Dynamixel shell command abstract base class. More...

#include <dynashell_cmd.h>

Inheritance diagram for DynaShellCmd:

Public Member Functions
	DynaShellCmd (int nArgCntMin=0, int nArgCntMax=0)
	Default constructor.

virtual	~DynaShellCmd ()
	Default destructor.

const char *	GetCmdName ()
	Get dynamixel shell command name. More...

const char *	GetCmdHelpBrief ()
	Get shell command name brief description. More...

virtual void	Exec (DynaShell &shell, int argc, char *argv[])=0
	Execute command abstract function. More...

virtual void	PrintHelp (int indent=0, int width=80)
	Print command help with the description aligned at the given indentation. More...

int	GetPublishedLevel () const

const char *	GetPublishedName () const

int	SetPublishedInfo (int nLevel, const char *sParent=NULL)

virtual char *	TabCompletion (DynaShell &shell, const char sText, size_t uTextLen, int nState, const char sContext)
	Default command tab completion generator. More...

virtual bool	ChkArgCnt (DynaShell &shell, int argc)
	Check that the argument count is within the class (min,max). More...

bool	ChkArgCnt0 (DynaShell &shell, int argc)
	Check that the argument count is zero. More...

bool	ChkArgCntEQ (DynaShell &shell, int argc, int eq)
	Check that the argument count is equal to the required. More...

bool	ChkArgCntGE (DynaShell &shell, int argc, int min)
	Check argument count against minimum required. More...

bool	ChkArgCntLE (DynaShell &shell, int argc, int max)
	Check argument count against maximum allowed. More...

bool	ChkComm (DynaShell &shell)
	Check that Dynamixel communication exists and is open. More...

bool	ChkChain (DynaShell &shell)
	Check that the servo chain exists. More...

bool	ChkChainNotEmpty (DynaShell &shell)
	Check that the servo chain exists and is not empty. More...

bool	ChkChainHasServo (DynaShell &shell, int nServoId)
	Check that the given servo is present in the chain. More...

bool	ChkChainIsMasterServo (DynaShell &shell, int nServoId)
	Check that the given servo is a master. More...

bool	ToInt (DynaShell &shell, const char sArg, int pVal)
	Convert command argument to integer. More...

bool	ToUInt (DynaShell &shell, const char sArg, uint_t pVal)
	Convert command argument to unsigned integer. More...

bool	ToDouble (DynaShell &shell, const char sArg, double pVal)
	Convert command argument to double. More...

bool	ToBool (DynaShell &shell, const char sArg, bool pVal)
	Convert command argument to boolean. More...

Protected Member Functions
virtual void	PrintSynopses (int indent, int width)
	Print synsopses. More...

virtual void	PrintBlock (int col, int indent, int width, const char *sText)
	Print a block of indented text of width. More...

virtual void	PrintDelim (int width, const char cDelim)

char *	eow (const char *s)
	Find end of word. More...

Protected Attributes
const char *	m_sCmdName
	command name

const char *	m_sCmdHelpBrief
	command help brief

const char *	m_sCmdHelpArgs
	command help arguments

const char *	m_sCmdHelpDesc
	command help description

const int	m_nArgCntMin
	minimum argument count

const int	m_nArgCntMax
	maximum argument count (0 if not max)

int	m_nPubLevel
	command's published level (depth)

char *	m_sPubName
	command's published name

Detailed Description

Dynamixel shell command abstract base class.

Definition at line 80 of file dynashell_cmd.h.

Member Function Documentation

virtual bool DynaShellCmd::ChkArgCnt	(	DynaShell &	shell,
		int	argc
	)

inlinevirtual

Check that the argument count is within the class (min,max).

Parameters

shell	Dynamixel shell.
argc	Argument count.

Returns: Returns true if the check passed.
Otherwise a shell error is printed and false is returned.

Definition at line 219 of file dynashell_cmd.h.

   {
     if( (m_nArgCntMin == 0) && (m_nArgCntMax == 0) )
     {
       return ChkArgCnt0(shell, argc);
     }
     else if( m_nArgCntMin == m_nArgCntMax )
     {
       return ChkArgCntEQ(shell, argc, m_nArgCntMin);
     }
     
     if( (m_nArgCntMin > 0) && !ChkArgCntGE(shell, argc, m_nArgCntMin) )
     {
       return false;
     }
     
     if( (m_nArgCntMax > 0) && !ChkArgCntLE(shell, argc, m_nArgCntMax) )
     {
       return false;
     }
 
     return true;
   }

bool DynaShellCmd::ChkArgCnt0	(	DynaShell &	shell,
		int	argc
	)

inline

Check that the argument count is zero.

