DynaShell Class Reference

#include <dynashell.h>

Public Member Functions
	DynaShell ()
	~DynaShell ()
void	PublishMap (const char *sParent, const string &strBrief)
	Publish new command map to shell. More...
void	PublishCommand (const char *sParent, DynaShellCmd *pNewCmd)
	Publish new command to shell. More...
void	DeleteCommands (ShCmdMap &cmdMap)
	Delete all published commands in map. More...
DynaShellCmd *	MatchCmd (int argc, char *argv[], ShCmdMap &cmdMap)
	Match command. More...
void	RecordingInit (int nSamplePeriod, const char *sDate=NULL)
	(Re)Initialize recording. More...
void	RecordingReplace (DynaRecording *pNewRecording)
	Replace recording. More...
void	ScriptPush (const char *sScriptFile, FILE *fp)
	Push new script on the stack. More...
void	ScriptPop ()
	Pop the current script from stack. More...
void	ScriptFlush ()
	Flush all scripts from stack. More...
void	ScriptTrace (const char *sLine)
	Trace script execution. More...
bool	IsRunningScript ()
	Test if executing a script. More...
virtual void	Ok ()
	Print standard ok success response.
void	Response (const char *sFmt,...)
	Print formatted success response. More...
void	Warning (const char *sFmt,...)
	Issue warning. More...
void	Error (int rc, const char *sFmt,...)
	Raise error on dynamixel error code. More...
void	Error (int nServoId, uint_t uAlarms)
	Raise error on alarmed servo. More...
void	Error (const char *sFmt,...)
	Raise error. More...
int	Run ()
	Command execution loop. More...
ShCmdMap &	GetRootCmds ()
char *	CmdListGenerator (int nUid, const char *sText, size_t uTextLen, int nState, const char *sContext)
	Command list generator function. More...
char *	CmdSpecGenerator (int nUid, const char *sText, size_t uTextLen, int nState, const char *sContext)
	Command spec generator function. More...

Public Attributes
bool	m_bRun
	do [not] run shell
bool	m_bIsInteractive
	[not] user interactive
bool	m_bXTrace
	do [not] trace script
bool	m_bSilent
	do [not] silence non-error responses
DynaComm *	m_pDynaComm
	dynamixel bus communication
DynaChain *	m_pDynaChain
	dynamixel chain
DynaBgThread *	m_pDynaBgThread
	dynamixel chain
DynaRecording *	m_pRecording
	dynamixel recording

Static Public Attributes
static const int	m_nMaxScriptDepth = 5
	maximum script stack depth

Protected Types
typedef map< int, DynaShellCmd * >	MapTabCompleteGen

Protected Member Functions
void	InputInit ()
	Initialize input.
char *	GetInputLine ()
	Get one input line from file stream. More...
int	GetInput ()
	Get one, non-empty input line. More...
bool	IsExecStmt (const char *sLine)
	Test if line is a potential executable statement. More...
void	AddToHistory (char *sLine)
	Add command line to history. More...
FILE *	InputFp ()
	Get the current input file pointer. More...
void	ScriptBumpLineNum ()
	Bump the line number of the current executing script, if any, by one.
bool	IsEOF ()
	Test if input is at End Of File condition. More...

Static Protected Member Functions
static char *	CmdListGeneratorWrap (int nUid, const char *sText, size_t uTextLen, int nState, const char *sContext, void *pArg)
	Command list generator wrapper function. More...
static char *	CmdSpecGeneratorWrap (int nUid, const char *sText, size_t uTextLen, int nState, const char *sContext, void *pArg)
	Command spec generator wrapper function. More...

Protected Attributes
const char *	m_sShellName
	shell name
const char *	m_sPS1
	primary user prompt
const char *	m_sPS2
	secondary user prompt
bool	m_bNoExec
	parse only, no execution
char *	m_sInputLine
	working, allocated line of input
ReadLine	m_ReadLine
	readline object
ShCmdMap	m_mapCmds
	map of published commnds
MapTabCompleteGen	m_mapTabGen
	command tab-completion generators map
vector< ShScript * >	m_vecScripts
	script stack
int	m_rc
	last command executed return code

Detailed Description

The Dynamixel shell class.

Definition at line 350 of file dynashell.h.

Constructor & Destructor Documentation

DynaShell::DynaShell

(

)

DynaShell default constructor.

Definition at line 95 of file dynashell.cxx.

References DYNA_OK, InputInit(), m_bIsInteractive, m_bNoExec, m_bRun, m_bSilent, m_bXTrace, m_pDynaBgThread, m_pDynaChain, m_pDynaComm, m_pRecording, and m_rc.

