/core/src/aos_shell.c - Annotate - AMiRo-OS - Research for Cognitive Interaction

amiro-os / core / src / aos_shell.c @ a193bcf1

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-            e545e620
+/*
 AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
-f0ce9e
+Copyright (C) 2016..2019  Thomas Schöpping et al.
-            e545e620
+            Thomas Schöpping
 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
-ca3
+/**
  * @file    aos_shell.c
  * @brief   Shell code.
  * @details Shell code as well as shell related channels and streams.
+ *
  * @addtogroup aos_shell
  * @{
  */
-ba8a
+#include <amiroos.h>
 #include <string.h>
-            e545e620
+            Thomas Schöpping
-dd2e257
+#if (AMIROOS_CFG_SHELL_ENABLE == true) || (AMIROOS_CFG_TESTS_ENABLE == true)
-ba8a
+            Thomas Schöpping
-            f3ac1c96
+/******************************************************************************/
 /* LOCAL DEFINITIONS                                                          */
 /******************************************************************************/
-            ba516b61
+            Thomas Schöpping
 /**
  * @brief   Event mask to be set on OS related events.
  */
 #define AOS_SHELL_EVENTMASK_OS                  EVENT_MASK(0)
 /**
  * @brief   Event mask to be set on a input event.
  */
 #define AOS_SHELL_EVENTMASK_INPUT               EVENT_MASK(1)
-            f3ac1c96
+/******************************************************************************/
 /* EXPORTED VARIABLES                                                         */
 /******************************************************************************/
 /******************************************************************************/
 /* LOCAL TYPES                                                                */
 /******************************************************************************/
 /*
  * forward declarations
  */
 static size_t _channelwrite(void *instance, const uint8_t *bp, size_t n);
 static size_t _channelread(void *instance, uint8_t *bp, size_t n);
 static msg_t _channelput(void *instance, uint8_t b);
 static msg_t _channelget(void *instance);
 static msg_t _channelputt(void *instance, uint8_t b, sysinterval_t time);
 static msg_t _channelgett(void *instance, sysinterval_t time);
 static size_t _channelwritet(void *instance, const uint8_t *bp, size_t n, sysinterval_t time);
 static size_t _channelreadt(void *instance, uint8_t *bp, size_t n, sysinterval_t time);
 static msg_t _channelctl(void *instance, unsigned int operation, void *arg);
 static size_t _streamwrite(void *instance, const uint8_t *bp, size_t n);
 static size_t _stremread(void *instance, uint8_t *bp, size_t n);
 static msg_t _streamput(void *instance, uint8_t b);
 static msg_t _streamget(void *instance);
 static const struct AosShellChannelVMT _channelvmt = {
   (size_t) 0,
   _channelwrite,
   _channelread,
   _channelput,
   _channelget,
   _channelputt,
   _channelgett,
   _channelwritet,
   _channelreadt,
   _channelctl,
 };
 static const struct AosShellStreamVMT _streamvmt = {
   (size_t) 0,
   _streamwrite,
   _stremread,
   _streamput,
   _streamget,
 };
 /**
  * @brief   Enumerator of special keyboard keys.
  */
 typedef enum special_key {
-            cc33217b
+  KEY_UNKNOWN,          /**< any/unknow key */
   KEY_AMBIGUOUS,        /**< key is ambiguous */
   KEY_TAB,              /**< tabulator key */
   KEY_ESCAPE,           /**< escape key */
   KEY_BACKSPACE,        /**< backspace key */
   KEY_INSERT,           /**< insert key */
   KEY_DELETE,           /**< delete key */
   KEY_HOME,             /**< home key */
   KEY_END,              /**< end key */
   KEY_PAGE_UP,          /**< page up key */
   KEY_PAGE_DOWN,        /**< page down key */
   KEY_ARROW_UP,         /**< arrow up key */
   KEY_ARROW_DOWN,       /**< arrow down key */
   KEY_ARROW_LEFT,       /**< arrow left key */
   KEY_ARROW_RIGHT,      /**< arrow right key */
   KEY_CTRL_ARROW_UP,    /**< CTRL + arrow up key */
   KEY_CTRL_ARROW_DOWN,  /**< CTRL + arrow down key */
   KEY_CTRL_ARROW_LEFT,  /**< CTRL + arrow left key */
   KEY_CTRL_ARROW_RIGHT, /**< CTRL + arrow right key */
-            f3ac1c96
+} special_key_t;
 /**
  * @brief   Enumerator for case (in)sensitive character matching.
  */
 typedef enum charmatch {
   CHAR_MATCH_NOT    = 0,  /**< Characters do not match at all. */
   CHAR_MATCH_NCASE  = 1,  /**< Characters would match case insensitive. */
   CHAR_MATCH_CASE   = 2,  /**< Characters do match with case. */
 } charmatch_t;
 /******************************************************************************/
 /* LOCAL VARIABLES                                                            */
 /******************************************************************************/
 /******************************************************************************/
 /* LOCAL FUNCTIONS                                                            */
 /******************************************************************************/
-            ba516b61
+/**
  * @brief   Implementation of the BaseAsynchronous write() method (inherited from BaseSequentialStream).
  */
 static size_t _channelwrite(void *instance, const uint8_t *bp, size_t n)
+{
   if (((AosShellChannel*)instance)->flags & AOS_SHELLCHANNEL_OUTPUT_ENABLED) {
-            dd8738ea
+    return streamWrite(((AosShellChannel*)instance)->asyncchannel, bp, n);
-            ba516b61
+  } else {
     return 0;
+  }
+}
 /**
  * @brief   Implementation of the BaseAsynchronous read() method (inherited from BaseSequentialStream).