Parameters

shell	Dynamixel shell.
argc	Argument count.

Returns: Returns true if the check passed.
Otherwise a shell error is printed and false is returned.

Definition at line 253 of file dynashell_cmd.h.

References DynaShell::Error().

   { 
     if( argc != 0 )
     { 
       shell.Error("Command has no arguments.");
       return false;
     }
     return true;
   }

bool DynaShellCmd::ChkArgCntEQ	(	DynaShell &	shell,
		int	argc,
		int	eq
	)

inline

Check that the argument count is equal to the required.

Parameters

shell	Dynamixel shell.
argc	Argument count.
min	Required minimum count.

Returns: Returns true if the check passed.
Otherwise a shell error is printed and false is returned.

Definition at line 274 of file dynashell_cmd.h.

References DynaShell::Error().

   { 
     if( argc != eq )
     { 
       shell.Error("Argument count %d != required %d.", argc, eq);
       return false;
     }
     return true;
   }

bool DynaShellCmd::ChkArgCntGE	(	DynaShell &	shell,
		int	argc,
		int	min
	)

inline

Check argument count against minimum required.

Parameters

shell	Dynamixel shell.
argc	Argument count.
min	Required minimum count.

Returns: Returns true if the check passed.
Otherwise a shell error is printed and false is returned.

Definition at line 295 of file dynashell_cmd.h.

References DynaShell::Error().

   { 
     if( argc < min )
     { 
       shell.Error("Argument count %d < minimum %d.", argc, min);
       return false;
     }
     return true;
   }

bool DynaShellCmd::ChkArgCntLE	(	DynaShell &	shell,
		int	argc,
		int	max
	)

inline

Check argument count against maximum allowed.

Parameters

shell	Dynamixel shell.
argc	Argument count.
min	Maximum count.

Returns: Returns true if the check passed.
Otherwise a shell error is printed and false is returned.

Definition at line 316 of file dynashell_cmd.h.

References DynaShell::Error().

   { 
     if( argc > max )
     { 
       shell.Error("Argument count %d > maximum %d.", argc, max);
       return false;
     }
     return true;
   }

bool DynaShellCmd::ChkChain ( DynaShell & shell )

inline

Check that the servo chain exists.

Parameters

shell Dynamixel shell.

Returns: Returns true if the check passed.
Otherwise a shell error is printed and false is returned.

Definition at line 354 of file dynashell_cmd.h.

References DynaShell::Error(), and DynaShell::m_pDynaChain.

   { 
     if( shell.m_pDynaChain == NULL )
     { 
       shell.Error("No dynamixel chain.");
       return false;
     } 
     return true;
   }

bool DynaShellCmd::ChkChainHasServo	(	DynaShell &	shell,
		int	nServoId
	)

inline

Check that the given servo is present in the chain.

Parameters

shell	Dynamixel shell.
nServoId	Servo id.

Returns: Returns true if the check passed.
Otherwise a shell error is printed and false is returned.

Definition at line 398 of file dynashell_cmd.h.

References DynaShell::Error(), DynaChain::HasServo(), and DynaShell::m_pDynaChain.

   { 
     if( !ChkChainNotEmpty(shell) )
     {
       return false;
     }
 
     if( !shell.m_pDynaChain->HasServo(nServoId) )
     { 
       shell.Error("Servo %d not found in chain.", nServoId);
       return false;
     } 
     return true;
   }

bool DynaShellCmd::ChkChainIsMasterServo	(	DynaShell &	shell,
		int	nServoId
	)

inline

Check that the given servo is a master.

Parameters

shell	Dynamixel shell.
nServoId	Servo id.

Returns: Returns true if the check passed.
Otherwise a shell error is printed and false is returned.

Definition at line 423 of file dynashell_cmd.h.

References DynaShell::Error(), DynaChain::GetServo(), DynaServo::IsMaster(), and DynaShell::m_pDynaChain.

   { 
     if( !ChkChainHasServo(shell, nServoId) )
     {
       return false;
     }
 
     if( !shell.m_pDynaChain->GetServo(nServoId)->IsMaster() )
     { 
       shell.Error("Servo %d not a master.", nServoId);
       return false;
     } 
     return true;
   }

bool DynaShellCmd::ChkChainNotEmpty ( DynaShell & shell )

inline

Check that the servo chain exists and is not empty.

Parameters

shell Dynamixel shell.

Returns: Returns true if the check passed.
Otherwise a shell error is printed and false is returned.

