
+
+```
+left 3000\n
+```
+
+Then the left function becomes
+
+```
+void left(int arg_cnt, char **args) {
+    int time = 200;
+    if(arg_cnt > 0) {
+        time = parseNum(args[0]);
+    }
+    LeftMotor->run(FORWARD);
+    delay(time);
+    LeftMotor->run(RELEASE);
+}
+```
+
+
+
+
+
+
+
+== original readme
+
+The Arduino Command Line Interface, aka CmdArduino, is a simple shell that can
+be run on an Arduino. It's nothing fancy and its main purpose is to allow users
+to easily call their functions on a running Arduino via a simple serial
+terminal. It also allows users to pass in arguments from the command line into
+the functions they wrote so they can easily toggle pins, set blinking speed,
+set pwm duty cycles, or whatever else might need command line user input. Using
+it is fairly simple and just requires unzipping the files into the
+"Arduino/libraries" sub-directory in the Arduino program folder.

examples/cmd_line_ex1_hello/cmd_line_ex1_hello.pde → examples/cmd_line_ex1_hello/cmd_line_ex1_hello.ino

@@ -9,7 +9,8 @@ to them.
 void setup()
 {
   // init the command line and set it for a speed of 57600
-  cmdInit(57600);
+  Serial.begin(57600);
+  cmdInit(&Serial);
 
   // add the commands to the command table. These functions must
   // already exist in the sketch. See the functions below. 
@@ -34,5 +35,6 @@ void loop()
 // That's it. 
 void hello(int arg_cnt, char **args)
 {
-  Serial.println("Hello world.");
-}
+  cmdGetStream()->println("Hello world.");
+}
+

examples/cmd_line_ex2_args/cmd_line_ex2_args.pde → examples/cmd_line_ex2_args/cmd_line_ex2_args.ino

@@ -9,7 +9,8 @@ to them.
 void setup()
 {
   // init the command line and set it for a speed of 57600
-  cmdInit(57600);
+  Serial.begin(57600);
+  cmdInit(&Serial);
 
   // add the commands to the command table. These functions must
   // already exist in the sketch. See the functions below. 
@@ -49,11 +50,13 @@ void loop()
 // Arg 9: yay
 void arg_display(int arg_cnt, char **args)
 {
+  Stream *s = cmdGetStream();
+
   for (int i=0; i<arg_cnt; i++)
   {
-    Serial.print("Arg ");
-    Serial.print(i);
-    Serial.print(": ");
-    Serial.println(args[i]);
+    s->print("Arg ");
+    s->print(i);
+    s->print(": ");
+    s->println(args[i]);
   }
-}
+}

examples/cmd_line_ex3_led_blink/cmd_line_ex3_led_blink.pde → examples/cmd_line_ex3_led_blink/cmd_line_ex3_led_blink.ino

@@ -16,7 +16,8 @@ void setup()
   pinMode(led_pin, OUTPUT); 
 
   // init the command line and set it for a speed of 57600
-  cmdInit(57600);
+  Serial.begin(57600);
+  cmdInit(&Serial);
 
   // add the commands to the command table. These functions must
   // already exist in the sketch. See the functions below. 
@@ -82,4 +83,4 @@ void led_blink(int arg_cnt, char **args)
   } 
 }
 
-
+

examples/cmd_line_ex4_pwm/cmd_line_ex4_pwm.pde → examples/cmd_line_ex4_pwm/cmd_line_ex4_pwm.ino

@@ -10,11 +10,12 @@ int pwm_pin = 10;
 
 void setup()
 {
-  // set the led pin as an output. its part of the demo.
+  // set the PWM pin as an output. its part of the demo.
   pinMode(pwm_pin, OUTPUT); 
 
   // init the command line and set it for a speed of 57600
-  cmdInit(57600);
+  Serial.begin(57600);
+  cmdInit(&Serial);
 
   // add the commands to the command table. These functions must
   // already exist in the sketch. See the functions below. 
@@ -66,4 +67,4 @@ void led_pwm(int arg_cnt, char **args)
     // if no args, turn off the LED
     analogWrite(pwm_pin, 0);
   }
-}
+}