rm_balance/User/device/mrobot.c

/* Includes ----------------------------------------------------------------- */
#include "device/mrobot.h"
#include "component/freertos_cli.h"
#include "bsp/uart.h"
#include <string.h>
#include <stdio.h>
#include <FreeRTOS.h>
#include <task.h>

/* Private variables -------------------------------------------------------- */
static MRobot_Device_t devices[MROBOT_MAX_DEVICES];
static uint8_t device_count = 0;
static char current_path[64] = "/";
static char output_buffer[MROBOT_MAX_OUTPUT_LEN];

/* Private function prototypes ---------------------------------------------- */
static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
static BaseType_t cmd_htop(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
static BaseType_t cmd_cd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
static BaseType_t cmd_ls(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
static BaseType_t cmd_pwd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);

/* CLI 命令定义 */
static const CLI_Command_Definition_t cmd_def_help = {
    "help",
    "help: 显示所有可用命令\r\n",
    cmd_help,
    0
};

static const CLI_Command_Definition_t cmd_def_htop = {
    "htop",
    "htop: 显示 FreeRTOS 任务状态信息\r\n",
    cmd_htop,
    0
};

static const CLI_Command_Definition_t cmd_def_cd = {
    "cd",
    "cd <path>: 切换目录\r\n",
    cmd_cd,
    1
};

static const CLI_Command_Definition_t cmd_def_ls = {
    "ls",
    "ls: 列出当前目录内容\r\n",
    cmd_ls,
    0
};

static const CLI_Command_Definition_t cmd_def_show = {
    "show",
    "show [device]: 显示设备信息\r\n",
    cmd_show,
    -1  /* 可变参数 */
};

static const CLI_Command_Definition_t cmd_def_pwd = {
    "pwd",
    "pwd: 显示当前目录\r\n",
    cmd_pwd,
    0
};

/* Private functions -------------------------------------------------------- */

/* help 命令实现 */
static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
    (void)pcCommandString;
    snprintf(pcWriteBuffer, xWriteBufferLen,
             "MRobot CLI v1.0\r\n"
             "可用命令:\r\n"
             "  help  - 显示帮助信息\r\n"
             "  htop  - 显示任务状态\r\n"
             "  cd    - 切换目录\r\n"
             "  ls    - 列出目录内容\r\n"
             "  pwd   - 显示当前路径\r\n"
             "  show  - 显示设备信息\r\n"
             "\r\n");
    return pdFALSE;
}

/* htop 命令实现 */
static BaseType_t cmd_htop(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
    (void)pcCommandString;
    static char task_buffer[512];
    
    vTaskList(task_buffer);
    snprintf(pcWriteBuffer, xWriteBufferLen,
             "Task Name\tState\tPri\tStack\tNum\r\n"
             "-----------------------------------------------\r\n"
             "%s\r\n", task_buffer);
    
    return pdFALSE;
}

/* pwd 命令实现 */
static BaseType_t cmd_pwd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
    (void)pcCommandString;
    snprintf(pcWriteBuffer, xWriteBufferLen, "%s\r\n", current_path);
    return pdFALSE;
}

/* cd 命令实现 */
static BaseType_t cmd_cd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
    const char *param;
    BaseType_t param_len;
    
    param = FreeRTOS_CLIGetParameter(pcCommandString, 1, &param_len);
    
    if (param != NULL) {
        char path[64];
        strncpy(path, param, param_len);
        path[param_len] = '\0';
        
        if (strcmp(path, "/") == 0 || strcmp(path, "..") == 0) {
            strcpy(current_path, "/");
        } else if (strcmp(path, "dev") == 0 || strcmp(path, "/dev") == 0) {
            strcpy(current_path, "/dev");
        } else if (strcmp(path, "modules") == 0 || strcmp(path, "/modules") == 0) {
            strcpy(current_path, "/modules");
        } else {
            snprintf(pcWriteBuffer, xWriteBufferLen, "错误: 目录不存在\r\n");
            return pdFALSE;
        }
        snprintf(pcWriteBuffer, xWriteBufferLen, "切换到: %s\r\n", current_path);
    } else {
        snprintf(pcWriteBuffer, xWriteBufferLen, "错误: 缺少路径参数\r\n");
    }
    
    return pdFALSE;
}

/* ls 命令实现 */
static BaseType_t cmd_ls(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
    (void)pcCommandString;
    int offset = 0;
    