  */
 static size_t _channelread(void *instance, uint8_t *bp, size_t n)
+{
-            dd8738ea
+  if (((AosShellChannel*)instance)->flags & AOS_SHELLCHANNEL_INPUT_ENABLED) {
     return streamRead(((AosShellChannel*)instance)->asyncchannel, bp, n);
   } else {
     return 0;
+  }
-            ba516b61
+            Thomas Schöpping
 /**
  * @brief   Implementation of the BaseAsynchronous put() method (inherited from BaseSequentialStream).
  */
 static msg_t _channelput(void *instance, uint8_t b)
+{
   if (((AosShellChannel*)instance)->flags & AOS_SHELLCHANNEL_OUTPUT_ENABLED) {
-            dd8738ea
+    return streamPut(((AosShellChannel*)instance)->asyncchannel, b);
-            ba516b61
+  } else {
     return MSG_RESET;
+  }
+}
 /**
  * @brief   Implementation of the BaseAsynchronous get() method (inherited from BaseSequentialStream).
  */
 static msg_t _channelget(void *instance)
+{
-            dd8738ea
+  if (((AosShellChannel*)instance)->flags & AOS_SHELLCHANNEL_INPUT_ENABLED) {
     return streamGet(((AosShellChannel*)instance)->asyncchannel);
   } else {
     return MSG_RESET;
+  }
-            ba516b61
+            Thomas Schöpping
 /**
  * @brief   Implementation of the BaseAsynchronous putt() method.
  */
-c99037f
+static msg_t _channelputt(void *instance, uint8_t b, sysinterval_t time)
-            ba516b61
+            Thomas Schöpping
   if (((AosShellChannel*)instance)->flags & AOS_SHELLCHANNEL_OUTPUT_ENABLED) {
-            dd8738ea
+    return chnPutTimeout(((AosShellChannel*)instance)->asyncchannel, b, time);
-            ba516b61
+  } else {
     return MSG_RESET;
+  }
+}
 /**
  * @brief   Implementation of the BaseAsynchronous gett() method.
  */
-c99037f
+static msg_t _channelgett(void *instance, sysinterval_t time)
-            ba516b61
+            Thomas Schöpping
-            dd8738ea
+  if (((AosShellChannel*)instance)->flags & AOS_SHELLCHANNEL_INPUT_ENABLED) {
     return chnGetTimeout(((AosShellChannel*)instance)->asyncchannel, time);
   } else {
     return MSG_RESET;
+  }
-            ba516b61
+            Thomas Schöpping
 /**
  * @brief   Implementation of the BaseAsynchronous writet() method.
  */
-c99037f
+static size_t _channelwritet(void *instance, const uint8_t *bp, size_t n, sysinterval_t time)
-            ba516b61
+            Thomas Schöpping
   if (((AosShellChannel*)instance)->flags & AOS_SHELLCHANNEL_OUTPUT_ENABLED) {
-            dd8738ea
+    return chnWriteTimeout(((AosShellChannel*)instance)->asyncchannel, bp, n, time);
-            ba516b61
+  } else {
     return 0;
+  }
+}
 /**
  * @brief   Implementation of the BaseAsynchronous readt() method.
  */
-c99037f
+static size_t _channelreadt(void *instance, uint8_t *bp, size_t n, sysinterval_t time)
-            ba516b61
+            Thomas Schöpping
-            dd8738ea
+  if (((AosShellChannel*)instance)->flags & AOS_SHELLCHANNEL_INPUT_ENABLED) {
     return chnReadTimeout(((AosShellChannel*)instance)->asyncchannel, bp, n, time);
   } else {
     return 0;
+  }
-            ba516b61
+            Thomas Schöpping
-c99037f
+/**
  * @brief   Implementation of the BaseAsynchronousChannel ctl() method.
  */
-            f3ac1c96
+static msg_t _channelctl(void *instance, unsigned int operation, void *arg)
+{
-c99037f
+  (void) instance;
   switch (operation) {
   case CHN_CTL_NOP:
     osalDbgCheck(arg == NULL);
     break;
   case CHN_CTL_INVALID:
     osalDbgAssert(false, "invalid CTL operation");
     break;
   default:
     break;
+  }
   return MSG_OK;
+}
-            ba516b61
+static size_t _streamwrite(void *instance, const uint8_t *bp, size_t n)
+{
   aosDbgCheck(instance != NULL);
   // local variables
   AosShellChannel* channel = ((AosShellStream*)instance)->channel;
   size_t bytes;
   size_t maxbytes = 0;
   // iterate through the list of channels
   while (channel != NULL) {
     bytes = streamWrite(channel, bp, n);
     maxbytes = (bytes > maxbytes) ? bytes : maxbytes;
     channel = channel->next;
+  }
   return maxbytes;
+}
 static size_t _stremread(void *instance, uint8_t *bp, size_t n)
+{
   (void)instance;
   (void)bp;
   (void)n;
   return 0;
+}
 static msg_t _streamput(void *instance, uint8_t b)
+{
   aosDbgCheck(instance != NULL);
   // local variables
   AosShellChannel* channel = ((AosShellStream*)instance)->channel;
-            dd8738ea
+  msg_t ret = MSG_OK;
-            ba516b61
+            Thomas Schöpping
   // iterate through the list of channels
   while (channel != NULL) {
-            dd8738ea
+    msg_t ret_ = streamPut(channel, b);
     ret = (ret_ < ret) ? ret_ : ret;
-            ba516b61
+    channel = channel->next;
+  }
-            dd8738ea
+  return ret;
-            ba516b61
+            Thomas Schöpping
 static msg_t _streamget(void *instance)
+{
   (void)instance;
   return 0;
+}
-            e545e620
+/**
  * @brief   Print the shell prompt
  * @details Depending on the configuration flags, the system uptime is printed before the prompt string.
+ *
  * @param[in] shell   Pointer to the shell object.