Definition at line 373 of file dynashell_cmd.h.

References DynaShell::Error(), DynaChain::GetNumberInChain(), and DynaShell::m_pDynaChain.

   { 
     if( !ChkChain(shell) )
     {
       return false;
     }
 
     if( shell.m_pDynaChain->GetNumberInChain() == 0 )
     { 
       shell.Error("No servos in dynamixel chain. Try scanning.");
       return false;
     } 
     return true;
   }

bool DynaShellCmd::ChkComm ( DynaShell & shell )

inline

Check that Dynamixel communication exists and is open.

Parameters

shell Dynamixel shell.

Returns: Returns true if the check passed.
Otherwise a shell error is printed and false is returned.

Definition at line 335 of file dynashell_cmd.h.

References DynaShell::Error(), DynaComm::IsOpen(), and DynaShell::m_pDynaComm.

   { 
     if( (shell.m_pDynaComm == NULL) || !shell.m_pDynaComm->IsOpen() )
     { 
       shell.Error("No open dynamixel communication.");
       return false;
     } 
     return true;
   }

char * DynaShellCmd::eow ( const char * s )

protected

Find end of word.

A word is define as a set of non-whitespace characters delimitedd by white space.

Parameters

s	Null-terminated string to search.

Returns: Returns a pointer to the first trailing white space character or NULL if no white space found.

Definition at line 264 of file dynashell_cmd.cxx.

 {
   char  *t;
 
   if( (s == NULL) || (*s == 0) )
   {
     return NULL;
   }
 
   for(t=(char *)s; *t; ++t)
   {
     if( isspace(*t) )
     {
       break;
     }
   }
 
   return *t? t: NULL;
 }

virtual void DynaShellCmd::Exec	(	DynaShell &	shell,
		int	argc,
		char *	argv[]
	)

pure virtual

Execute command abstract function.

Parameters

shell	Embedding dynamixel shell.
argc	Command argument count.
argv	Array of arguments.

Implemented in DynaShellCmdWriteByte, DynaShellCmdReadByte, DynaShellCmdSetSoftTorqueTh, DynaShellCmdPlay, DynaShellCmdWriteMaxTorqueLimit, DynaShellCmdSetHalfDuplexCtl, DynaShellCmdTrain, DynaShellCmdBgtGetState, DynaShellCmdReadMaxTorqueLimit, DynaShellCmdBgtStop, DynaShellCmdSaveRecording, DynaShellCmdBgtStart, DynaShellCmdMegaScan, DynaShellCmdUnlink, DynaShellCmdChainOut, DynaShellCmdScript, DynaShellCmdSetOdometer, DynaShellCmdChainIn, DynaShellCmdWait, DynaShellCmdLink, DynaShellCmdRelease, DynaShellCmdList, DynaShellCmdLog, DynaShellCmdLoadRecording, DynaShellCmdFreeze, DynaShellCmdExit, DynaShellCmdPing, DynaShellCmdQuit, DynaShellCmdEStop, DynaShellCmdScan, DynaShellCmdDestroy, DynaShellCmdSetPid, DynaShellCmdMoveAtSpeedTo, DynaShellCmdHelp, DynaShellCmdCreate, and DynaShellCmdNULL.

Referenced by DynaShell::Run().

const char* DynaShellCmd::GetCmdHelpBrief ( )

inline

Get shell command name brief description.

Returns: Command name string.

Definition at line 124 of file dynashell_cmd.h.

Referenced by DynaShell::PublishCommand().

124 { return m_sCmdHelpBrief; }

DynaShellCmd::m_sCmdHelpBrief

const char * m_sCmdHelpBrief

command help brief

Definition: dynashell_cmd.h:538

const char* DynaShellCmd::GetCmdName ( )

inline

Get dynamixel shell command name.

Returns: Command name string.

Definition at line 117 of file dynashell_cmd.h.

Referenced by DynaShell::PublishCommand().

117 { return m_sCmdName; }

DynaShellCmd::m_sCmdName

const char * m_sCmdName

command name

Definition: dynashell_cmd.h:537

int DynaShellCmd::GetPublishedLevel ( ) const

inline

Get the command's published level.

The root level is 0.

Returns: Published level.

Definition at line 144 of file dynashell_cmd.h.

Referenced by DynaShell::Run().

   {
     return m_nPubLevel;
   }

const char* DynaShellCmd::GetPublishedName ( ) const

inline

Get the command's published name.

Returns: Published name.

Definition at line 154 of file dynashell_cmd.h.