    : m_sShellName("dynashell"),
      m_sPS1("dynashell> "),
      m_sPS2(": "),
      m_ReadLine(m_sShellName)
{
  m_bIsInteractive  = true;
  m_bXTrace         = false;
  m_bRun            = true;
  m_bNoExec         = false;
  m_bSilent         = false;
  m_pDynaComm       = NULL;
  m_pDynaChain      = NULL;
  m_pDynaBgThread   = NULL;
  m_pRecording      = NULL;
  m_rc              = DYNA_OK;

  InputInit();
};

DynaShell::~DynaShell

(

)

DynaShell destructor.

Definition at line 118 of file dynashell.cxx.

References DeleteCommands(), m_mapCmds, m_pDynaBgThread, m_pDynaChain, m_pDynaComm, m_pRecording, ScriptFlush(), and DynaBgThread::Stop().

{
  if( m_pDynaBgThread != NULL )
  {
    m_pDynaBgThread->Stop();
    delete m_pDynaBgThread;
  }

  if( m_pDynaChain != NULL )
  {
    delete m_pDynaChain;
  }

  if( m_pDynaComm != NULL )
  {
    delete m_pDynaComm;
  }

  if( m_pRecording != NULL )
  {
    delete m_pRecording;
  }

  ScriptFlush();

  DeleteCommands(m_mapCmds);
}

Member Function Documentation

void DynaShell::AddToHistory ( char *  sLine )

protected

Add command line to history.

Parameters

sLine

Null-terminated line string.

Definition at line 443 of file dynashell.cxx.

References ReadLine::AddToHistory(), InputFp(), IsExecStmt(), m_bIsInteractive, and m_ReadLine.

Referenced by GetInput().

{
  if( IsExecStmt(sLine) && m_bIsInteractive && isatty(fileno(InputFp())) )
  {
    m_ReadLine.AddToHistory(sLine);
  }
}

char * DynaShell::CmdListGenerator	(	int	nUid,
		const char *	sText,
		size_t	uTextLen,
		int	nState,
		const char *	sContext
	)

Command list generator function.

Parameters

nUid	ReadLine registered unique id.
sText	Text string to complete as a command.
uTextLen	Length of text.
nState	Generator state. State lets us know whether to start from scratch. If state == START(0), then we start at the top of the command list.
sContext	Parent command path.

Returns

On command partial matching, returns allocated full command name string.
If no matches found, return NULL.

Definition at line 319 of file dynashell.cxx.

References ReadLine::dupstr(), ReadLine::FIRST, and m_mapCmds.

Referenced by CmdListGeneratorWrap(), and DynaShellCmdHelp::TabCompletion().

{
  static ShCmdMap           *pMap;      // command map
  static ShCmdMap::iterator  iterCmd;   // command map iterator

  const char                *sCmdName;  // command name

  //
  // New command to complete - initialize.
  //
  if( nState == ReadLine::FIRST )
  {
    pMap    = NULL;
    iterCmd = m_mapCmds.end();

    // root commands
    if( (sContext == NULL) || (*sContext == 0) )
    {
      pMap = &m_mapCmds;
      iterCmd = pMap->begin();
    }

    // level 1 commands
    else
    {
      iterCmd = m_mapCmds.find(sContext);
      if( iterCmd != m_mapCmds.end() )
      {
        pMap = iterCmd->second.GetMap();
        if( pMap != NULL )
        {
          iterCmd = pMap->begin();
        }
      }
    }
  }

  // return the next command which partially matches text
  while( (pMap != NULL) && (iterCmd != pMap->end()) )
  {
    sCmdName = iterCmd->first;
    iterCmd++;
    if( !strncmp(sCmdName, sText, uTextLen) )
    {
      return ReadLine::dupstr(sCmdName);
    }
  }

  // no matches
  return NULL;
}

char * DynaShell::CmdListGeneratorWrap ( int  nUid, const char *  sText, size_t  uTextLen, int  nState, const char *  sContext, void *  pArg  )

staticprotected

Command list generator wrapper function.

Parameters

nUid	ReadLine registered unique id.
sText	Text string to complete as a command.
uTextLen	Length of text.
nState	Generator state. State lets us know whether to start from scratch. If state == START(0), then we start at the top of the command list.
sContext	Parent command path.
pArg	Pointer to this shell instance.

Returns

On command partial matching, returns allocated full command name string.
If no matches found, return NULL.

Definition at line 292 of file dynashell.cxx.

References CmdListGenerator().

Referenced by InputInit(), PublishCommand(), and PublishMap().