    if (strcmp(current_path, "/") == 0) {
        offset = snprintf(pcWriteBuffer, xWriteBufferLen, "dev/\r\nmodules/\r\n");
    } else if (strcmp(current_path, "/dev") == 0) {
        offset = snprintf(pcWriteBuffer, xWriteBufferLen, "设备列表:\r\n");
        for (uint8_t i = 0; i < device_count && offset < (int)xWriteBufferLen; i++) {
            offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
                             "  %s\r\n", devices[i].name);
        }
        if (device_count == 0) {
            offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
                             "  (无设备)\r\n");
        }
    } else if (strcmp(current_path, "/modules") == 0) {
        offset = snprintf(pcWriteBuffer, xWriteBufferLen, "(模块功能暂未实现)\r\n");
    }
    
    return pdFALSE;
}

/* show 命令实现 */
static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
    const char *param;
    BaseType_t param_len;
    
    param = FreeRTOS_CLIGetParameter(pcCommandString, 1, &param_len);
    
    if (strcmp(current_path, "/dev") != 0) {
        snprintf(pcWriteBuffer, xWriteBufferLen, "错误: show 命令仅在 /dev 目录下可用\r\n");
        return pdFALSE;
    }
    
    if (param == NULL) {
        /* 显示所有设备 */
        int offset = snprintf(pcWriteBuffer, xWriteBufferLen, "所有设备信息:\r\n");
        for (uint8_t i = 0; i < device_count && offset < (int)xWriteBufferLen; i++) {
            offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
                             "\r\n=== %s ===\r\n", devices[i].name);
            if (devices[i].print_callback != NULL) {
                devices[i].print_callback(devices[i].data, 
                                         pcWriteBuffer + offset, 
                                         xWriteBufferLen - offset);
                offset = strlen(pcWriteBuffer);
            }
        }
    } else {
        /* 显示特定设备 */
        char device_name[32];
        strncpy(device_name, param, param_len);
        device_name[param_len] = '\0';
        
        bool found = false;
        for (uint8_t i = 0; i < device_count; i++) {
            if (strcmp(devices[i].name, device_name) == 0) {
                found = true;
                int offset = snprintf(pcWriteBuffer, xWriteBufferLen, 
                                     "=== %s ===\r\n", devices[i].name);
                if (devices[i].print_callback != NULL) {
                    devices[i].print_callback(devices[i].data, 
                                             pcWriteBuffer + offset, 
                                             xWriteBufferLen - offset);
                } else {
                    snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
                           "无打印函数\r\n");
                }
                break;
            }
        }
        
        if (!found) {
            snprintf(pcWriteBuffer, xWriteBufferLen, "错误: 设备 '%s' 未找到\r\n", device_name);
        }
    }
    
    return pdFALSE;
}

/* Exported functions ------------------------------------------------------- */

void MRobot_Init(void) {
    /* 初始化设备数组 */
    memset(devices, 0, sizeof(devices));
    device_count = 0;
    
    /* 注册 CLI 命令 */
    FreeRTOS_CLIRegisterCommand(&cmd_def_help);
    FreeRTOS_CLIRegisterCommand(&cmd_def_htop);
    FreeRTOS_CLIRegisterCommand(&cmd_def_cd);
    FreeRTOS_CLIRegisterCommand(&cmd_def_ls);
    FreeRTOS_CLIRegisterCommand(&cmd_def_show);
    FreeRTOS_CLIRegisterCommand(&cmd_def_pwd);
}

int8_t MRobot_RegisterDevice(const char *name, MRobot_DeviceType_t type,
                             void *data, MRobot_PrintCallback_t print_callback) {
    if (device_count >= MROBOT_MAX_DEVICES) {
        return -1;
    }
    
    if (name == NULL || data == NULL) {
        return -1;
    }
    
    strncpy(devices[device_count].name, name, sizeof(devices[device_count].name) - 1);
    devices[device_count].type = type;
    devices[device_count].data = data;
    devices[device_count].print_callback = print_callback;
    device_count++;
    
    return 0;
}

int8_t MRobot_ProcessCommand(const char *cmd_string, char *output_buffer, uint16_t buffer_size) {
    if (cmd_string == NULL || output_buffer == NULL || buffer_size == 0) {
        return -1;
    }
    
    BaseType_t result;
    int offset = 0;
    
    do {
        result = FreeRTOS_CLIProcessCommand(cmd_string, 
                                            output_buffer + offset, 
                                            buffer_size - offset);
        offset = strlen(output_buffer);
    } while (result != pdFALSE && offset < (int)buffer_size);
    
    return 0;
}

const char *MRobot_GetCurrentPath(void) {
    return current_path;
}