Referenced by DynaShell::PublishCommand().

   {
     return m_sPubName;
   }

void DynaShellCmd::PrintBlock	(	int	col,
		int	indent,
		int	width,
		const char *	sText
	)

protectedvirtual

Print a block of indented text of width.

Parameters

col	Current column position.
indent	Column indentation from 0.
width	Column width from 0;
sText	Text to print.

Definition at line 178 of file dynashell_cmd.cxx.

 {
   int         n;      // word length
   const char *s, *t;  // working pointers
 
   if( col >= width )
   {
     printf("\n");
     col = 0;
   }
 
   for(s=sText; *s != 0; )
   {
     // find end of word
     t = eow(s);
 
     // end of string
     if( t == NULL )
     {
       n = (int)strlen(s);
       t = s + n;
     }
 
     // got a word
     else
     {
       n = (int)(t - s);
     }
 
     // will exceed line limit, go to next line
     if( col+n >= width )
     {
       printf("\n");
       col = printf("%*s", indent, "");
     }
 
     // print help word
     if( n > 0 )
     {
       col += printf("%.*s", n, s);
     }
     //col += printf("|");
 
     switch(*t)
     {
       case ' ':
       case '\t':
       case '\v':
         col += printf(" ");
         s = ++t;
         break;
       case '\n':
       case '\r':
         printf("\n");
         col = printf("%*s", indent, "");
         s = ++t;
         break;
       case 0:
       default:
         s = t;
     }
   }
 
   printf("\n");
 }

void DynaShellCmd::PrintHelp	(	int	indent = `0`,
		int	width = `80`
	)

virtual

Print command help with the description aligned at the given indentation.

Parameters

indent	Column indentation.
width	Column width.

Definition at line 87 of file dynashell_cmd.cxx.

Referenced by DynaShellCmdHelp::Exec().

 {
   int           col;        // current column position
 
   // print brief
   PrintDelim(width, '-');
   col = printf("%s - ", m_sPubName);
   PrintBlock(col, indent, width, m_sCmdHelpBrief);
 
   // print synopses
   if( (m_sCmdHelpArgs != NULL) && (*m_sCmdHelpArgs != 0) )
   {
     printf("\n");
     PrintSynopses(indent, width);
   }
 
 
   // print description
   if( (m_sCmdHelpDesc != NULL) && (*m_sCmdHelpDesc != 0) )
   {
     printf("\n");
     PrintBlock(0, indent, width, m_sCmdHelpDesc);
   }
 }

void DynaShellCmd::PrintSynopses	(	int	indent,
		int	width
	)

protectedvirtual

Print synsopses.

Parameters

indent	Column indentation.
width	Column width.

Definition at line 118 of file dynashell_cmd.cxx.

 {
   int           col;        // current column position
   char          buf[256];   // working buffer
   const char   *s, *t;      // working pointers
   size_t        len;        // working length
   bool          bFirst;     // first synopsis
   bool          bLast ;     // last synopsis
 
   if( (m_sCmdHelpArgs != NULL) && (*m_sCmdHelpArgs != 0) )
   {
     for(s=m_sCmdHelpArgs, bFirst=true, bLast=false; !bLast; )
     {
       t = strchr(s, '\n');
 
       if( t != NULL )
       {
         len = (size_t)(t-s);
       }
       else
       {
         len = strlen(s);
         bLast = true;
       }
       if( len >= sizeof(buf) )
       {
         len = sizeof(buf)-1;
       }
 
       strncpy(buf, s, len);
       buf[len] = 0;
 
       if( bFirst )
       {
         col = printf("%*sUsage: %s ", indent, "", m_sPubName);
         bFirst = false;
       }
       else
       {
         col = printf("%*s       %s ", indent, "", m_sPubName);
       }
 
       PrintBlock(col, col, width, buf);
 
       if( t != NULL )
       {
         s = t + 1;
       }
     }
   }
 }

int DynaShellCmd::SetPublishedInfo	(	int	nLevel,
		const char *	sParent = `NULL`
	)

inline

Set the command's published information.

Parameters

nLevel	Published level. The root level is 0.
sParent	Parent to which this command was published.

Definition at line 165 of file dynashell_cmd.h.

References newstr().

Referenced by DynaShell::PublishCommand().

