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Adding CLI command pass through for MSP (#13940)
This commit is contained in:
J Blackman
GitHub
parent
23e682c310
commit
c2900de5c1
6 changed files with 204 additions and 129 deletions
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@ -175,9 +175,11 @@ bool cliMode = false;
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#include "cli.h"
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static serialPort_t *cliPort = NULL;
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static bool cliInteractive = false;
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static timeMs_t cliEntryTime = 0;
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// Space required to set array parameters
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#define CLI_IN_BUFFER_SIZE 256
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#define CLI_IN_BUFFER_SIZE 256
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#define CLI_OUT_BUFFER_SIZE 64
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static bufWriter_t cliWriterDesc;
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@ -315,6 +317,7 @@ typedef enum dumpFlags_e {
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BARE = (1 << 8),
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} dumpFlags_t;
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static void cliExit(const bool reboot);
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typedef bool printFn(dumpFlags_t dumpMask, bool equalsDefault, const char *format, ...);
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typedef enum {
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@ -330,6 +333,12 @@ typedef struct serialPassthroughPort_s {
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serialPort_t *port;
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} serialPassthroughPort_t;
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static void cliClearInputBuffer(void)
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{
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memset(cliBuffer, 0, sizeof(cliBuffer));
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bufferIndex = 0;
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}
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static void cliWriterFlushInternal(bufWriter_t *writer)
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{
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if (writer) {
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@ -3581,23 +3590,17 @@ static void cliBootloader(const char *cmdName, char *cmdline)
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cliRebootEx(rebootTarget);
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}
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static void cliExit(const char *cmdName, char *cmdline)
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static void cliExitCmd(const char *cmdName, char *cmdline)
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{
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UNUSED(cmdName);
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UNUSED(cmdline);
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cliPrintHashLine("leaving CLI mode, unsaved changes lost");
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cliWriterFlush();
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*cliBuffer = '\0';
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bufferIndex = 0;
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cliMode = false;
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// incase a motor was left running during motortest, clear it here
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mixerResetDisarmedMotors();
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if (strcasecmp(cmdline, "noreboot") == 0) {
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return;
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const bool reboot = strcasecmp(cmdline, "noreboot") != 0;
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if (reboot) {
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cliPrintHashLine("leaving CLI mode, unsaved changes lost");
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} else {
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cliPrintHashLine("leaving CLI mode, no reboot");
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}
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cliReboot();
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cliExit(reboot);
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}
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#ifdef USE_GPS
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@ -6516,7 +6519,7 @@ const clicmd_t cmdTable[] = {
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#ifdef USE_ESCSERIAL
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CLI_COMMAND_DEF("escprog", "passthrough esc to serial", "<mode [sk/bl/ki/cc]> <index>", cliEscPassthrough),
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#endif
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CLI_COMMAND_DEF("exit", "exit command line interface and reboot (default)", "[noreboot]", cliExit),
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CLI_COMMAND_DEF("exit", "exit command line interface and reboot (default)", "[noreboot]", cliExitCmd),
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CLI_COMMAND_DEF("feature", "configure features",
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"list\r\n"
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"\t<->[name]", cliFeature),
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@ -6662,8 +6665,10 @@ static void cliHelp(const char *cmdName, char *cmdline)
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static void processCharacter(const char c)
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{
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if (bufferIndex && (c == '\n' || c == '\r')) {
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// enter pressed
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cliPrintLinefeed();
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if (cliInteractive) {
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// echo new line back to terminal
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cliPrintLinefeed();
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}
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// Strip comment starting with # from line
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char *p = cliBuffer;
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@ -6690,25 +6695,37 @@ static void processCharacter(const char c)
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}
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if (cmd < cmdTable + ARRAYLEN(cmdTable)) {
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cmd->cliCommand(cmd->name, options);
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if (!cliMode) {
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// cli session ended
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return;
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}
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} else {
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cliPrintError("input", "UNKNOWN COMMAND, TRY 'HELP'");
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if (cliInteractive) {
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cliPrintError("input", "UNKNOWN COMMAND, TRY 'HELP'");
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} else {
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cliPrint("ERR_CMD_NA: ");
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cliPrintLine(cliBuffer);
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}
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}
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bufferIndex = 0;
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}
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memset(cliBuffer, 0, sizeof(cliBuffer));
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cliClearInputBuffer();
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// 'exit' will reset this flag, so we don't need to print prompt again
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if (!cliMode) {
