AP_InertialSensor: start implementing UserInteract

* untested implementation in terms of BetterStream

libraries/AP_InertialSensor/AP_InertialSensor.h

@@ -11,7 +11,7 @@
 #include <stdint.h>
 #include <AP_HAL.h>
 #include <AP_Math.h>
-
+#include "AP_InertialSensor_UserInteract.h"
 /* AP_InertialSensor is an abstraction for gyro and accel measurements
  * which are correctly aligned to the body axes and scaled to SI units.
  *

libraries/AP_InertialSensor/AP_InertialSensor_UserInteract.h

@@ -0,0 +1,16 @@
+
+#ifndef __AP_INERTIAL_SENSOR_USER_INTERACT_H__
+#define __AP_INERTIAL_SENSOR_USER_INTERACT_H__
+
+#include <AP_Progmem.h>
+
+/* Pure virtual interface class */
+class AP_InertialSensor_UserInteract {
+public:
+    virtual uint8_t blocking_read() = 0;
+    virtual void println_P(const prog_char_t *) = 0;
+    virtual void _printf_P(const prog_char *, ...) = 0;
+};
+
+#endif // __AP_INERTIAL_SENSOR_USER_INTERACT_H__
+

libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_Stream.cpp

@@ -0,0 +1,32 @@
+#include <stdarg.h>
+#include <AP_HAL.h>
+#include "AP_InertialSensor_UserInteract_Stream.h"
+
+extern const AP_HAL::HAL& hal;
+
+uint8_t AP_InertialSensor_UserInteractStream::blocking_read() {
+    /* Wait for input to be available */
+    while(!_s->available()) {
+        hal.scheduler->delay(20);
+    }
+    /* Grab first character */
+    uint8_t ret = (uint8_t) _s->read();
+    /* Clear all available input */
+    while (_s->available()) {
+        _s->read();
+    }
+    return ret;
+}
+
+void AP_InertialSensor_UserInteractStream::println_P(const prog_char_t* str) {
+    _s->println_P(str);
+}
+
+void AP_InertialSensor_UserInteractStream::_printf_P(
+        const prog_char* fmt, ...) {
+    va_list ap;
+    va_start(ap, fmt);
+    _s->vprintf_P(fmt, ap);
+    va_end(ap);
+}
+

libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_Stream.h

@@ -0,0 +1,25 @@
+
+#ifndef __AP_INERTIAL_SENSOR_USER_INTERACT_STREAM_H__
+#define __AP_INERTIAL_SENSOR_USER_INTERACT_STREAM_H__
+
+#include <AP_HAL.h>
+#include "AP_InertialSensor_UserInteract.h"
+
+/**
+ * AP_InertialSensor_UserInteract, implemented in terms of a BetterStream.
+ */
+class AP_InertialSensor_UserInteractStream :
+    public AP_InertialSensor_UserInteract {
+public:
+    AP_InertialSensor_UserInteractStream(AP_HAL::BetterStream *s) :
+        _s(s) {}
+
+    uint8_t blocking_read();
+    void println_P(const prog_char_t *);
+    void _printf_P(const prog_char *, ...);
+private:
+    AP_HAL::BetterStream *_s;
+};
+
+#endif // __AP_INERTIAL_SENSOR_USER_INTERACT_STREAM_H__
+