CLI tab

css/style.css

@@ -730,7 +730,36 @@ a:hover {
     }
     .tab-sensors #baro {
         height: 120px;
-    }    
+    }
+.tab-cli {
+}
+    .tab-cli p {
+        padding: 5px;
+        border: 1px dotted silver;
+    }
+    .tab-cli .window {
+        margin-top: 10px;
+        height: 400px;
+        
+        padding: 5px;
+        
+        overflow-y: scroll;
+        overflow-x: hidden;
+        
+        color: white;
+        
+        border: 1px solid silver;
+        background-color: black;
+    }
+    .tab-cli input {
+        margin-top: 10px;
+        display: block;
+        
+        width: 911px;
+        padding-left: 5px;
+        
+        border: 1px solid silver;
+    }
     
 /* Flotr related styles */
 .flotr-legend {    

js/main.js

@@ -1,7 +1,7 @@
 var timers = new Array();
 
 $(document).ready(function() { 
-    var tabs = $('#tabs > ul');
+    tabs = $('#tabs > ul');
     $('a', tabs).click(function() {
         if ($(this).parent().hasClass('active') == false) { // only initialize when the tab isn't already active
             if (connectionId < 1) { // if there is no active connection, return
@@ -11,6 +11,11 @@ $(document).ready(function() {
             // Disable any active "data pulling" timer
             disable_timers();
             
+            // Disable CLI (there is no "nicer way of doing so right now)
+            if (CLI_active == true) {
+                leave_CLI();
+            }
+            
             // Disable previous active button
             $('li', tabs).removeClass('active');
             
@@ -29,12 +34,15 @@ $(document).ready(function() {
                 $('#content').load("./tabs/motor_outputs.html", tab_initialize_motor_outputs);
             } else if ($(this).parent().hasClass('tab_sensors')) {
                 $('#content').load("./tabs/sensors.html", tab_initialize_sensors);
+            } else if ($(this).parent().hasClass('tab_cli')) {
+                $('#content').load("./tabs/cli.html", tab_initialize_cli);
             }
+            
         }
     });
     
     // temporary
-    //$('#content').load("./tabs/initial_setup.html", tab_initialize_initial_setup);
+    //$('#content').load("./tabs/cli.html", tab_initialize_cli);
 });
 
 function disable_timers() {

js/serial_backend.js

@@ -103,6 +103,8 @@ var GPS_DATA = {
     update:          0
 };
 
+var CLI_active = false;
+
 $(document).ready(function() { 
     port_picker = $('div#port-picker .port select');
     baud_picker = $('div#port-picker #baud');
@@ -146,20 +148,30 @@ $(document).ready(function() {
         if (selected_port != '0') {
             if (clicks) { // odd number of clicks
                 // Disable any active "data pulling" timer
-                disable_timers();            
+                disable_timers();
-            
+
-                chrome.serial.close(connectionId, onClosed);
+                // Disable CLI (there is no "nicer way of doing so right now)
-                
+                if (CLI_active == true) {
-                clearTimeout(connection_delay);
+                    leave_CLI(function() {
-                clearInterval(serial_poll);
+                        chrome.serial.close(connectionId, onClosed);
-                clearInterval(port_usage_poll);
+                        
+                        clearTimeout(connection_delay);
+                        clearInterval(serial_poll);
+                        clearInterval(port_usage_poll);
+                    });
+                } else {               
+                    chrome.serial.close(connectionId, onClosed);
+                    
+                    clearTimeout(connection_delay);
+                    clearInterval(serial_poll);
+                    clearInterval(port_usage_poll);
+                }
                 
                 // Change port utilization to 0
                 $('span.port-usage').html('0%');
-                
+
-                
                 $(this).text('Connect');
-                $(this).removeClass('active');            
+                $(this).removeClass('active');                
             } else { // even number of clicks        
                 console.log('Connecting to: ' + selected_port);
                 
@@ -234,68 +246,74 @@ function onCharRead(readInfo) {
         var data = new Uint8Array(readInfo.data);
         
