AP_Menu.h

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#pragma once

#include <inttypes.h>
#include <AP_HAL/AP_HAL.h>

#define MENU_COMMANDLINE_MAX    32      
#define MENU_ARGS_MAX           3       
#define MENU_COMMAND_MAX        14      

class Menu {
public:
    struct arg {
        const char *str;                        
        long i;                                         
        float f;                                        
    };

    FUNCTOR_TYPEDEF(func, int8_t, uint8_t, const struct arg *);

    static void set_port(AP_HAL::BetterStream *port) {
        _port = port;
    }

    FUNCTOR_TYPEDEF(preprompt, bool);

    struct command {
        const char command[MENU_COMMAND_MAX];

        FUNCTOR_DECLARE(func, int8_t, uint8_t, const struct arg *);
    };

    Menu(const char *prompt, const struct command *commands, uint8_t entries, preprompt ppfunc = 0);

    void set_limits(uint8_t commandline_max, uint8_t args_max);

    void        run(void);

    bool        check_input(void);

private:
    void        _help(void);                                                            

    int8_t                  _call(uint8_t n, uint8_t argc);

    const char *            _prompt;                                                    
    const command *         _commands;                                                  
    const uint8_t           _entries;                                                   
    const preprompt         _ppfunc;                                                    

    static char             *_inbuf;       
    static arg              *_argv;       

    uint8_t                 _commandline_max;
    uint8_t                 _args_max;

    // allocate inbuf and args buffers
    void _allocate_buffers(void);

    // number of characters read so far from the port
    uint8_t                 _input_len;

    // check for next input character
    bool                    _check_for_input(void);

    // run one full entered command. 
    // return true if the menu loop should exit
    bool                    _run_command(bool prompt_on_enter);

    void                    _display_prompt();
    
    // port to run on
    static AP_HAL::BetterStream  *_port;
};

#define MENU(name, prompt, commands)                                                    \
    static const char __menu_name__ ## name[] = prompt;      \
    static Menu name(__menu_name__ ## name, commands, ARRAY_SIZE(commands))

#define MENU2(name, prompt, commands, preprompt)                                \
    static const char __menu_name__ ## name[] = prompt;      \
    static Menu name(__menu_name__ ## name, commands, ARRAY_SIZE(commands), preprompt)