{
  DynaShell *pShell = (DynaShell *)pArg;

  return pShell->CmdListGenerator(nUid, sText, uTextLen, nState, sContext);
}

char * DynaShell::CmdSpecGenerator	(	int	nUid,
		const char *	sText,
		size_t	uTextLen,
		int	nState,
		const char *	sContext
	)

Command spec generator function.

Parameters

nUid	ReadLine registered unique id.
sText	Text string to complete as a command.
uTextLen	Length of text.
nState	Generator state. State lets us know whether to start from scratch. If state == START(0), then we start at the top of the command list.
sContext	Parent command path.

Returns

On command partial matching, returns allocated full command name string.
If no matches found, return NULL.

Definition at line 418 of file dynashell.cxx.

References m_mapTabGen.

Referenced by CmdSpecGeneratorWrap().

{
  MapTabCompleteGen::iterator pos;

  if( (pos = m_mapTabGen.find(nUid)) != m_mapTabGen.end() )
  {
    return pos->second->TabCompletion(*this, sText, uTextLen, nState, sContext);
  }

  // no matches
  else
  {
    return NULL;
  }
}

char * DynaShell::CmdSpecGeneratorWrap ( int  nUid, const char *  sText, size_t  uTextLen, int  nState, const char *  sContext, void *  pArg  )

staticprotected

Command spec generator wrapper function.

Parameters

nUid	ReadLine registered unique id.
sText	Text string to complete as a command.
uTextLen	Length of text.
nState	Generator state. State lets us know whether to start from scratch. If state == START(0), then we start at the top of the command list.
sContext	Parent command path.
pArg	Pointer to this shell instance.

Returns

On command partial matching, returns allocated full command name string.
If no matches found, return NULL.

Definition at line 391 of file dynashell.cxx.

References CmdSpecGenerator().

Referenced by PublishCommand().

{
  DynaShell *pShell = (DynaShell *)pArg;

  return pShell->CmdSpecGenerator(nUid, sText, uTextLen, nState, sContext);
}

void DynaShell::DeleteCommands

(

ShCmdMap &

cmdMap

)

Delete all published commands in map.

Parameters

cmdMap

Map of published commands.

Definition at line 249 of file dynashell.cxx.

References m_mapTabGen.

Referenced by ~DynaShell().

{
  ShCmdMap::iterator  iter;

  m_mapTabGen.clear();

  for(iter=cmdMap.begin(); iter!=cmdMap.end(); iter++)
  {
    if( iter->second.IsCmd() )
    {
      delete iter->second.GetCmd();
    }
    else if( iter->second.IsMap() )
    {
      DeleteCommands(*iter->second.GetMap());
    }
  }
}

void DynaShell::Error	(	int	rc,
		const char *	sFmt,
			...
	)

Raise error on dynamixel error code.

Parameters

rc	Package Error Codes.
sFmt	Format string.
...	Optional format string arguments.

Definition at line 808 of file dynashell.cxx.

References DynaStrError().