  */
 static void _printPrompt(aos_shell_t* shell)
+{
   aosDbgCheck(shell != NULL);
-aeae
+  // print some time informattion before prompt if configured
   if (shell->config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
     // printf the system uptime
     if ((shell->config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) == AOS_SHELL_CONFIG_PROMPT_UPTIME) {
       // get current system uptime
       aos_timestamp_t uptime;
       aosSysGetUptime(&uptime);
       chprintf((BaseSequentialStream*)&shell->stream, "[%01u:%02u:%02u:%02u:%03u:%03u] ",
                (uint32_t)(uptime / MICROSECONDS_PER_DAY),
                (uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR),
                (uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE),
                (uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND),
                (uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND),
                (uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND));
+    }
-e98
+#if (HAL_USE_RTC == TRUE)
-aeae
+    else if ((shell->config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) == AOS_SHELL_CONFIG_PROMPT_DATETIME) {
       // get current RTC time
       struct tm dt;
       aosSysGetDateTime(&dt);
       chprintf((BaseSequentialStream*)&shell->stream, "[%02u-%02u-%04u|%02u:%02u:%02u] ",
                dt.tm_mday,
                dt.tm_mon + 1,
                dt.tm_year + 1900,
                dt.tm_hour,
                dt.tm_min,
                dt.tm_sec);
+    }
-de0cc90
+#endif /* (HAL_USE_RTC == TRUE) */
-aeae
+    else {
       aosDbgAssert(false);
+    }
-            e545e620
+            Thomas Schöpping
   // print the actual prompt string
   if (shell->prompt && !(shell->config & AOS_SHELL_CONFIG_PROMPT_MINIMAL)) {
-            ba516b61
+    chprintf((BaseSequentialStream*)&shell->stream, "%s$ ", shell->prompt);
-            e545e620
+  } else {
-            ba516b61
+    chprintf((BaseSequentialStream*)&shell->stream, "%>$ ");
-            e545e620
+            Thomas Schöpping
   return;
+}
 /**
  * @brief   Interprete a escape sequence
-            d96ce104
+ * @details This function interpretes escape sequences (starting with ASCII
  *          "Escape" character 0x1B) according to the VT100 / VT52 ANSI escape
  *          sequence definitions.
  * @note    Only the most important escape sequences are implemented yet.
-            e545e620
+            Thomas Schöpping
  * @param[in] seq   Character sequence to interprete.
  *                  Must be terminated by NUL byte.
+ *
  * @return          A @p special_key value.
  */
 static special_key_t _interpreteEscapeSequence(const char seq[])
+{
   // local variables
-            cc33217b
+  char str[AOS_SHELL_ESCSEQUENCE_LENGTH];
   unsigned long strl = 0;
   const unsigned long seql = strlen(seq);
-            e545e620
+  bool ambiguous = false;
   // TAB
   /* not supported yet; use "\x09" instead */
   // BACKSPACE
   /* not supported yet; use "\x08" instead */
   // ESCAPE
-            cc33217b
+  strncpy(str, "\x1B", AOS_SHELL_ESCSEQUENCE_LENGTH);
   strl = strlen(str);
   if (seql == strl && strncmp(seq, str, seql) == 0) {
-            e545e620
+    return KEY_ESCAPE;
-            cc33217b
+  } else if(seql < strl && strncmp(seq, str, seql) == 0) {
     ambiguous = true;
-            e545e620
+            Thomas Schöpping
   // INSERT
-            cc33217b
+  strncpy(str, "\x1B\x5B\x32\x7E", AOS_SHELL_ESCSEQUENCE_LENGTH);
   strl = strlen(str);
   if (seql == strl && strncmp(seq, str, seql) == 0) {
-            e545e620
+    return KEY_INSERT;
-            cc33217b
+  } else if(seql < strl && strncmp(seq, str, seql) == 0) {
     ambiguous = true;
-            e545e620
+            Thomas Schöpping
   // DELETE
-            cc33217b
+  strncpy(str, "\x1B\x5B\x33\x7E", AOS_SHELL_ESCSEQUENCE_LENGTH);
   strl = strlen(str);
   if (seql == strl && strncmp(seq, str, seql) == 0) {
-            e545e620
+    return KEY_DELETE;
-            cc33217b
+  } else if(seql < strl && strncmp(seq, str, seql) == 0) {
     ambiguous = true;
-            e545e620
+            Thomas Schöpping
   // HOME
-            cc33217b
+  strncpy(str, "\x1B\x5B\x48", AOS_SHELL_ESCSEQUENCE_LENGTH);
   strl = strlen(str);
   if (seql == strl && strncmp(seq, str, seql) == 0) {
-            e545e620
+    return KEY_HOME;
-            cc33217b
+  } else if(seql < strl && strncmp(seq, str, seql) == 0) {
     ambiguous = true;
-            e545e620
+            Thomas Schöpping
   // END
-            cc33217b
+  strncpy(str, "\x1B\x5B\x46", AOS_SHELL_ESCSEQUENCE_LENGTH);
   strl = strlen(str);
   if (seql == strl && strncmp(seq, str, seql) == 0) {
-            e545e620
+    return KEY_END;
-            cc33217b