         for (var i = 0; i < data.length; i++) {
-            switch (message_state) {
+            if (CLI_active != true) {
-                case 0: // sync char 1
+                // Standard "GUI" MSP handling
-                    if (data[i] == 36) { // $
+                switch (message_state) {
+                    case 0: // sync char 1
+                        if (data[i] == 36) { // $
+                            message_state++;
+                        }
+                        break;
+                    case 1: // sync char 2
+                        if (data[i] == 77) { // M
+                            message_state++;
+                        } else { // restart and try again
+                            message_state = 0;
+                        }
+                        break;
+                    case 2: // direction (should be >)
+                        if (data[i] == 62) { // >
+                            message_status = 1;
+                        } else { // unknown
+                            message_status = 0;
+                        }
+                        
                         message_state++;
-                    }
+                        break;
-                    break;
+                    case 3:
-                case 1: // sync char 2
+                        message_length_expected = data[i]; // data length
-                    if (data[i] == 77) { // M
+                       
+                        message_checksum = data[i];
+                       
+                        // setup arraybuffer
+                        message_buffer = new ArrayBuffer(message_length_expected);
+                        message_buffer_uint8_view = new Uint8Array(message_buffer);
+                        
                         message_state++;
-                    } else { // restart and try again
+                        break;
-                        message_state = 0;
+                    case 4:
-                    }
+                        message_code = data[i]; // code
-                    break;
+                        message_checksum ^= data[i];
-                case 2: // direction (should be >)
+                        
-                    if (data[i] == 62) { // >
+                        if (message_length_expected != 0) { // standard message
-                        message_status = 1;
+                            message_state++;
-                    } else { // unknown
+                        } else { // MSP_ACC_CALIBRATION, etc...
-                        message_status = 0;
+                            message_state += 2;
-                    }
+                        }
-                    
+                        break;
-                    message_state++;
+                    case 5: // data / payload
-                    break;
+                        message_buffer_uint8_view[message_length_received] = data[i];
-                case 3:
+                        message_checksum ^= data[i];
-                    message_length_expected = data[i]; // data length
+                        message_length_received++;
-                   
+                        
-                    message_checksum = data[i];
+                        if (message_length_received >= message_length_expected) {
-                   
+                            message_state++;
-                    // setup arraybuffer
+                        }
-                    message_buffer = new ArrayBuffer(message_length_expected);
+                        break;
-                    message_buffer_uint8_view = new Uint8Array(message_buffer);
+                    case 6: // CRC
-                    
+                        if (message_checksum == data[i]) {
-                    message_state++;
+                            // process data
-                    break;
+                            process_message(message_code, message_buffer);
-                case 4:
+                        }
-                    message_code = data[i]; // code
+                        
-                    message_checksum ^= data[i];
+                        // Reset variables
-                    
+                        message_length_received = 0;
-                    if (message_length_expected != 0) { // standard message
+                        message_state = 0;                   
-                        message_state++;
+                        break;
-                    } else { // MSP_ACC_CALIBRATION, etc...
+                }
-                        message_state += 2;
+            } else {
-                    }
+                // CLI Enabled (Terminal "style" handling)
-                    break;
+                handle_CLI(data[i]);
-                case 5: // data / payload
-                    message_buffer_uint8_view[message_length_received] = data[i];
-                    message_checksum ^= data[i];
-                    message_length_received++;
-                    
-                    if (message_length_received >= message_length_expected) {
-                        message_state++;
-                    }
-                    break;
-                case 6: // CRC
-                    if (message_checksum == data[i]) {
-                        // process data
-                        process_message(message_code, message_buffer);
-                    }
-                    
-                    // Reset variables
-                    message_length_received = 0;
-                    message_state = 0;                   
-                    break;
             }
             
             char_counter++;

main.html

@@ -17,6 +17,7 @@
         <script type="text/javascript" src="./tabs/auxiliary_configuration.js"></script>
         <script type="text/javascript" src="./tabs/motor_outputs.js"></script>
         <script type="text/javascript" src="./tabs/sensors.js"></script>
+        <script type="text/javascript" src="./tabs/cli.js"></script>
     </head>
     <body>
         <div id="main-wrapper">
@@ -82,6 +83,7 @@
                     <li class="tab_auxiliary_configuration"><a href="#">Auxiliary Configuration</a></li>
                     <li class="tab_motor_outputs"><a href="#">Motor/Servo Outputs</a></li>
                     <li class="tab_sensors"><a href="#">Raw Sensor Data</a></li>
+                    <li class="tab_cli"><a href="#">CLI</a></li>
                 </ul>
                 <div class="clear-both"></div>
             </div>            

tabs/cli.html

@@ -0,0 +1,9 @@
+<div class="tab-cli">
+    <p>
+        <span style="color: red;">Note</span>: Leaving CLI tab or pressing Disconnect will <strong>automatically</strong> 
+        send "<strong>exit</strong>" to the board, which will make the controller save all the changes and <span style="color: red">restart</span>.
+    </p>
+    <div class="window">
+    </div>
+    <input type="text" name="commands" value="" />
+</div>

tabs/cli.js

@@ -0,0 +1,68 @@
+function tab_initialize_cli() {
+    CLI_active = true;
+    
+    // Enter CLI mode
+    var bufferOut = new ArrayBuffer(1);
+    var bufView = new Uint8Array(bufferOut);
+    
+    bufView[0] = 0x23; // #
+
+    chrome.serial.write(connectionId, bufferOut, function(writeInfo) {
+        // used for debugging purposes (should be disabled in "stable" builds
+        console.log("Wrote: " + writeInfo.bytesWritten + " bytes");
+    });
+
+    $('.tab-cli input').keypress(function(event) {
+        if (event.which == 13) { // enter
+            var out_string = $('.tab-cli input').val();
+            
+            var bufferOut = new ArrayBuffer(out_string.length + 1); // +1 for enter character
+            var bufView = new Uint8Array(bufferOut);
+            
+            for (var i = 0; i < out_string.length; i++) {
+                bufView[i] = out_string.charCodeAt(i);
+            }
+            
+            bufView[out_string.length] = 0x0D; // enter
+            
+            chrome.serial.write(connectionId, bufferOut, function(writeInfo) {
+                $('.tab-cli input').val('');
+            });
+        }
+    });
+    
+    // give input element user focus
+    $('.tab-cli input').focus();
+}
+
+function leave_CLI(callback) {
+    var bufferOut = new ArrayBuffer(5);
+    var bufView = new Uint8Array(bufferOut);
+    
+    bufView[0] = 0x65; // e
+    bufView[1] = 0x78; // x
+    bufView[2] = 0x69; // i
+    bufView[3] = 0x74; // t
+    bufView[4] = 0x0D; // enter
+
+    chrome.serial.write(connectionId, bufferOut, function(writeInfo) {
+        if (typeof callback !== 'undefined') {
+            callback();
+        }
+    });   
+
+    CLI_active = false;    
+}
+
+function handle_CLI(data) {
+    switch (data) {
+        case 10: // line feed
+            break;
+        case 13: // carriage return
+            $('.tab-cli .window').append("<br />");
+            break;
+        default:
+            $('.tab-cli .window').append(String.fromCharCode(data));
+            $('.tab-cli .window').scrollTop($('.tab-cli .window').height());
+    }
+}