Referenced by DynaShellCmdCfgWriteServoMode::ArgToInt(), DynaShellCmdWriteTorqueEnable::ArgToInt(), DynaShellCmd::ChkArgCnt0(), DynaShellCmd::ChkArgCntEQ(), DynaShellCmd::ChkArgCntGE(), DynaShellCmd::ChkArgCntLE(), DynaShellCmd::ChkChain(), DynaShellCmd::ChkChainHasServo(), DynaShellCmd::ChkChainIsMasterServo(), DynaShellCmd::ChkChainNotEmpty(), DynaShellCmd::ChkComm(), DynaShellCmdCreate::CommNew(), DynaShellCmdMegaScan::CommNew(), DynaShellCmdMoveTo::doExec(), DynaShellCmdMoveAtSpeedTo::doExec(), DynaShellCmdCfgWriteServoMode::doExec(), DynaShellCmdReadTorqueEnable::doExec(), DynaShellCmdWriteTorqueEnable::doExec(), DynaShellCmdReadGoalPos::doExec(), DynaShellCmdReadGoalSpeed::doExec(), DynaShellCmdWriteGoalSpeed::doExec(), DynaShellCmdReadMaxTorqueLimit::doExec(), DynaShellCmdWriteMaxTorqueLimit::doExec(), DynaShellCmdReadCurPos::doExec(), DynaShellCmdReadCurSpeed::doExec(), DynaShellCmdReadDynamics::doExec(), DynaShellCmdReadHealth::doExec(), DynaShellCmdReadIsMoving::doExec(), DynaShellCmdClearAlarms::doExec(), DynaShellCmdReadByte::doExec(), DynaShellCmdWriteByte::doExec(), DynaShellCmdReadWord::doExec(), DynaShellCmdWriteWord::doExec(), Error(), DynaShellCmdCreate::Exec(), DynaShellCmdHelp::Exec(), DynaShellCmdMoveAtSpeedTo::Exec(), DynaShellCmdSetPid::Exec(), DynaShellCmdDestroy::Exec(), DynaShellCmdEStop::Exec(), DynaShellCmdFreeze::Exec(), DynaShellCmdRelease::Exec(), DynaShellCmdLink::Exec(), DynaShellCmdSetOdometer::Exec(), DynaShellCmdScript::Exec(), DynaShellCmdChainOut::Exec(), DynaShellCmdUnlink::Exec(), DynaShellCmdBgtStart::Exec(), DynaShellCmdSaveRecording::Exec(), DynaShellCmdBgtStop::Exec(), DynaShellCmdReadMaxTorqueLimit::Exec(), DynaShellCmdSetHalfDuplexCtl::Exec(), DynaShellCmdWriteMaxTorqueLimit::Exec(), DynaShellCmdPlay::Exec(), DynaShellCmdSetSoftTorqueTh::Exec(), DynaShellCmdWriteByte::Exec(), GetInput(), DynaShellCmdLoadRecording::Init(), DynaShellCmdLoadRecording::Load(), MatchCmd(), DynaShellCmdHelp::MatchHelp(), DynaShellCmdLoadRecording::ParseIntField(), DynaShellCmdLoadRecording::ParseRecordedData(), DynaShellCmdLoadRecording::ParseServoList(), DynaShellCmdTrain::RecordTraining(), ScriptPush(), DynaShellCmd::ToBool(), DynaShellCmd::ToDouble(), and DynaShellCmd::ToInt().

{
  char    buf[256];
  va_list ap;

  va_start(ap, sFmt);

  vsnprintf(buf, sizeof(buf), sFmt, ap);
  buf[sizeof(buf)-1] = 0;

  va_end(ap);
    
  Error("%s: %s", DynaStrError(rc), buf);
}

void DynaShell::Error	(	int	nServoId,
		uint_t	uAlarms
	)

Raise error on alarmed servo.

Parameters

nServoId	Servo id.
uAlarms	EEPROM Alarm Shutdown.

Definition at line 829 of file dynashell.cxx.

References Error(), and DynaComm::GetAlarmsString().

{
  string  strAlarms;

  strAlarms = DynaComm::GetAlarmsString(uAlarms);

  Error("Servo %d: Alarms: %s.", nServoId, strAlarms.c_str());
}

void DynaShell::Error	(	const char *	sFmt,
			...
	)

Raise error.

If the error occurred while running a script, the script is aborted. If the shell is non-interactive, the shell is terminated.

Parameters

sFmt	Format string.
...	Optional format string arguments.

Definition at line 847 of file dynashell.cxx.

References DYNA_ECODE_RUNTIME, m_bIsInteractive, m_bRun, m_rc, m_vecScripts, and ScriptFlush().

{
  va_list ap;

  if( !m_vecScripts.empty() )
  {
    fprintf(stderr, "%s[%d]: ",
        m_vecScripts.back()->GetScriptName(),
        m_vecScripts.back()->GetLineNum());
  }

  fprintf(stderr, "Error: ");
  
  va_start(ap, sFmt);
  vfprintf(stderr, sFmt, ap);
  va_end(ap);

  fprintf(stderr, "\n");

  m_rc = -DYNA_ECODE_RUNTIME;

  ScriptFlush();

  if( !m_bIsInteractive )
  {
    m_bRun = false;
  }
}

int DynaShell::GetInput ( )

protected

Get one, non-empty input line.

Returns

On success, returns SH_RC_OK).
On end of file, returns SH_RC_EOF.
On system error, returns SH_RC_SYS_ERROR.

Definition at line 505 of file dynashell.cxx.

References AddToHistory(), Error(), GetInputLine(), IsEOF(), IsExecStmt(), m_bIsInteractive, m_bNoExec, m_bXTrace, m_sInputLine, ScriptTrace(), SH_RC_EOF, SH_RC_OK, SH_RC_OK_NOEXEC, and SH_RC_SYS_ERROR.

Referenced by Run().