+  } else if(seql < strl && strncmp(seq, str, seql) == 0) {
     ambiguous = true;
-            e545e620
+            Thomas Schöpping
   // PAGE UP
-            cc33217b
+  strncpy(str, "\x1B\x5B\x35\x7E", AOS_SHELL_ESCSEQUENCE_LENGTH);
   strl = strlen(str);
   if (seql == strl && strncmp(seq, str, seql) == 0) {
-            e545e620
+    return KEY_PAGE_UP;
-            cc33217b
+  } else if(seql < strl && strncmp(seq, str, seql) == 0) {
     ambiguous = true;
-            e545e620
+            Thomas Schöpping
   // PAGE DOWN
-            cc33217b
+  strncpy(str, "\x1B\x5B\x36\x7E", AOS_SHELL_ESCSEQUENCE_LENGTH);
   strl = strlen(str);
   if (seql == strl && strncmp(seq, str, seql) == 0) {
-            e545e620
+    return KEY_PAGE_DOWN;
-            cc33217b
+  } else if(seql < strl && strncmp(seq, str, seql) == 0) {
     ambiguous = true;
-            e545e620
+            Thomas Schöpping
   // ARROW UP
-            cc33217b
+  strncpy(str, "\x1B\x5B\x41", AOS_SHELL_ESCSEQUENCE_LENGTH);
   strl = strlen(str);
   if (seql == strl && strncmp(seq, str, seql) == 0) {
-            e545e620
+    return KEY_ARROW_UP;
-            cc33217b
+  } else if(seql < strl && strncmp(seq, str, seql) == 0) {
     ambiguous = true;
-            e545e620
+            Thomas Schöpping
   // ARROW DOWN
-            cc33217b
+  strncpy(str, "\x1B\x5B\x42", AOS_SHELL_ESCSEQUENCE_LENGTH);
   strl = strlen(str);
   if (seql == strl && strncmp(seq, str, seql) == 0) {
-            e545e620
+    return KEY_ARROW_DOWN;
-            cc33217b
+  } else if (seql < strl && strncmp(seq, str, seql) == 0) {
     ambiguous = true;
-            e545e620
+            Thomas Schöpping
   // ARROW LEFT
-            cc33217b
+  strncpy(str, "\x1B\x5B\x44", AOS_SHELL_ESCSEQUENCE_LENGTH);
   strl = strlen(str);
   if (seql == strl && strncmp(seq, str, seql) == 0) {
-            e545e620
+    return KEY_ARROW_LEFT;
-            cc33217b
+  } else if (seql < strl && strncmp(seq, str, seql) == 0) {
     ambiguous = true;
-            e545e620
+            Thomas Schöpping
   // ARROW RIGHT
-            cc33217b
+  strncpy(str, "\x1B\x5B\x43", AOS_SHELL_ESCSEQUENCE_LENGTH);
   strl = strlen(str);
   if (seql == strl && strncmp(seq, str, seql) == 0) {
-            e545e620
+    return KEY_ARROW_RIGHT;
-            cc33217b
+  } else if (seql < strl && strncmp(seq, str, seql) == 0) {
     ambiguous = true;
+  }
   // CTRL + ARROW UP
   strncpy(str, "\x1B\x5B\x31\x3B\x35\x41", AOS_SHELL_ESCSEQUENCE_LENGTH);
   strl = strlen(str);
   if (seql == strl && strncmp(seq, str, seql) == 0) {
     return KEY_CTRL_ARROW_UP;
   } else if(seql < strl && strncmp(seq, str, seql) == 0) {
     ambiguous = true;
+  }
   // CTRL + ARROW DOWN
   strncpy(str, "\x1B\x5B\x31\x3B\x35\x42", AOS_SHELL_ESCSEQUENCE_LENGTH);
   strl = strlen(str);
   if (seql == strl && strncmp(seq, str, seql) == 0) {
     return KEY_CTRL_ARROW_DOWN;
   } else if(seql < strl && strncmp(seq, str, seql) == 0) {
     ambiguous = true;
+  }
   // CTRL + ARROW LEFT
   strncpy(str, "\x1B\x5B\x31\x3B\x35\x44", AOS_SHELL_ESCSEQUENCE_LENGTH);
   strl = strlen(str);
   if (seql == strl && strncmp(seq, str, seql) == 0) {
     return KEY_CTRL_ARROW_LEFT;
   } else if(seql < strl && strncmp(seq, str, seql) == 0) {
     ambiguous = true;
+  }
   // CTRL + ARROW RIGHT
   strncpy(str, "\x1B\x5B\x31\x3B\x35\x43", AOS_SHELL_ESCSEQUENCE_LENGTH);
   strl = strlen(str);
   if (seql == strl && strncmp(seq, str, seql) == 0) {
     return KEY_CTRL_ARROW_RIGHT;
   } else if(seql < strl && strncmp(seq, str, seql) == 0) {
     ambiguous = true;
-            e545e620
+            Thomas Schöpping
   return ambiguous ? KEY_AMBIGUOUS : KEY_UNKNOWN;
+}
 /**
  * @brief   Move the cursor in the terminal
+ *
  * @param[in] shell   Pointer to the shell object.
  * @param[in] from    Starting position of the cursor.
  * @param[in] to      Target position to move the cursor to.
+ *
  * @return            The number of positions moved.
  */
 static int _moveCursor(aos_shell_t* shell, const size_t from, const size_t to)
+{
   aosDbgCheck(shell != NULL);
   // local variables
   size_t pos = from;
   // move cursor left by printing backspaces
   while (pos > to) {
-            ba516b61
+    streamPut(&shell->stream, '\b');
-            e545e620
+    --pos;
+  }
   // move cursor right by printing line content
   while (pos < to) {
-            cc33217b
+    streamPut(&shell->stream, shell->input.line[pos]);
-            e545e620
+    ++pos;
+  }
   return (int)pos - (int)from;
+}
 /**
  * @brief   Print content of the shell line
+ *
  * @param[in] shell   Pointer to the shell object.
  * @param[in] from    First position to start printing from.
  * @param[in] to      Position after the last character to print.
+ *
  * @return            Number of characters printed.
