flix

// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
// Repository: https://github.com/okalachev/flix

// Implementation of command line interface

#include "pid.h"
#include "vector.h"
#include "util.h"
#include "filter.h"

extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
extern const int RAW, ACRO, STAB, AUTO, POS;
extern const int W_AP, W_STA, W_ESPNOW;
extern float t, dt, loopRate;
extern uint16_t channels[16];
extern float controlTime;
extern int mode;
extern bool armed;
extern LowPassFilter<Vector> gyroBiasFilter;
extern float voltage;

const char* motd =
" _______  __       __  ___   ___\n"
"|   ____||  |     |  | \\  \\ /  /\n"
"|  |__   |  |     |  |  \\  V  /\n"
"|   __|  |  |     |  |   >   <\n"
"|  |     |  `----.|  |  /  .  \\\n"
"|__|     |_______||__| /__/ \\__\\\n\n"
"(C) Oleg Kalachev\n"
"https://github.com/okalachev/flix\n\n"
"Commands:\n\n"
"help - show help\n"
"p - show all parameters\n"
"p <str> - show parameters starting with str\n"
"p <name> <value> - set parameter\n"
"preset - reset parameters\n"
"time - show time info\n"
"imu - show IMU data\n"
"ca - calibrate accel\n"
"st - show state estimation\n"
"arm - arm the drone\n"
"disarm - disarm the drone\n"
"raw/stab/acro/auto - set mode\n"
"rc - show RC data\n"
"cr - calibrate RC\n"
"pw - show power info\n"
"wifi - show Wi-Fi info\n"
"wifi ap/sta/espnow/off - set Wi-Fi mode\n"
"ap <ssid> <password> - configure Wi-Fi access point\n"
"sta <ssid> <password> - configure Wi-Fi client mode\n"
"espnow <mac> [<key>] - configure ESP-NOW peer\n"
"mot - show motor output\n"
"mfr/mfl/mrr/mrl [<thrust>] - test motor (remove props)\n"
"log [dump] - print log header [and data]\n"
"log - show log info\n"
"log header - show log header\n"
"log reset - reset log\n"
"log <name> <rate> - setup log topic rate\n"
"l <str> - show log values starting with str\n"
"l expose <name> - expose log value to telemetry\n"
"sys - show system info\n"
"reset - reset drone's state\n"
"reboot - reboot the drone\n";

void print(const char* format, ...) {
	char buf[3000];
	va_list args;
	va_start(args, format);
	vsnprintf(buf, sizeof(buf), format, args);
	va_end(args);
	Serial.print(buf);
	mavlinkPrint(buf);
}

void pause(float duration) {
	float start = t;
	while (t - start < duration) {
		step();
		handleInput();
		processMavlink();
		delay(50);
	}
}

void doCommand(String str, bool echo = false) {
	// parse command
	String command, arg0, arg1;
	splitString(str, command, arg0, arg1);
	if (command.isEmpty()) return;

	// echo command
	if (echo) {
		print("> %s\n", str.c_str());
	}

	command.toLowerCase();