{
  char *sLine;

  m_sInputLine = NULL;

  while( true )
  {
    // get one logical line of input
    sLine = GetInputLine();

    // eof or system error
    if( sLine == NULL ) 
    {
      if( IsEOF() )
      {
        return SH_RC_EOF;
      }
      else
      {
        Error("%s.", strerror(errno));
        return SH_RC_SYS_ERROR;
      }
    }

    // skip leading whitespace
    while(*sLine && isspace(*sLine))
    {
      sLine++;
    }

    if( IsExecStmt(sLine) )
    {
      // add non-blnak input line to command history
      AddToHistory(sLine);

      // trace script
      if( IsExecStmt(sLine) && (m_bIsInteractive || m_bXTrace) )
      {
        ScriptTrace(sLine);
      }

      m_sInputLine = sLine;

      return m_bNoExec? SH_RC_OK_NOEXEC: SH_RC_OK;
    }
    else
    {
      return SH_RC_OK_NOEXEC;
    }
  }
}

char * DynaShell::GetInputLine ( )

protected

Get one input line from file stream.

Characters will be read from the input of the given file pointer using the prompt string to prompt the user. If the prompt is NULL or an empty string then no prompt is issued. The line returned is allocated, so the caller must free it when finished.

If the readline free library is available, then command line editing is supported for terminal input.

Todo:

TODO add '\' parsing for line continuation.

Returns

If no errors occurred and EOF is not encountered, an allocated, null-terminated line buffer is return. If the input only contained non-executable characters (white-space and comments), then the line buffer will be empty. On EOF or errors, NULL is returned.

Definition at line 469 of file dynashell.cxx.

References ReadLine::fReadLine(), InputFp(), ReadLine::iReadLine(), m_ReadLine, m_sPS1, and ScriptBumpLineNum().

Referenced by GetInput().

{
  static const char *sPrompt = m_sPS1;

  char   *sLine = NULL;

  //
  // Get malloc'd line of input (fragment)
  //
  if( isatty(fileno(InputFp())) )
  {
    sLine = m_ReadLine.iReadLine(sPrompt);
  }
  else
  {
    sLine = m_ReadLine.fReadLine(InputFp(), NULL);
    ScriptBumpLineNum();
  }

  // EOF or I/O error
  if( sLine == NULL )
  {
    return NULL;
  }

  return sLine;
}

ShCmdMap& DynaShell::GetRootCmds ( )

inline

Get map of shell root commands.

Returns

Returns command map.

Definition at line 446 of file dynashell.h.

Referenced by DynaShellCmdHelp::Exec().

  {
    return m_mapCmds;
  }

FILE* DynaShell::InputFp ( )

inlineprotected

Get the current input file pointer.

Returns

File pointer.

Definition at line 518 of file dynashell.h.

Referenced by AddToHistory(), and GetInputLine().

  {
    return !m_vecScripts.empty()? m_vecScripts.back()->GetFp(): stdin;
  }

bool DynaShell::IsEOF ( )

inlineprotected

Test if input is at End Of File condition.

Returns

Returns true or false.

Definition at line 540 of file dynashell.h.

Referenced by GetInput().

  {
    return feof(InputFp())? true: false;
  }

bool DynaShell::IsExecStmt ( const char *  sLine )

inlineprotected

Test if line is a potential executable statement.

Note

Assumes line has been stripped of leading white space.

Parameters

sLine

Line to test.

Returns

true or false.

Definition at line 492 of file dynashell.h.

Referenced by AddToHistory(), and GetInput().

  {
    return (sLine!=NULL) && (*sLine!=0) && (*sLine!=SH_C_COMMENT)? true: false;
  }

bool DynaShell::IsRunningScript ( )

inline

Test if executing a script.

Returns

true or false.

Definition at line 416 of file dynashell.h.

Referenced by ScriptTrace().

  {
    return m_vecScripts.empty()? false: true;
  }

DynaShellCmd * DynaShell::MatchCmd	(	int	argc,
		char *	argv[],
		ShCmdMap &	cmdMap
	)

Match command.

Parameters

argc	Command argument count.
argv	Array of arguments.
cmdMap	Command map to search.

Returns

Returns pointer to matched command on success. NULL otherwise.

Definition at line 567 of file dynashell.cxx.

References Error().

Referenced by Run().