  */
 static inline size_t _printLine(aos_shell_t* shell, const size_t from, const size_t to)
+{
   aosDbgCheck(shell != NULL);
   // local variables
   size_t cnt;
   for (cnt = 0; from + cnt < to; ++cnt) {
-            cc33217b
+    streamPut(&shell->stream, shell->input.line[from + cnt]);
-            e545e620
+            Thomas Schöpping
   return cnt;
+}
-            cc33217b
+static int _readChar(aos_shell_t* shell, const char c) {
   aosDbgCheck(shell != NULL);
   // check whether input line is already full
   if (shell->inputdata.lineend + 1 >= shell->input.width) {
     return 0;
   } else {
     // clear old line content on first input
     if (shell->inputdata.noinput) {
       memset(shell->input.line, '\0', shell->input.width);
       shell->inputdata.noinput = false;
+    }
     // overwrite content
     if (shell->config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) {
       shell->input.line[shell->inputdata.cursorpos] = c;
       ++shell->inputdata.cursorpos;
       shell->inputdata.lineend = (shell->inputdata.cursorpos > shell->inputdata.lineend) ? shell->inputdata.cursorpos : shell->inputdata.lineend;
       streamPut(&shell->stream, (uint8_t)c);
+    }
     // insert character
     else {
       memmove(&(shell->input.line[shell->inputdata.cursorpos+1]), &(shell->input.line[shell->inputdata.cursorpos]), shell->inputdata.lineend - shell->inputdata.cursorpos);
       shell->input.line[shell->inputdata.cursorpos] = c;
       ++shell->inputdata.lineend;
       _printLine(shell, shell->inputdata.cursorpos, shell->inputdata.lineend);
       ++shell->inputdata.cursorpos;
       _moveCursor(shell, shell->inputdata.lineend, shell->inputdata.cursorpos);
+    }
     return 1;
+  }
+}
-            e545e620
+/**
  * @brief   Compare two characters.
+ *
  * @param[in] lhs       First character to compare.
  * @param[in] rhs       Second character to compare.
+ *
  * @return              How well the characters match.
  */
 static inline charmatch_t _charcmp(char lhs, char rhs)
+{
   // if lhs is a upper case letter and rhs is a lower case letter
   if (lhs >= 'A' && lhs <= 'Z' && rhs >= 'a' && rhs <= 'z') {
     return (lhs == (rhs - 'a' + 'A')) ? CHAR_MATCH_NCASE : CHAR_MATCH_NOT;
+  }
   // if lhs is a lower case letter and rhs is a upper case letter
   else if (lhs >= 'a' && lhs <= 'z' && rhs >= 'A' && rhs <= 'Z') {
     return ((lhs - 'a' + 'A') == rhs) ? CHAR_MATCH_NCASE : CHAR_MATCH_NOT;
+  }
   // default
   else {
     return (lhs == rhs) ? CHAR_MATCH_CASE : CHAR_MATCH_NOT;
+  }
+}
 /**
  * @brief   Maps an character from ASCII to a modified custom encoding.
  * @details The custom character encoding is very similar to ASCII and has the following structure:
  *          0x00=NULL ... 0x40='@' (identically to ASCII)
  *          0x4A='a'; 0x4B='A'; 0x4C='b'; 0x4D='B' ... 0x73='z'; 0x74='Z' (custom letter order)
  *          0x75='[' ... 0x7A='`' (0x5B..0x60 is ASCII)
  *          0x7B='{' ... 0x7F=DEL (identically to ASCII)
+ *
  * @param[in] c   Character to map to the custom encoding.
+ *
  * @return    The customly encoded character.
  */
 static inline char _mapAscii2Custom(const char c)
+{
   if (c >= 'A' && c <= 'Z') {
     return ((c - 'A') * 2) + 'A' + 1;
   } else if (c > 'Z' && c < 'a') {
     return c + ('z' - 'a') + 1;
   } else if (c >= 'a' && c <= 'z') {
     return ((c - 'a') * 2) + 'A';
   } else {
     return c;
+  }
+}
 /**
  * @brief   Compares two strings wrt letter case.
  * @details Comparisson uses a custom character encoding or mapping.
  *          See @p _mapAscii2Custom for details.
+ *
  * @param[in] str1    First string to compare.
  * @param[in] str2    Second string to compare.
  * @param[in] cs      Flag indicating whether comparison shall be case sensitive.
  * @param[in,out] n   Maximum number of character to compare (in) and number of matching characters (out).
  *                    If a null pointer is specified, this parameter is ignored.
  *                    If the value pointed to is zero, comarison will not be limited.
  * @param[out] m      Optional indicator whether there was at least one case mismatch.
+ *
  * @return      Integer value indicating the relationship between the strings.
  * @retval <0   The first character that does not match has a lower value in str1 than in str2.
  * @retval  0   The contents of both strings are equal.
  * @retval >0   The first character that does not match has a greater value in str1 than in str2.
  */
 static int _strccmp(const char *str1, const char *str2, bool cs, size_t* n, charmatch_t* m)
+{
   aosDbgCheck(str1 != NULL);
   aosDbgCheck(str2 != NULL);
   // initialize variables
   if (m) {
     *m = CHAR_MATCH_NOT;
+  }
   size_t i = 0;
   // iterate through the strings
   while ((n == NULL) || (*n == 0) || (*n > 0 && i < *n)) {
     // break on NUL
     if (str1[i] == '\0' || str2[i] == '\0') {
       if (n) {
         *n = i;
+      }
       break;
+    }
     // compare character
     const charmatch_t match = _charcmp(str1[i], str2[i]);
     if ((match == CHAR_MATCH_CASE) || (!cs && match == CHAR_MATCH_NCASE)) {
       if (m != NULL && *m != CHAR_MATCH_NCASE) {
         *m = match;
+      }
       ++i;
     } else {
       if (n) {
         *n = i;
+      }
       break;
+    }
+  }
   return _mapAscii2Custom(str1[i]) - _mapAscii2Custom(str2[i]);
+}
-ba5
+/**
  * @brief   Read input from a channel as long as there is data available.
+ *
  * @param[in]   shell     Pointer to the shell object.
  * @param[in]   channel   The channel to read from.
  * @param[out]  n         Pointer to a variable to store the number of read characters to.