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return;
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// prompt if in interactive mode
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if (cliInteractive) {
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cliPrompt();
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}
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cliPrompt();
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} else if (bufferIndex < sizeof(cliBuffer) && c >= 32 && c <= 126) {
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if (!bufferIndex && c == ' ')
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if (!bufferIndex && c == ' ') {
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return; // Ignore leading spaces
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}
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cliBuffer[bufferIndex++] = c;
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cliWrite(c);
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// echo the character if interactive
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if (cliInteractive) {
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cliWrite(c);
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}
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}
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}
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@ -6753,7 +6770,7 @@ static void processCharacterInteractive(const char c)
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for (; i < bufferIndex; i++)
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cliWrite(cliBuffer[i]);
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} else if (!bufferIndex && c == 4) { // CTRL-D
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cliExit("", cliBuffer);
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cliExit(true);
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return;
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} else if (c == 12) { // NewPage / CTRL-L
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// clear screen
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@ -6770,42 +6787,76 @@ static void processCharacterInteractive(const char c)
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}
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}
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void cliProcess(void)
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bool cliProcess(void)
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{
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if (!cliWriter || !cliMode) {
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return;
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return false;
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}
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// Flush the buffer to get rid of any MSP data polls sent by configurator after CLI was invoked
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cliWriterFlush();
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while (serialRxBytesWaiting(cliPort)) {
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uint8_t c = serialRead(cliPort);
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if (cliInteractive) {
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processCharacterInteractive(c);
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} else {
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// handle terminating flow control character
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if (c == 0x3 || (cmp32(millis(), cliEntryTime) > 2000)) { // CTRL-C (ETX) or 2 seconds timeout
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cliWrite(0x3); // send end of text, terminating flow control
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cliExit(false);
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return cliMode;
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}
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processCharacter(c);
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}
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}
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cliWriterFlush();
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return cliMode;
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}
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processCharacterInteractive(c);
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static void cliExit(const bool reboot)
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{
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cliWriterFlush();
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waitForSerialPortToFinishTransmitting(cliPort);
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cliClearInputBuffer();
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cliMode = false;
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cliInteractive = false;
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// incase a motor was left running during motortest, clear it here
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mixerResetDisarmedMotors();
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if (reboot) {
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cliReboot();
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}
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}
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void cliEnter(serialPort_t *serialPort)
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void cliEnter(serialPort_t *serialPort, bool interactive)
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{
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cliMode = true;
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cliInteractive = interactive;
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cliPort = serialPort;
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setPrintfSerialPort(cliPort);
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cliEntryTime = millis();
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cliClearInputBuffer();
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if (interactive) {
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setPrintfSerialPort(cliPort);
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}
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bufWriterInit(&cliWriterDesc, cliWriteBuffer, sizeof(cliWriteBuffer), (bufWrite_t)serialWriteBufShim, serialPort);
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cliErrorWriter = cliWriter = &cliWriterDesc;
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if (interactive) {
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#ifndef MINIMAL_CLI
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cliPrintLine("\r\nEntering CLI Mode, type 'exit' to return, or 'help'");
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cliPrintLine("\r\nEntering CLI Mode, type 'exit' to reboot, or 'help'");
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#else
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cliPrintLine("\r\nCLI");
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cliPrintLine("\r\nCLI");
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#endif
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setArmingDisabled(ARMING_DISABLED_CLI);
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cliPrompt();
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// arming flag not released if exiting cli with no reboot for safety
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setArmingDisabled(ARMING_DISABLED_CLI);
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cliPrompt();
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#ifdef USE_CLI_BATCH
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resetCommandBatch();
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resetCommandBatch();
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#endif
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} else {
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cliWrite(0x2); // send start of text, initiating flow control
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}
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}
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#endif // USE_CLI
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