updates from ADIS_HS2022

ADIS_ESP32_Eclipse/config/IncludeMcuLibConfig.h

@@ -15,12 +15,12 @@
 #define configHEAP_SCHEME_IDENTIFICATION    (0)  /* ESP-IDF RTOS used */
 
 /* -------------- McuShell settings -------------------------- */
-#define McuShell_CONFIG_PROJECT_NAME_STRING  "ESP32 Shell"
+#define McuShell_CONFIG_PROJECT_NAME_STRING       "ESP32 Shell"
-#define McuShell_CONFIG_ECHO_ENABLED         (1)
+#define McuShell_CONFIG_ECHO_ENABLED              (1)
-#define McuShell_CONFIG_PROMPT_STRING        "ESP32> "
+#define McuShell_CONFIG_PROMPT_STRING             "ESP32> "
-#define McuShell_CONFIG_MULTI_CMD_ENABLED    (1)
+#define McuShell_CONFIG_MULTI_CMD_ENABLED         (1)
-#define McuShell_CONFIG_MULTI_CMD_SIZE       (96)
+#define McuShell_CONFIG_MULTI_CMD_SIZE            (96)
-
+#define McuShell_CONFIG_DEFAULT_SHELL_BUFFER_SIZE (96)
 /* -------------- McuCriticalSections settings -------------------------- */
 #define McuCriticalSection_CONFIG_USE_RTOS_CRITICAL_SECTION  (1)
 

ADIS_ESP32_Eclipse/main/robot.c

@@ -44,10 +44,20 @@ uint8_t ROBOT_ParseCommand(const unsigned char* cmd, bool *handled, const McuShe
     return ERR_OK;
   } else if (McuUtility_strncmp((char*)cmd, (char*)"robo sendcmd ", sizeof("robo sendcmd ")-1)==0) {
     static uint8_t response[10*1024];
+    unsigned char buffer[McuShell_CONFIG_DEFAULT_SHELL_BUFFER_SIZE];
     const unsigned char *p;
 
     *handled = TRUE;
     p = cmd+sizeof("robo sendcmd ")-1;
+    while (*p==' ') { /* skip leading spaces */
+      p++;
+    }
+    if (*p=='"') { /* double-quoted command: it can contain multiple commands */
+      if (McuUtility_ScanDoubleQuotedString(&p, buffer, sizeof(buffer))!=ERR_OK) {
+        return ERR_FAILED;
+      }
+      p = buffer;
+    }
     SHELL_SendToRobotAndGetResponse(p, response, sizeof(response));
     McuShell_SendStr(response, io->stdOut); /* show result on console */
     return ERR_OK;

ADIS_Sumo_Styger/Sumo/Maze.c

@@ -144,7 +144,13 @@ uint8_t MAZE_EvaluteTurn(bool *finished, bool *deadEndGoBw) {
   *deadEndGoBw = FALSE; /* default */
   currLineKind = REF_GetLineKind(REF_LINE_KIND_MODE_MAZE);
   if (currLineKind==REF_LINE_NONE) { /* nothing, must be dead end */
+#if PL_GO_DEADEND_BW
+    TURN_Turn(TURN_STEP_LINE_BW, NULL); /* step back so we are again on the line for line following */
+    turn = TURN_STRAIGHT;
+    *deadEndGoBw = TRUE;
+#else
     turn = TURN_LEFT180;
+#endif
   } else {
     HISTORY_Clear(); /* clear history values */
     HISTORY_SampleSensors(); /* store current values */

ADIS_Sumo_Styger/source/IncludeMcuLibConfig.h

@@ -31,13 +31,6 @@
 #define McuShell_CONFIG_MULTI_CMD_SIZE              (96) /* maximum size of a single command in a multi-command string */
 #define McuShell_CONFIG_PROMPT_STRING               "ROBO> "
 #define McuShell_CONFIG_ECHO_ENABLED                (1)
-
-/* Mcu log */
-#define McuLog_CONFIG_IS_ENABLED    (1)
-#define McuLog_CONFIG_USE_RTT_CONSOLE         (1)
-#define McuLog_CONFIG_LOG_TIMESTAMP_DATE    (0)  // disable since time is not used
-#define McuLog_CONFIG_LOG_TIMESTAMP_TIME    (0)
-
 /* ---------------------------------------------------------------------------------------*/
 /* I2C and OLED */
 //#define CONFIG_I2C_USE_PORT_B     (1) /* tinyK22: PTB0, PTB1 */
@@ -127,5 +120,10 @@
 /* ---------------------------------------------------------------------------------------*/
 /* FXOS8700 accelerometer */
 #define McuFXOS8700_CONFIG_I2C_DEVICE_ADDRESS  (0x1D)
+/* ------------------- McuLog -----------------------*/
+#define McuLog_CONFIG_IS_ENABLED            (1)
+#define McuLog_CONFIG_LOG_TIMESTAMP_DATE    (0)
+#define McuLog_CONFIG_LOG_TIMESTAMP_TIME    (1)
+#define McuLog_CONFIG_NOF_CONSOLE_LOGGER    (2)
 /* ---------------------------------------------------------------------------------------*/
 

ADIS_Sumo_Styger/source/Shell.c

@@ -54,6 +54,7 @@
 #if PL_CONFIG_HAS_ACCEL
   #include "McuFXOS8700.h"
 #endif
+#include "McuLog.h"
 
 static const McuShell_ParseCommandCallback CmdParserTable[] =
 {
@@ -111,6 +112,7 @@ static const McuShell_ParseCommandCallback CmdParserTable[] =
 #if PL_CONFIG_HAS_ACCEL
   McuFXOS8700_ParseCommand,
 #endif
+  McuLog_ParseCommand,
   NULL /* Sentinel */
 };
 
@@ -193,7 +195,7 @@ static void ShellTask(void *pv) {
   unsigned int i;
 
   (void)pv; /* not used */
-  McuShell_SendStr((uint8_t*)"Shell task started.\r\n", McuShell_GetStdio()->stdOut);
+  McuLog_info("Shell task started.\r\n");
   for(i=0;i<sizeof(ios)/sizeof(ios[0]);i++) {
     ios[i].buf[0] = '\0';
   }
@@ -222,6 +224,16 @@ void SHELL_Init(void) {
 #if PL_CONFIG_USE_ESP32
   McuESP32_SetRxFromESPStdio(&ESP_ToShellStdio); /* copy ESP UART to shell console */
 #endif
+#if McuLog_CONFIG_IS_ENABLED
+  #if PL_CONFIG_USE_RTT && PL_CONFIG_USE_UART_SHELL && McuLog_CONFIG_NOF_CONSOLE_LOGGER==2 /* both */
+    McuLog_set_console(McuRTT_GetStdio(), 0);
+    McuLog_set_console(&McuShellUart_stdio, 1);
+  #elif PL_CONFIG_USE_RTT /* only RTT */
+    McuLog_set_console(McuRTT_GetStdio(), 0);
+  #elif PL_CONFIG_USE_UART_SHELL /* only UART */
+    McuLog_set_console(&McuShellUart_stdio, 0);
+  #endif
+#endif
 }
 
 void SHELL_Deinit(void) {}

ADIS_Sumo_Styger/source/platform.c

@@ -62,6 +62,10 @@
 #if PL_CONFIG_HAS_ACCEL
   #include "Accel.h"
 #endif
+#if PL_CONFIG_APP_LINE_MAZE
+  #include "maze.h"
+#endif
+#include "McuLog.h"
 
 #if PL_CONFIG_HAS_NVM_CONFIG
 static void InitNVMCValues(void) {
@@ -145,7 +149,7 @@ void PL_Init(void) {
 #endif
   TRG_Init();
   TMR_Init();
-
+  McuLog_Init();
 #if PL_CONFIG_USE_QUADRATURE
   QuadCounter_Init();
 #endif

McuLib/src/McuShell.c

@@ -630,7 +630,7 @@ bool McuShell_ReadLine(uint8_t *bufStart, uint8_t *buf, size_t bufSize, McuShell
 */
 uint8_t McuShell_PrintStatus(McuShell_ConstStdIOType *io)
 {
-  unsigned char buf[16];
+  unsigned char buf[32];
 
   McuShell_SendStatusStr((const unsigned char*)"McuShell", (const unsigned char*)"Commandline shell status\r\n", io->stdOut);
   McuShell_SendStatusStr((const unsigned char*)"  Build", (const unsigned char*)__DATE__, io->stdOut);
@@ -652,12 +652,18 @@ uint8_t McuShell_PrintStatus(McuShell_ConstStdIOType *io)
 #if McuShell_CONFIG_MULTI_CMD_ENABLED
   McuUtility_strcpy(buf, sizeof(buf), (unsigned char*)"yes: '");
   McuUtility_chcat(buf, sizeof(buf), McuShell_CONFIG_MULTI_CMD_CHAR);
-  McuUtility_strcat(buf, sizeof(buf), (unsigned char*)"'\r\n");
+  McuUtility_strcat(buf, sizeof(buf), (unsigned char*)"', size: ");
+  McuUtility_strcatNum32u(buf, sizeof(buf), McuShell_CONFIG_MULTI_CMD_SIZE);
+  McuUtility_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
   McuShell_SendStatusStr((const unsigned char*)"  multiCmd", buf, io->stdOut);
 #else
   McuShell_SendStatusStr((const unsigned char*)"  multiCmd", (unsigned char*)"no\r\n", io->stdOut);
 #endif
 
+  McuUtility_Num32uToStr(buf, sizeof(buf), McuShell_DEFAULT_SHELL_BUFFER_SIZE);
+  McuUtility_strcat(buf, sizeof(buf), (unsigned char*)" bytes default size\r\n");
+  McuShell_SendStatusStr((const unsigned char*)"  size", buf, io->stdOut);
+
   return ERR_OK;
 }