{
  ShCmdMap::iterator  iter1, iter2;
  char               *sPattern;
  const char         *sCmdName1, *sCmdName2;
  size_t              n;
  bool_t              bIsUnique = true;
  int                 cnt;
  
  if( argc == 0 )
  {
    Error("No Command.");
    return NULL;
  }

  sPattern = argv[0];

  n = strlen(sPattern);

  // find command
  for(iter1=cmdMap.begin(); iter1!=cmdMap.end(); iter1++)
  {
    sCmdName1 = iter1->first;
    if( !strncmp(sPattern, sCmdName1, n) )
    {
      break;
    }
  }

  // no matching command found
  if( iter1 == cmdMap.end() )
  {
    Error("%s: Command not found.\n", sPattern);
    return NULL;
  }

  // verify uniqueness
  for(iter2=cmdMap.begin(); iter2!=cmdMap.end(); iter2++)
  {
    if( iter2 == iter1 )
    {
      continue;
    }

    sCmdName2 = iter2->first;

    // another match 
    if( !strncmp(sPattern, sCmdName2, n) )
    {
      cnt++;

      // first non-unique
      if( bIsUnique )
      {
        fprintf(stderr, "%s: Command not unique: Matches %s %s",
            sPattern, sCmdName1, sCmdName2);
        bIsUnique = false;
      }

      // subsequent non-uniques
      else if( cnt < 8 )
      {
        fprintf(stderr, " %s", sCmdName2);
      }

      // too many to print
      else
      {
        fprintf(stderr, " ...");
        break;
      }
    }
  }

  if( !bIsUnique )
  {
    fprintf(stderr, "\n");
    return NULL;
  }

  if( iter1->second.IsCmd() )
  {
    return iter1->second.GetCmd();
  }
  else if( iter1->second.IsMap() )
  {
    return MatchCmd(argc-1, argv+1, *iter1->second.GetMap());
  }
  else
  {
    return NULL;
  }
}

void DynaShell::PublishCommand	(	const char *	sParent,
		DynaShellCmd *	pNewCmd
	)

Publish new command to shell.

The new command is inserted into the map of commands. The map is kept in lexicogrphahical increasing order.

Note

Published commands currently only support two levels. However, this can be readily extended given some command separator convention.

Parameters

sParent	Parent command. Set to NULL or "" to publish the command at the root(0) level.
pNewCmd	Allocated new command. The shell owns the command and will delete it when the shell is destroyed.

Definition at line 192 of file dynashell.cxx.

References CmdListGeneratorWrap(), CmdSpecGeneratorWrap(), DynaShellCmd::GetCmdHelpBrief(), DynaShellCmd::GetCmdName(), DynaShellCmd::GetPublishedName(), m_mapCmds, m_mapTabGen, m_ReadLine, ReadLine::NOT_REG, ReadLine::RegisterGenerator(), and DynaShellCmd::SetPublishedInfo().

Referenced by PublishShellCoreCommands(), PublishShellInterfaceCommands(), PublishShellServoCommands(), and PublishShellTrainCommands().

{
  const char           *sCmdName = pNewCmd->GetCmdName();
  string                strRegEx;
  int                   nUid;

  // new root command
  if( (sParent == NULL) || (*sParent == 0) )
  {
    pNewCmd->SetPublishedInfo(0);
    m_mapCmds[sCmdName] = pNewCmd;
    m_mapCmds[sCmdName].SetMapBrief(pNewCmd->GetCmdHelpBrief());
  }

  // new command published to existing root group
  else if( m_mapCmds.find(sParent) != m_mapCmds.end() )
  {
    pNewCmd->SetPublishedInfo(1, sParent);

    (*m_mapCmds[sParent].GetMap())[sCmdName] = pNewCmd;
    (*m_mapCmds[sParent].GetMap())[sCmdName].SetMapBrief(
                                                pNewCmd->GetCmdHelpBrief());
  }

  // new command published to new root group
  else
  {
    pNewCmd->SetPublishedInfo(1, sParent);

    m_mapCmds[sParent] = new ShCmdMap;

    (*m_mapCmds[sParent].GetMap())[sCmdName] = pNewCmd;

    strRegEx = "^";
    strRegEx += sParent;
    strRegEx += "$";

    nUid = m_ReadLine.RegisterGenerator(strRegEx, CmdListGeneratorWrap, this);
  }

  // register new command for readline tab-completion
  strRegEx = pNewCmd->GetPublishedName();
  strRegEx += ".*";

  nUid = m_ReadLine.RegisterGenerator(strRegEx, CmdSpecGeneratorWrap, this);

  if( nUid != ReadLine::NOT_REG )
  {
    m_mapTabGen[nUid] = pNewCmd; 
  }
}

void DynaShell::PublishMap	(	const char *	sParent,
		const string &	strBrief
	)

Publish new command map to shell.

The new map is inserted into the map of root commands. The map is kept in lexicogrphahical increasing order.

Note

Published commands currently only support two levels. However, this can be readily extended given some command separator convention.

Parameters

sParent	Parent command. Set to NULL or "" to publish the command at the root(0) level.
strBrief	Map brief description.

Definition at line 159 of file dynashell.cxx.