+ *
  * @return
  */
-            ba516b61
+static aos_status_t _readChannel(aos_shell_t* shell, AosShellChannel* channel, size_t* n)
-            e545e620
+            Thomas Schöpping
   aosDbgCheck(shell != NULL);
-            ba516b61
+  aosDbgCheck(channel != NULL);
   aosDbgCheck(n != NULL);
-            e545e620
+            Thomas Schöpping
   // local variables
-            ba516b61
+  aos_shellaction_t action = AOS_SHELL_ACTION_NONE;
-            e545e620
+  char c;
-            dd8738ea
+  special_key_t key;
-            e545e620
+            Thomas Schöpping
-            ba516b61
+  // initialize output variables
   *n = 0;
   // read character by character from the channel
   while (chnReadTimeout(channel, (uint8_t*)&c, 1, TIME_IMMEDIATE)) {
-            dd8738ea
+    key = KEY_UNKNOWN;
-            e545e620
+            Thomas Schöpping
     // parse escape sequence
-            cc33217b
+    if (strlen(shell->inputdata.escseq) > 0) {
       shell->inputdata.escseq[strlen(shell->inputdata.escseq)] = c;
-            ba516b61
+      key = _interpreteEscapeSequence(shell->inputdata.escseq);
-            cc33217b
+      switch (key) {
         case KEY_AMBIGUOUS:
           // read next byte to resolve ambiguity
           continue;
         case KEY_UNKNOWN:
           // do nothing here, but handle the unknown sequence below
           break;
         default:
           // reset the sequence variable and buffer
           memset(shell->inputdata.escseq, '\0', sizeof(shell->inputdata.escseq)*sizeof(shell->inputdata.escseq[0]));
           break;
-            e545e620
+            Thomas Schöpping
+    }
-            ba516b61
+    /* interprete keys or character */
-            e545e620
+            Thomas Schöpping
-            ba516b61
+      // default
       action = AOS_SHELL_ACTION_NONE;
       // printable character
-            cc33217b
+      if (key == KEY_UNKNOWN && strlen(shell->inputdata.escseq) == 0 && c >= '\x20' && c <= '\x7E') {
-            ba516b61
+        action = AOS_SHELL_ACTION_READCHAR;
+      }
       // tab key or character
       else if (key == KEY_TAB || c == '\x09') {
         /*
          * pressing tab once applies auto fill
          * pressing tab a second time prints suggestions
          */
         if (shell->inputdata.lastaction == AOS_SHELL_ACTION_AUTOFILL || shell->inputdata.lastaction == AOS_SHELL_ACTION_SUGGEST) {
           action = AOS_SHELL_ACTION_SUGGEST;
-            e545e620
+        } else {
-            ba516b61
+          action = AOS_SHELL_ACTION_AUTOFILL;
-            e545e620
+            Thomas Schöpping
-            ba516b61
+            Thomas Schöpping
       // INS key
       else if (key == KEY_INSERT) {
         action = AOS_SHELL_ACTION_INSERTTOGGLE;
+      }
       // DEL key or character
       else if (key == KEY_DELETE || c == '\x7F') {
         // ignore if cursor is at very right
         if (shell->inputdata.cursorpos < shell->inputdata.lineend) {
           action = AOS_SHELL_ACTION_DELETEFORWARD;
-            e545e620
+            Thomas Schöpping
-            ba516b61
+            Thomas Schöpping
       // backspace key or character
       else if (key == KEY_BACKSPACE || c == '\x08') {
         // ignore if cursor is at very left
         if (shell->inputdata.cursorpos > 0) {
           action = AOS_SHELL_ACTION_DELETEBACKWARD;
-            e545e620
+            Thomas Schöpping
-            ba516b61
+            Thomas Schöpping
-cf
+      // 'page up', 'arrow up', or key or CTRL + 'arrow up' key combination
       else if (key == KEY_PAGE_UP || key == KEY_ARROW_UP || key == KEY_CTRL_ARROW_UP) {
-            e545e620
+        // ignore if there was some input
-            ba516b61
+        if (shell->inputdata.noinput) {
           action = AOS_SHELL_ACTION_RECALLLAST;
-            e545e620
+            Thomas Schöpping
-            ba516b61
+            Thomas Schöpping
-            cc33217b
+      // 'page down' key, 'arrow down' key, 'end of test' character or 'end of transmission' character, or CTRL + 'arrow down' key combination
       else if (key == KEY_PAGE_DOWN || key == KEY_ARROW_DOWN || c == '\x03' || c == '\x03' || key == KEY_CTRL_ARROW_DOWN) {
-            e545e620
+        // ignore if line is empty
-            ba516b61
+        if (shell->inputdata.lineend > 0) {
           action = AOS_SHELL_ACTION_CLEAR;
-            e545e620
+            Thomas Schöpping
-            ba516b61
+            Thomas Schöpping
       // 'home' key
       else if (key == KEY_HOME) {
-            e545e620
+        // ignore if cursor is very left
-            ba516b61
+        if (shell->inputdata.cursorpos > 0) {
           action = AOS_SHELL_ACTION_CURSOR2START;
-            e545e620
+            Thomas Schöpping
-            ba516b61
+            Thomas Schöpping
       // 'end' key
       else if (key == KEY_END) {
         // ignore if cursos is very right
         if (shell->inputdata.cursorpos < shell->inputdata.lineend) {
           action = AOS_SHELL_ACTION_CURSOR2END;
-            e545e620
+            Thomas Schöpping
-            ba516b61
+            Thomas Schöpping
       // 'arrow left' key
       else if (key == KEY_ARROW_LEFT) {
-            e545e620
+        // ignore if cursor is very left
-            ba516b61
+        if (shell->inputdata.cursorpos > 0) {
           action = AOS_SHELL_ACTION_CURSORLEFT;
-            e545e620
+            Thomas Schöpping
-            ba516b61
+            Thomas Schöpping
       // 'arrow right' key
       else if (key == KEY_ARROW_RIGHT) {
-            cc33217b
+        // ignore if cursor is very right
-            ba516b61
+        if (shell->inputdata.cursorpos < shell->inputdata.lineend) {
           action = AOS_SHELL_ACTION_CURSORRIGHT;
-            e545e620
+            Thomas Schöpping
-            ba516b61
+            Thomas Schöpping
-            cc33217b
+      // CTRL + 'arrow left' key combination
       else if (key == KEY_CTRL_ARROW_LEFT) {
         // ignore if cursor is very left
         if (shell->inputdata.cursorpos > 0) {
           action = AOS_SHELL_ACTION_CURSORWORDLEFT;
+        }
+      }
       // CTRL + 'arrow right' key combination
       else if (key == KEY_CTRL_ARROW_RIGHT) {
         // ignore if cursor is very right
         if (shell->inputdata.cursorpos < shell->inputdata.lineend) {
           action = AOS_SHELL_ACTION_CURSORWORDRIGHT;
+        }
+      }
-            ba516b61
+      // carriage return ('\r') or line feed ('\n') character