	// execute command
	if (command == "help" || command == "motd") {
		print("%s\n", motd);
	} else if (command == "p" && arg1 == "") {
		printParameters(arg0.c_str());
	} else if (command == "p") {
		bool success = setParameter(arg0.c_str(), arg1.toFloat());
		if (success) {
			print("%s = %g\n", arg0.c_str(), getParameter(arg0.c_str()));
		} else {
			print("Parameter not found: %s\n", arg0.c_str());
		}
	} else if (command == "preset") {
		resetParameters();
	} else if (command == "time") {
		print("Time: %f\n", t);
		print("Loop rate: %.0f\n", loopRate);
		print("dt: %f\n", dt);
	} else if (command == "imu") {
		printIMUInfo();
		printIMUCalibration();
		print("landed: %d\n", landed);
	} else if (command == "st") {
		print("rates: %g %g %g\n", rates.x, rates.y, rates.z);
		print("attitude: %g %g %g %g\n", attitude.w, attitude.x, attitude.y, attitude.z);
		print("roll: %g° pitch: %g° yaw: %g°\n", degrees(attitude.getRoll()), degrees(attitude.getPitch()), degrees(attitude.getYaw()));
		print("landed: %d\n", landed);
	} else if (command == "arm") {
		armed = true;
	} else if (command == "disarm") {
		armed = false;
	} else if (command == "raw") {
		mode = RAW;
	} else if (command == "stab") {
		mode = STAB;
	} else if (command == "acro") {
		mode = ACRO;
	} else if (command == "auto") {
		mode = AUTO;
	} else if (command == "pos") {
		mode = POS;
	} else if (command == "rc") {
		print("channels: ");
		for (int i = 0; i < 16; i++) {
			print("%u ", channels[i]);
		}
		print("\nroll: %g pitch: %g yaw: %g throttle: %g mode: %g\n",
			controlRoll, controlPitch, controlYaw, controlThrottle, controlMode);
		print("time: %.1f\n", controlTime);
		print("mode: %s\n", getModeName());
		print("armed: %d\n", armed);
	} else if (command == "pw") {
		print("Voltage: %.1f V\n", voltage);
	} else if (command == "wifi" && arg0 == "") {
		printWiFiInfo();
	} else if (command == "wifi") {
		setWiFiMode(arg0);
	} else if (command == "ap") {
		configWiFi(W_AP, arg0.c_str(), arg1.c_str());
	} else if (command == "sta") {
		configWiFi(W_STA, arg0.c_str(), arg1.c_str());
	} else if (command == "espnow") {
		configWiFi(W_ESPNOW, arg0.c_str(), arg1.c_str());
	} else if (command == "mot") {
		print("front-right %g front-left %g rear-right %g rear-left %g\n",
			motors[MOTOR_FRONT_RIGHT], motors[MOTOR_FRONT_LEFT], motors[MOTOR_REAR_RIGHT], motors[MOTOR_REAR_LEFT]);
	} else if (command == "log" && arg0 == "") {
		printLogInfo();
	} else if (command == "log" && arg1 != "") {
		configLogThrottle(arg0.c_str(), arg1.toFloat());
	} else if (command == "log" && arg0 == "header") {
		printLogHeader();
	} else if (command == "log" && arg0 == "reset") {
		resetLog();
	} else if (command == "l" && arg0 == "expose" && arg1 != "") {
		exposeLogValue(arg1.c_str());
	} else if (command == "l") {
		printLogValues(arg0.c_str());
	} else if (command == "cr") {
		calibrateRC();
	} else if (command == "ca") {
		calibrateAccel();
	} else if (command == "mfr") {
		testMotor(MOTOR_FRONT_RIGHT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
	} else if (command == "mfl") {
		testMotor(MOTOR_FRONT_LEFT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
	} else if (command == "mrr") {
		testMotor(MOTOR_REAR_RIGHT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
	} else if (command == "mrl") {
		testMotor(MOTOR_REAR_LEFT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
	} else if (command == "sys") {
#ifdef ESP32
		print("Chip: %s\n", ESP.getChipModel());
		print("Temperature: %.1f °C\n", temperatureRead());
		print("Total RAM: %d KB\n", ESP.getHeapSize() / 1024);
		print("Free heap: %d KB\n", ESP.getFreeHeap() / 1024);
		print("PSRAM: %d KB\n", ESP.getPsramSize() / 1024);
		print("Free PSRAM: %d KB\n", ESP.getFreePsram() / 1024);
		print("Firmware: " __DATE__ " " __TIME__ "\n");
		// Print tasks table
		print("Num  Task                MinSt  Prio  Core  CPU%%\n");
		int taskCount = uxTaskGetNumberOfTasks();
		TaskStatus_t *systemState = new TaskStatus_t[taskCount];
		uint32_t totalRunTime;
		uxTaskGetSystemState(systemState, taskCount, &totalRunTime);
		for (int i = 0; i < taskCount; i++) {
			String core = systemState[i].xCoreID == tskNO_AFFINITY ? "*" : String(systemState[i].xCoreID);
			int cpuPercentage = systemState[i].ulRunTimeCounter / (totalRunTime / 100);
			print("%-5d%-20s%-7d%-6d%-6s%d\n",systemState[i].xTaskNumber, systemState[i].pcTaskName,
				systemState[i].usStackHighWaterMark, systemState[i].uxCurrentPriority, core.c_str(), cpuPercentage);
		}
		delete[] systemState;
#endif
	} else if (command == "reset") {
		attitude = Quaternion();
		gyroBiasFilter.reset();
	} else if (command == "reboot") {
		ESP.restart();
	} else {
		print("Invalid command: %s\n", command.c_str());
	}
}

void handleInput() {
	static bool showMotd = true;
	static String input;

	if (showMotd) {
		print("%s\n", motd);
		showMotd = false;
	}

	while (Serial.available()) {
		char c = Serial.read();
		if (c == '\n' || c == '\r') {
			doCommand(input);
			input.clear();
		} else {
			input += c;
		}
	}
}