References CmdListGeneratorWrap(), m_mapCmds, m_ReadLine, and ReadLine::RegisterGenerator().

Referenced by MainInit().

{
  string                strRegEx;
  int                   nUid;

  // publish only if map does not exist
  if( m_mapCmds.find(sParent) == m_mapCmds.end() )
  {
    m_mapCmds[sParent] = new ShCmdMap;
    m_mapCmds[sParent].SetMapBrief(strBrief);

    strRegEx = "^";
    strRegEx += sParent;
    strRegEx += "$";

    nUid = m_ReadLine.RegisterGenerator(strRegEx, CmdListGeneratorWrap, this);
  }
}

void DynaShell::RecordingInit ( int  nSamplePeriod, const char *  sDate = NULL  )

inline

(Re)Initialize recording.

If the shell does not have a recording object, it is created. Any previously recorded data is 'erased'.

Parameters

nSamplePeriod	Recording sample period (msec).
sData	Recording date string.

Definition at line 383 of file dynashell.h.

References DynaRecording::Init().

Referenced by DynaShellCmdTrain::Exec().

  {
    if( m_pRecording == NULL )
    {
      m_pRecording = new DynaRecording;
    }
    m_pRecording->Init(nSamplePeriod, sDate);
  }

void DynaShell::RecordingReplace ( DynaRecording *  pNewRecording )

inline

Replace recording.

Parameters

pNewRecording

Allocated new recording.

Definition at line 397 of file dynashell.h.

Referenced by DynaShellCmdLoadRecording::Load().

  {
    if( m_pRecording != NULL )
    {
      delete m_pRecording;
    }
    m_pRecording = pNewRecording;
  }

void DynaShell::Response	(	const char *	sFmt,
			...
	)

Print formatted success response.

Parameters

sFmt	Format string.
...	Variable argument list.

Definition at line 763 of file dynashell.cxx.

References m_bSilent.

Referenced by DynaShellCmdGetOdometer::doExec(), DynaShellCmdReadTorqueEnable::doExec(), DynaShellCmdReadGoalPos::doExec(), DynaShellCmdReadGoalSpeed::doExec(), DynaShellCmdReadMaxTorqueLimit::doExec(), DynaShellCmdGetSoftTorqueTh::doExec(), DynaShellCmdReadCurPos::doExec(), DynaShellCmdReadCurSpeed::doExec(), DynaShellCmdReadDynamics::doExec(), DynaShellCmdReadHealth::doExec(), DynaShellCmdReadIsMoving::doExec(), DynaShellCmdClearAlarms::doExec(), DynaShellCmdReadByte::doExec(), DynaShellCmdReadWord::doExec(), DynaShellCmdDump::doExec(), DynaShellCmdScan::Exec(), DynaShellCmdPing::Exec(), DynaShellCmdList::Exec(), DynaShellCmdMegaScan::Exec(), DynaShellCmdBgtStart::Exec(), DynaShellCmdSaveRecording::Exec(), DynaShellCmdBgtStop::Exec(), DynaShellCmdBgtGetState::Exec(), DynaShellCmdLoadRecording::Load(), and DynaShellCmdPlay::Play().

{
  va_list ap;

  if( !m_bSilent )
  {
    va_start(ap, sFmt);
    vprintf(sFmt, ap);
    va_end(ap);
  }
}

int DynaShell::Run

(

)

Command execution loop.

Loop through all commands from input intil EOF, error, or user commanded termination.

Returns

DYNA_OK on successful execution, < 0 on failure.

Definition at line 884 of file dynashell.cxx.

References DYNA_ECODE_SYS, DYNA_OK, DynaShellCmd::Exec(), GetInput(), DynaShellCmd::GetPublishedLevel(), m_bIsInteractive, m_bRun, m_mapCmds, m_rc, m_sInputLine, MatchCmd(), ScriptPop(), SH_RC_EOF, SH_RC_OK, SH_RC_OK_NOEXEC, SH_RC_SYS_ERROR, and ReadLine::tokenize().

Referenced by main().