       else if (c == '\x0D' || c == '\x0A') {
         action = AOS_SHELL_ACTION_EXECUTE;
+      }
       // ESC key or [ESCAPE] character
       else if (key == KEY_ESCAPE || c == '\x1B') {
         action = AOS_SHELL_ACTION_ESCSTART;
-            e545e620
+            Thomas Schöpping
-            cc33217b
+            Thomas Schöpping
       // unknown escape sequence
       else if (key == KEY_UNKNOWN && strlen(shell->inputdata.escseq) > 0) {
         action = AOS_SHELL_ACTION_PRINTUNKNOWNSEQUENCE;
+      }
-            e545e620
+            Thomas Schöpping
     /* handle function */
-            ba516b61
+    switch (action) {
       case AOS_SHELL_ACTION_READCHAR:
+      {
-            cc33217b
+        if (_readChar(shell, c) == 0) {
           // line is full
-            ba516b61
+          _moveCursor(shell, shell->inputdata.cursorpos, shell->inputdata.lineend);
           chprintf((BaseSequentialStream*)&shell->stream, "\n\tmaximum line width reached\n");
-            e545e620
+          _printPrompt(shell);
-            ba516b61
+          _printLine(shell, 0, shell->inputdata.lineend);
           _moveCursor(shell, shell->inputdata.lineend, shell->inputdata.cursorpos);
-            e545e620
+            Thomas Schöpping
         break;
-            ba516b61
+            Thomas Schöpping
-            e545e620
+            Thomas Schöpping
-            ba516b61
+      case AOS_SHELL_ACTION_AUTOFILL:
-            e545e620
+            Thomas Schöpping
-            cc33217b
+        const char* fill = shell->input.line;
-            ba516b61
+        size_t cmatch = shell->inputdata.cursorpos;
-            e545e620
+        charmatch_t matchlevel = CHAR_MATCH_NOT;
         size_t n;
         // iterate through command list
         for (aos_shellcommand_t* cmd = shell->commands; cmd != NULL; cmd = cmd->next) {
           // compare current match with command
           n = cmatch;
           charmatch_t mlvl = CHAR_MATCH_NOT;
           _strccmp(fill, cmd->name, shell->config & AOS_SHELL_CONFIG_MATCH_CASE, (n == 0) ? NULL : &n, &mlvl);
           const int cmp = (n < cmatch) ?
                             (n - cmatch) :
                             (cmd->name[n] != '\0') ?
                               strlen(cmd->name) - n :
 ;
           // if an exact match was found
-            ba516b61
+          if (cmatch + cmp == shell->inputdata.cursorpos) {
             cmatch = shell->inputdata.cursorpos;
-            e545e620
+            fill = cmd->name;
             // break the loop only if there are no case mismatches with the input
-            ba516b61
+            n = shell->inputdata.cursorpos;
-            cc33217b
+            _strccmp(fill, shell->input.line, false, &n, &mlvl);
-            e545e620
+            if (mlvl == CHAR_MATCH_CASE) {
               break;
+            }
+          }
           // if a not exact match was found
-            ba516b61
+          else if (cmatch + cmp > shell->inputdata.cursorpos) {
-            e545e620
+            // if this is the first one
-            cc33217b
+            if (fill == shell->input.line) {
-            e545e620
+              cmatch += cmp;
               fill = cmd->name;
+            }
             // if this is a worse one
             else if ((cmp < 0) || (cmp == 0 && mlvl == CHAR_MATCH_CASE)) {
               cmatch += cmp;
+            }
+          }
           // non matching commands are ignored
           else {}
+        }
         // evaluate if there are case mismatches
         n = cmatch;
-            cc33217b
+        _strccmp(shell->input.line, fill, shell->config & AOS_SHELL_CONFIG_MATCH_CASE, &n, &matchlevel);
-            e545e620
+        // print the auto fill if any
-            ba516b61
+        if (cmatch > shell->inputdata.cursorpos || (cmatch == shell->inputdata.cursorpos && matchlevel == CHAR_MATCH_NCASE)) {
           shell->inputdata.noinput = false;
-            e545e620
+          // limit auto fill so it will not overflow the line width
-            cc33217b
+          if (shell->inputdata.lineend + (cmatch - shell->inputdata.cursorpos) > shell->input.width) {
             cmatch = shell->input.width - shell->inputdata.lineend + shell->inputdata.cursorpos;
-            e545e620
+            Thomas Schöpping
           // move trailing memory further in the line
-            cc33217b
+          memmove(&(shell->input.line[cmatch]), &(shell->input.line[shell->inputdata.cursorpos]), shell->inputdata.lineend - shell->inputdata.cursorpos);
-            ba516b61
+          shell->inputdata.lineend += cmatch - shell->inputdata.cursorpos;
-            e545e620
+          // if there was no incorrect case when matching
           if (matchlevel == CHAR_MATCH_CASE) {
             // insert fill command name to line
-            cc33217b
+            memcpy(&(shell->input.line[shell->inputdata.cursorpos]), &(fill[shell->inputdata.cursorpos]), cmatch - shell->inputdata.cursorpos);
-            e545e620
+            // print the output
-            ba516b61
+            _printLine(shell, shell->inputdata.cursorpos, shell->inputdata.lineend);
-            e545e620
+          } else {
             // overwrite line with fill command name
-            cc33217b
+            memcpy(shell->input.line, fill, cmatch);
-            e545e620
+            // reprint the whole line
-            ba516b61
+            _moveCursor(shell, shell->inputdata.cursorpos, 0);
             _printLine(shell, 0, shell->inputdata.lineend);
-            e545e620
+            Thomas Schöpping
           // move cursor to the end of the matching sequence
-            ba516b61
+          shell->inputdata.cursorpos = cmatch;
           _moveCursor(shell, shell->inputdata.lineend, shell->inputdata.cursorpos);
-            e545e620
+            Thomas Schöpping
         break;
+      }
-            ba516b61
+      case AOS_SHELL_ACTION_SUGGEST:
-            e545e620
+            Thomas Schöpping
         unsigned int matches = 0;
         // iterate through command list
         for (aos_shellcommand_t* cmd = shell->commands; cmd != NULL; cmd = cmd->next) {
           // compare line content with command, excpet if cursorpos=0
-            ba516b61
+          size_t i = shell->inputdata.cursorpos;
           if (shell->inputdata.cursorpos > 0) {
-            cc33217b
+            _strccmp(shell->input.line, cmd->name, true, &i, NULL);
-            e545e620
+            Thomas Schöpping
-            ba516b61
+          const int cmp = (i < shell->inputdata.cursorpos) ?
