AP_Menu.h

/// @file	menu.h
/// @brief	Simple commandline menu subsystem.
/// @discussion
/// The Menu class implements a simple CLI that accepts commands typed by
/// the user, and passes the arguments to those commands to a function
/// defined as handing the command.
///
/// Commands are defined in an array of Menu::command structures passed
/// to the constructor.  Each entry in the array defines one command.
///
/// Arguments passed to the handler function are pre-converted to both
/// long and float for convenience.
#pragma once

#include <inttypes.h>
#include <AP_HAL/AP_HAL.h>

#define MENU_COMMANDLINE_MAX    32      ///< maximum input line length
#define MENU_ARGS_MAX           3       ///< maximum number of arguments
#define MENU_COMMAND_MAX        14      ///< maximum size of a command name

/// Class defining and handling one menu tree
class Menu {
public:
    /// argument passed to a menu function
    ///
    /// Space-delimited arguments are parsed from the commandline and
    /// separated into these structures.
    ///
    /// If the argument cannot be parsed as a float or a long, the value
    /// of f or i respectively is undefined.  You should range-check
    /// the inputs to your function.
    ///
    struct arg {
        const char *str;                        ///< string form of the argument
        long i;                                         ///< integer form of the argument (if a number)
        float f;                                        ///< floating point form of the argument (if a number)
    };

    /// menu command function
    ///
    /// Functions called by menu array entries are expected to be of this
    /// type.
    ///
    /// @param	argc		The number of valid arguments, including the
    ///						name of the command in argv[0].  Will never be
    ///						more than MENU_ARGS_MAX.
    /// @param	argv		Pointer to an array of Menu::arg structures
    ///						detailing any optional arguments given to the
    ///						command.  argv[0] is always the name of the
    ///						command, so that the same function can be used
    ///						to handle more than one command.
    ///
    FUNCTOR_TYPEDEF(func, int8_t, uint8_t, const struct arg *);

	static void set_port(AP_HAL::BetterStream *port) {
		_port = port;
	}

    /// menu pre-prompt function
    ///
    /// Called immediately before waiting for the user to type a command; can be
    /// used to display help text or status, for example.
    ///
    /// If this function returns false, the menu exits.
    ///
    FUNCTOR_TYPEDEF(preprompt, bool);

    /// menu command description
    ///
    struct command {
        /// Name of the command, as typed or received.
        /// Command names are limited in size to keep this structure compact.
        ///
        const char command[MENU_COMMAND_MAX];

        /// The function to call when the command is received.
        ///
        /// The argc argument will be at least 1, and no more than
        /// MENU_ARGS_MAX.  The argv array will be populated with
        /// arguments typed/received up to MENU_ARGS_MAX.  The command
        /// name will always be in argv[0].
        ///
        /// Commands may return -2 to cause the menu itself to exit.
        /// The "?", "help" and "exit" commands are always defined, but
        /// can be overridden by explicit entries in the command array.
        ///
        FUNCTOR_DECLARE(func, int8_t, uint8_t, const struct arg *);
    };

    /// constructor
    ///
    /// Note that you should normally not call the constructor directly.  Use
    /// the MENU and MENU2 macros defined below.
    ///
    /// @param prompt		The prompt to be displayed with this menu.
    /// @param commands		An array of ::command structures in program memory.
    /// @param entries		The number of entries in the menu.
    ///
    Menu(const char *prompt, const struct command *commands, uint8_t entries, preprompt ppfunc = 0);

    /// set command line length limit
    void set_limits(uint8_t commandline_max, uint8_t args_max);

    /// menu runner
    void        run(void);

    /// check for new input on the port. Can be used
    /// to allow for the menu to operate asynchronously
    /// this will return true if the user asked to exit the menu
    bool        check_input(void);

private:
    /// Implements the default 'help' command.
    ///
    void        _help(void);                                                            ///< implements the 'help' command

    /// calls the function for the n'th menu item
    ///
    /// @param n			Index for the menu item to call
    /// @param argc			Number of arguments prepared for the menu item
    ///
    int8_t                  _call(uint8_t n, uint8_t argc);

    const char *            _prompt;                                                    ///< prompt to display
    const command *         _commands;                                                  ///< array of commands
    const uint8_t           _entries;                                                   ///< size of the menu
    const preprompt         _ppfunc;                                                    ///< optional pre-prompt action

    static char             *_inbuf;       ///< input buffer
    static arg              *_argv;       ///< arguments

    uint8_t                 _commandline_max;
    uint8_t                 _args_max;

    // allocate inbuf and args buffers
    void _allocate_buffers(void);

    // number of characters read so far from the port
    uint8_t                 _input_len;

    // check for next input character
    bool                    _check_for_input(void);

    // run one full entered command. 
    // return true if the menu loop should exit
    bool                    _run_command(bool prompt_on_enter);

    void                    _display_prompt();
    
	// port to run on
	static AP_HAL::BetterStream  *_port;
};

/// Macros used to define a menu.
///
/// The commands argument should be an arary of Menu::command structures, one
/// per command name.  The array does not need to be terminated with any special
/// record.
///
/// Use name.run() to run the menu.
///
/// The MENU2 macro supports the optional pre-prompt printing function.
///
#define MENU(name, prompt, commands)                                                    \
    static const char __menu_name__ ## name[] = prompt;      \
    static Menu name(__menu_name__ ## name, commands, ARRAY_SIZE(commands))

#define MENU2(name, prompt, commands, preprompt)                                \
    static const char __menu_name__ ## name[] = prompt;      \
    static Menu name(__menu_name__ ## name, commands, ARRAY_SIZE(commands), preprompt)