{
  int           tokc;
  char         *tokv[1024];
  DynaShellCmd *pCmd;
  int           nOffset;    // command-line arguments start offset
  int           rc;

  if( m_bIsInteractive )
  {
    printf("  Dynamixel Simple Shell\n");
    printf("(enter 'help' for list of commands; "
         "partial command matching supported)\n\n");
  }

  while( m_bRun )
  {
    // clear any old shell command return code
    m_rc = DYNA_OK;

    // parse [compound] statement
    rc = GetInput();

    //
    // test terminating conditions
    //
    switch( rc )
    {
      // parse and execute
      case SH_RC_OK:
        // tokenize input
        tokc = ReadLine::tokenize(m_sInputLine, tokv, arraysize(tokv));

        if( tokc <= 0 )
        {
          continue;
        }

        // find command
        pCmd = MatchCmd(tokc, tokv, m_mapCmds);

        if( pCmd != NULL )
        {
          nOffset = pCmd->GetPublishedLevel() + 1;

          // execute command
          pCmd->Exec(*this, tokc-nOffset, tokv+nOffset);
        }
        break;

      // parse but don't execute
      case SH_RC_OK_NOEXEC:
        break;

      // end-of-file
      case SH_RC_EOF:
        ScriptPop();
        break;

      // system or other error
      case SH_RC_SYS_ERROR:
      default:
        // if not interactive terminate loop
        if( !m_bIsInteractive )
        {
          m_rc   = -DYNA_ECODE_SYS;
          m_bRun = false;
        }
        break;
    }
  }

  return m_rc;
}

void DynaShell::ScriptFlush

(

)

Flush all scripts from stack.

If this shell is not user interactive, the shell will marked for termination. Otherwise, standard input becomes the point of execution.

Definition at line 716 of file dynashell.cxx.

References m_bIsInteractive, m_bRun, and m_vecScripts.

Referenced by Error(), and ~DynaShell().

{
  ShScript *pScript;
  int       i;

  for(i=0; i<(int)m_vecScripts.size(); ++i)
  {
    pScript = m_vecScripts.back();
    m_vecScripts.pop_back();
    delete pScript;
  }

  if( !m_bIsInteractive )
  {
    m_bRun = false;
  }
}

void DynaShell::ScriptPop

(

)

Pop the current script from stack.

The new top-of-stack script resumes execution. If there are no more scripts on the stack and this shell is not user interactive, then the shell will marked for termination. Otherwise, if the stack is empty, standard input becomes the point of execution.

Definition at line 693 of file dynashell.cxx.

References m_bIsInteractive, m_bRun, and m_vecScripts.

Referenced by Run().

{
  ShScript  *pScript;

  if( (int)m_vecScripts.size() > 0 )
  {
    pScript = m_vecScripts.back();
    m_vecScripts.pop_back();
    delete pScript;
  }

  if( !m_bIsInteractive && m_vecScripts.empty() )
  {
    m_bRun = false;
  }
}

void DynaShell::ScriptPush	(	const char *	sScriptFile,
		FILE *	fp
	)

Push new script on the stack.

The new script becomes the point of execution.

Parameters

sScriptFile	Script file path name.
fp	Script file opened file pointer.

Definition at line 669 of file dynashell.cxx.

References Error(), m_nMaxScriptDepth, and m_vecScripts.

Referenced by DynaShellCmdScript::Exec(), and MainInitArgs().

{
  ShScript  *pScript;

  if( (int)m_vecScripts.size() >= m_nMaxScriptDepth )
  {
    Error("Cannot execute script %s: At maximum script depth of %d",
        sScriptFile, m_nMaxScriptDepth);
  }
  else
  {
    pScript = new ShScript(sScriptFile, fp);
    m_vecScripts.push_back(pScript);
  }
}

void DynaShell::ScriptTrace

(

const char *

sLine

)

Trace script execution.

Parameters

sLine

Executable script statement.

Definition at line 739 of file dynashell.cxx.

References IsRunningScript(), m_bIsInteractive, and m_vecScripts.

Referenced by GetInput().

{
  if( IsRunningScript() )
  {
    if( m_bIsInteractive )
    {
      printf(": %s\n", sLine);
    }
    else
    {
      printf("%s[%d]: %s\n",
        m_vecScripts.back()->GetScriptName(),
        m_vecScripts.back()->GetLineNum(),
        sLine);
    }
  }
}

void DynaShell::Warning	(	const char *	sFmt,
			...
	)

Issue warning.

Parameters

sFmt	Format string.
...	Optional format string arguments.

Definition at line 781 of file dynashell.cxx.

References m_vecScripts.

Referenced by DynaShellCmdLoadRecording::Load().

{
  va_list ap;

  if( !m_vecScripts.empty() )
  {
    fprintf(stderr, "%s[%d]: ",
        m_vecScripts.back()->GetScriptName(),
        m_vecScripts.back()->GetLineNum());
  }

  fprintf(stderr, "Warning: ");
  
  va_start(ap, sFmt);
  vfprintf(stderr, sFmt, ap);
  va_end(ap);

  fprintf(stderr, "\n");
}

---

The documentation for this class was generated from the following files:

• dynashell/dynashell.h
• dynashell/dynashell.cxx