                             (i - shell->inputdata.cursorpos) :
-            e545e620
+                            (cmd->name[i] != '\0') ?
                               strlen(cmd->name) - i :
 ;
           // if a match was found
           if (cmp > 0) {
             // if this is the first one
             if (matches == 0) {
-            ba516b61
+              _moveCursor(shell, shell->inputdata.cursorpos, shell->inputdata.lineend);
               streamPut(&shell->stream, '\n');
-            e545e620
+            Thomas Schöpping
             // print the command
-            ba516b61
+            chprintf((BaseSequentialStream*)&shell->stream, "\t%s\n", cmd->name);
-            e545e620
+            ++matches;
+          }
+        }
         // reprint the prompt and line if any matches have been found
         if (matches > 0) {
           _printPrompt(shell);
-            ba516b61
+          _printLine(shell, 0, shell->inputdata.lineend);
           _moveCursor(shell, shell->inputdata.lineend, shell->inputdata.cursorpos);
           shell->inputdata.noinput = false;
-            e545e620
+            Thomas Schöpping
         break;
+      }
-            ba516b61
+      case AOS_SHELL_ACTION_INSERTTOGGLE:
+      {
-            e545e620
+        if (shell->config & AOS_SHELL_CONFIG_INPUT_OVERWRITE) {
           shell->config &= ~AOS_SHELL_CONFIG_INPUT_OVERWRITE;
         } else {
           shell->config |= AOS_SHELL_CONFIG_INPUT_OVERWRITE;
+        }
         break;
-            ba516b61
+            Thomas Schöpping
-            e545e620
+            Thomas Schöpping
-            ba516b61
+      case AOS_SHELL_ACTION_DELETEFORWARD:
+      {
         --shell->inputdata.lineend;
-            cc33217b
+        memmove(&(shell->input.line[shell->inputdata.cursorpos]), &(shell->input.line[shell->inputdata.cursorpos+1]), shell->inputdata.lineend - shell->inputdata.cursorpos);
-            ba516b61
+        _printLine(shell, shell->inputdata.cursorpos, shell->inputdata.lineend);
         streamPut(&shell->stream, ' ');
         _moveCursor(shell, shell->inputdata.lineend + 1, shell->inputdata.cursorpos);
-            e545e620
+        break;
-            ba516b61
+            Thomas Schöpping
-            e545e620
+            Thomas Schöpping
-            ba516b61
+      case AOS_SHELL_ACTION_DELETEBACKWARD:
+      {
         --shell->inputdata.cursorpos;
-            cc33217b
+        memmove(&(shell->input.line[shell->inputdata.cursorpos]), &(shell->input.line[shell->inputdata.cursorpos+1]), shell->inputdata.lineend - shell->inputdata.cursorpos);
-            ba516b61
+        --shell->inputdata.lineend;
-            cc33217b
+        shell->input.line[shell->inputdata.lineend] = '\0';
-            ba516b61
+        _moveCursor(shell, shell->inputdata.cursorpos + 1, shell->inputdata.cursorpos);
         _printLine(shell, shell->inputdata.cursorpos, shell->inputdata.lineend);
         streamPut(&shell->stream, ' ');
         _moveCursor(shell, shell->inputdata.lineend+1, shell->inputdata.cursorpos);
-            e545e620
+        break;
-            ba516b61
+            Thomas Schöpping
-            e545e620
+            Thomas Schöpping
-            ba516b61
+      case AOS_SHELL_ACTION_RECALLLAST:
-            e545e620
+            Thomas Schöpping
         // replace any intermediate NUL bytes with spaces
-            ba516b61
+        shell->inputdata.lineend = 0;
-            e545e620
+        size_t nul_start = 0;
         size_t nul_end = 0;
         // search line for a NUL byte
-            cc33217b
+        while (nul_start < shell->input.width) {
           if (shell->input.line[nul_start] == '\0') {
-            e545e620
+            nul_end = nul_start + 1;
             // keep searcjing for a byte that is not NUL
-            cc33217b
+            while (nul_end < shell->input.width) {
               if (shell->input.line[nul_end] != '\0') {
-            e545e620
+                // an intermediate NUL sequence was found