sw/app/lx_dad/appl_cmds.c

   1 /*******************************************************************
   2   Motion and Robotic System (MARS) aplication components
   3
   4   appl_cmds.c - application specific commands
   5
   6   Copyright (C) 2001-2015 by Pavel Pisa - originator
   7                           pisa@cmp.felk.cvut.cz
   8             (C) 2001-2015 by PiKRON Ltd. - originator
   9                     http://www.pikron.com
  10
  11   This file can be used and copied according to next
  12   license alternatives
  13    - GPL - GNU Public License
  14    - other license provided by project originators
  15
  16  *******************************************************************/
  17
  18 #include <cpu_def.h>
  19 #include <system_def.h>
  20 #include <stdlib.h>
  21 #include <string.h>
  22 #include <cmd_proc.h>
  23 #include <utils.h>
  24
  25 #include "appl_defs.h"
  26
  27 #ifndef __STRINGIFY
  28 #define __STRINGIFY(x)     #x              /* stringify without expanding x */
  29 #endif
  30 #ifndef STRINGIFY
  31 #define STRINGIFY(x)    __STRINGIFY(x)        /* expand x, then stringify */
  32 #endif
  33
  34 int cmd_do_ioecho(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
  35 {
  36   int val;
  37   int opchar;
  38
  39   if((opchar=cmd_opchar_check(cmd_io, des, param))<0) return opchar;
  40   if(opchar == ':') {
  41     val = *param[3];
  42     if (val == '0')
  43       cmd_io->priv.ed_line.in->flg &= ~FL_ELB_ECHO;
  44     else if(val == '1')
  45       cmd_io->priv.ed_line.in->flg |= FL_ELB_ECHO;
  46     else return -CMDERR_BADPAR;
  47   }else{
  48     cmd_io_write(cmd_io, param[0], param[2]-param[0]);
  49     cmd_io_putc(cmd_io,'=');
  50     cmd_io_putc(cmd_io,cmd_io->priv.ed_line.in->flg & FL_ELB_ECHO?'1':'0');
  51   }
  52   return 0;
  53 }
  54
  55 const char software_ver[]="LX_DAD v"STRINGIFY(SW_VER_MAJOR)"."STRINGIFY(SW_VER_MINOR)
  56            " build Pi "__DATE__" "__TIME__;
  57
  58 int cmd_do_ver(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
  59 {
  60   if(*param[2]!='?') return -CMDERR_OPCHAR;
  61   cmd_io_write(cmd_io,param[0],param[2]-param[0]);
  62   cmd_io_putc(cmd_io,'=');
  63   cmd_io_write(cmd_io,software_ver,strlen(software_ver));
  64   return 0;
  65 }
  66
  67 cmd_des_t const cmd_des_stamp={0, CDESM_OPCHR,
  68                         "STAMP","host communication stamp",
  69                         cmd_do_stamp,{}};
  70 cmd_des_t const cmd_des_echo={0, CDESM_OPCHR|CDESM_RW,
  71                         "ECHO","enable echoing of received character",cmd_do_ioecho,{}};
  72 cmd_des_t const cmd_des_ver={0, CDESM_OPCHR|CDESM_RD,
  73                         "VER","software version",cmd_do_ver,{}};
  74
  75 cmd_des_t const *const cmd_appl_specific[]={
  76   &cmd_des_stamp,
  77   &cmd_des_echo,
  78   &cmd_des_ver,
  79   NULL
  80 };