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examples/foc: use getopt to parse arguments

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raiden00pl 2021-10-30 11:42:14 +02:00 • committed by Xiang Xiao
parent 013caaa334
commit cc4d817df4
1 changed files with 83 additions and 117 deletions
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200
examples/foc/foc_parseargs.c
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@ -26,6 +26,7 @@
#include <unistd.h>
#include <stdlib.h>
#include <getopt.h>
#include "foc_debug.h"
#include "foc_parseargs.h"
@ -34,10 +35,27 @@
* Pre-processor Definitions
****************************************************************************/
#define OPT_FKI (SCHAR_MAX + 1)
#define OPT_FKP (SCHAR_MAX + 2)
/****************************************************************************
* Private Data
****************************************************************************/
static struct option g_long_options[] =
{
{ "time", required_argument, 0, 't' },
{ "help", no_argument, 0, 'h' },
{ "mode", required_argument, 0, 'm' },
{ "vel", required_argument, 0, 'v' },
{ "state", required_argument, 0, 's' },
{ "en", required_argument, 0, 'j' },
{ "oqset", required_argument, 0, 'o' },
{ "fkp", required_argument, 0, OPT_FKP },
{ "fki", required_argument, 0, OPT_FKI },
{ 0, 0, 0, 0 }
};
/****************************************************************************
* Private Functions
****************************************************************************/
@ -55,9 +73,6 @@ static void foc_help(void)
PRINTF(" 1 - IDLE mode\n");
PRINTF(" 2 - voltage open-loop velocity \n");
PRINTF(" 3 - current open-loop velocity \n");
PRINTF(" [-o] openloop Vq/Iq setting [x1000]\n");
PRINTF(" [-i] PI Ki coefficient [x1000]\n");
PRINTF(" [-p] KI Kp coefficient [x1000]\n");
PRINTF(" [-v] velocity [x1000]\n");
PRINTF(" [-s] motor state\n");
PRINTF(" 1 - motor free\n");
@ -65,41 +80,9 @@ static void foc_help(void)
PRINTF(" 3 - motor CW\n");
PRINTF(" 4 - motor CCW\n");
PRINTF(" [-j] enable specific instnaces\n");
}
/****************************************************************************
* Name: arg_string
****************************************************************************/
static int arg_string(FAR char **arg, FAR char **value)
{
FAR char *ptr = *arg;
if (ptr[2] == '\0')
{
*value = arg[1];
return 2;
}
else
{
*value = &ptr[2];
return 1;
}
}
/****************************************************************************
* Name: arg_decimal
****************************************************************************/
static int arg_decimal(FAR char **arg, FAR int *value)
{
FAR char *string;
int ret;
ret = arg_string(arg, &string);
*value = atoi(string);
return ret;
PRINTF(" [-o] openloop Vq/Iq setting [x1000]\n");
PRINTF(" [--fki] PI Kp coefficient [x1000]\n");
PRINTF(" [--fkp] PI Ki coefficient [x1000]\n");
}
/****************************************************************************
@ -112,93 +95,36 @@ static int arg_decimal(FAR char **arg, FAR int *value)
void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
{
FAR char *ptr;
int index;
int nargs;
int i_value;
int option_index = 0;
int c = 0;
for (index = 1; index < argc; )
while (1)
{
ptr = argv[index];
if (ptr[0] != '-')
c = getopt_long(argc, argv, "ht:m:o:v:s:j:", g_long_options,
&option_index);
if (c == -1)
{
PRINTF("Invalid options format: %s\n", ptr);
exit(0);
break;
}
switch (ptr[1])
switch (c)
{
/* Get time */
case OPT_FKP:
{
args->pi_kp = atoi(optarg);
break;
}
case OPT_FKI:
{
args->pi_ki = atoi(optarg);
break;
}
case 't':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->time = i_value;
break;
}
case 'm':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->mode = i_value;
break;
}
case 'o':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->qparam = i_value;
break;
}
case 'p':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->pi_kp = i_value;
break;
}
case 'i':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->pi_ki = i_value;
break;
}
case 'v':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->velmax = i_value;
break;
}
case 's':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->state = i_value;
break;
}
case 'j':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->en = i_value;
args->time = atoi(optarg);
break;
}
@ -208,9 +134,49 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
exit(0);
}
case 'm':
{
args->mode = atoi(optarg);
break;
}
case 'v':
{
args->velmax = atoi(optarg);
break;
}
case 's':
{
args->state = atoi(optarg);
break;
}
case 'j':
{
args->en = atoi(optarg);
break;
}
case 'o':
{
args->qparam = atoi(optarg);
break;
}
case '?':
default:
{
PRINTF("Unsupported option: %s\n", ptr);
if (argv[optind - 1] == NULL)
{
PRINTF("ERROR: invalid option argument for %s\n",
argv[optind - 2]);
}
else
{
PRINTF("ERROR: invalid option %s\n", argv[optind - 1]);
}
foc_help();
exit(1);
}