   {
     m_nPubLevel = nLevel;
 
     if( m_sPubName != NULL )
     {
       delete[] m_sPubName;
     }
     if( sParent == NULL )
     {
       m_sPubName = newstr(m_sCmdName);
     }
     else
     {
       m_sPubName = new char[strlen(sParent)+1+strlen(m_sCmdName)+1];
       sprintf(m_sPubName, "%s %s", sParent, m_sCmdName);
     }
   }

virtual char* DynaShellCmd::TabCompletion	(	DynaShell &	shell,
		const char *	sText,
		size_t	uTextLen,
		int	nState,
		const char *	sContext
	)

inlinevirtual

Default command tab completion generator.

The default is no completion.

Parameters

shell	Dynamixel shell.
sText	Partial text string to complete.
uTextLen	Length of text.
nState	Generator state. If FIRST,then initialize any statics.
sContext	Generator context (i.e. canonical command path).

Returns: If a first/next match is made, return allocated completed match.
Otherwise return NULL.

Reimplemented in DynaShellCmdWriteByte, DynaShellCmdReadByte, DynaShellCmdPlay, DynaShellCmdWriteMaxTorqueLimit, DynaShellCmdSetHalfDuplexCtl, DynaShellCmdTrain, DynaShellCmdReadMaxTorqueLimit, DynaShellCmdSaveRecording, DynaShellCmdBgtStart, DynaShellCmdMegaScan, DynaShellCmdUnlink, DynaShellCmdChainOut, DynaShellCmdScript, DynaShellCmdLink, DynaShellCmdChainIn, DynaShellCmdLog, DynaShellCmdLoadRecording, DynaShellCmdSetPid, DynaShellCmdHelp, and DynaShellCmdCreate.

Definition at line 199 of file dynashell_cmd.h.

   {
     //return ReadLine::FileCompletionGenerator(sText, nState);
     return NULL;
   }

bool DynaShellCmd::ToBool	(	DynaShell &	shell,
		const char *	sArg,
		bool *	pVal
	)

inline

Convert command argument to boolean.

Parameters

	shell	Dynamixel shell.
	sArg	String argument to convert.
[out]	pVal	Converted argument.

Returns: Returns true on success, otherwise a shell error is printed and false is returned.

Definition at line 507 of file dynashell_cmd.h.

References DynaShell::Error().

   {
     int   i;
     char *t;
 
     if( !strcasecmp(sArg, "t") || !strcasecmp(sArg, "true") )
     {
       *pVal = true;
       return true;
     }
     else if( !strcasecmp(sArg, "f") || !strcasecmp(sArg, "false") )
     {
       *pVal = false;
       return true;
     }
 
     i = (int)strtol(sArg, &t, 0);
 
     if( *t != 0 )
     {
       shell.Error("Argument value \"%s\": Not an boolean.", sArg);
       return false;
     }
 
     *pVal = i? true: false;
 
     return true;
   }

bool DynaShellCmd::ToDouble	(	DynaShell &	shell,
		const char *	sArg,
		double *	pVal
	)

inline

Convert command argument to double.

Parameters

	shell	Dynamixel shell.
	sArg	String argument to convert.
[out]	pVal	Converted argument.

Returns: Returns true on success, otherwise a shell error is printed and false is returned.

Definition at line 487 of file dynashell_cmd.h.

References DynaShell::Error().

   {
     if( sscanf(sArg, "%lf", pVal) != 1 )
     {
       shell.Error("Argument value \"%s\": Not a floating-point number.", sArg);
       return false;
     }
     return true;
   }

bool DynaShellCmd::ToInt	(	DynaShell &	shell,
		const char *	sArg,
		int *	pVal
	)

inline

Convert command argument to integer.

Parameters

	shell	Dynamixel shell.
	sArg	String argument to convert.
[out]	pVal	Converted argument.

Returns: Returns true on success, otherwise a shell error is printed and false is returned.

Definition at line 448 of file dynashell_cmd.h.

References DynaShell::Error().

   {
     char  *t;
 
     *pVal = (int)strtol(sArg, &t, 0);
 
     if( *t != 0 )
     {
       shell.Error("Argument value \"%s\": Not an integer.", sArg);
       return false;
     }
     return true;
   }

bool DynaShellCmd::ToUInt	(	DynaShell &	shell,
		const char *	sArg,
		uint_t *	pVal
	)

inline

Convert command argument to unsigned integer.

Parameters

	shell	Dynamixel shell.
	sArg	String argument to convert.
[out]	pVal	Converted argument.

Returns: Returns true on success, otherwise a shell error is printed and false is returned.

Definition at line 472 of file dynashell_cmd.h.

   {
     return ToInt(shell, sArg, (int *)pVal);
   }

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

dynashell/dynashell_cmd.h
dynashell/dynashell_cmd.cxx

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation