pxh.h
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/****************************************************************************
*
* Copyright (C) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file pxh.h
*
* The POSIX PX4 implementation features a simple shell to start modules
* or use system commands.
*
* @author Mark Charlebois <charlebm@gmail.com>
* @author Roman Bapst <bapstroman@gmail.com>
* @author Julian Oes <julian@oes.ch>
*/
#pragma once
#include <vector>
#include <string>
#include <termios.h>
#include <platforms/posix/apps.h>
#include "history.h"
namespace px4_daemon
{
class Pxh
{
public:
Pxh();
~Pxh();
/**
* Process and run one command line.
*
* @param silently_fail: don't make a fuss on failure
* @return 0 if successful. */
static int process_line(const std::string &line, bool silently_fail);
/**
* Run the pxh shell. This will only return if stop() is called.
*/
void run_pxh();
/**
* Can be called to stop pxh.
*/
static void stop();
private:
void _print_prompt();
void _move_cursor(int position);
void _clear_line();
void _setup_term();
static void _restore_term();
bool _should_exit{false};
History _history;
struct termios _orig_term {};
static apps_map_type _apps;
static Pxh *_instance;
};
} // namespace px4_daemon