4 * Copyright 2006 Develer S.r.l. (http://www.develer.com/)
7 * \brief Implementation of the command protocol between the board and the host
12 * \author Giovanni Bajo <rasky@develer.com>
13 * \author Marco Benelli <marco@develer.com>
14 * \author Bernardo Innocenti <bernie@develer.com>
19 *#* Revision 1.5 2006/06/14 01:03:01 marco
20 *#* Add response code. Add command ping.
22 *#* Revision 1.4 2006/06/14 00:26:48 marco
23 *#* Use new macros for defining commands.
25 *#* Revision 1.3 2006/06/13 19:07:31 marco
26 *#* Fixed a bug in protocol_reply. Simplified rpc.
28 *#* Revision 1.2 2006/06/12 21:37:02 marco
29 *#* implemented some commands (ver and sleep)
31 *#* Revision 1.1 2006/06/01 12:29:21 marco
32 *#* Add first simple protocol command (version request).
39 #include <drv/timer.h>
40 #include <mware/readline.h>
41 #include <mware/parser.h>
42 #include <cfg/compiler.h>
43 #include <cfg/debug.h>
51 #include "cmd_ctor.h" // MAKE_CMD, REGISTER_CMD
53 // DEBUG: set to 1 to force interactive mode
54 #define FORCE_INTERACTIVE 1
57 * True if we are in interactive mode, false if we are in protocol mode.
58 * In interactive mode, commands are read through readline() (prompt,
59 * completion, history) without IDs, and replies/errors are sent to the serial
61 * In protocol mode, we implement the default protocol
63 static bool interactive;
65 /// Readline context, used for interactive mode.
66 static struct RLContext rl_ctx;
70 * Send a NAK asking the host to send the current message again.
72 * \param err human-readable description of the error for debug purposes.
74 INLINE void NAK(Serial *ser, const char *err)
77 ser_printf(ser, "NAK \"%s\"\r\n", err);
79 ser_printf(ser, "NAK\r\n");
84 * Print args on s, with format specified in t->result_fmt.
85 * Return number of valid arguments or -1 in case of error.
87 static bool protocol_reply(Serial *s, const struct CmdTemplate *t,
90 unsigned short offset = strlen(t->arg_fmt) + 1;
91 unsigned short nres = strlen(t->result_fmt);
94 for (unsigned short i = 0; i < nres; ++i)
96 if (t->result_fmt[i] == 'd')
98 ser_printf(s, " %ld", args[offset+i].l);
100 else if (t->result_fmt[i] == 's')
102 ser_printf(s, " %s", args[offset+i].s);
109 ser_printf(s, "\r\n");
113 static void protocol_parse(Serial *ser, const char *buf)
115 const struct CmdTemplate *templ;
118 templ = parser_get_cmd_template(buf);
121 ser_print(ser, "-1 Invalid command.");
125 parms args[PARSER_MAX_ARGS];
127 /* Args Check. TODO: Handle different case. see doc/PROTOCOL . */
128 if (!parser_get_cmd_arguments(buf, templ, args))
130 ser_print(ser, "-2 Invalid arguments.");
135 if(!parser_execute_cmd(templ, args))
137 NAK(ser, "Error in executing command.");
139 if (!protocol_reply(ser, templ, args))
141 NAK(ser, "Invalid return format.");
146 void protocol_run(Serial *ser)
149 * \todo to be removed, we could probably access the serial FIFO
152 static char linebuf[80];
156 ser_gets(ser, linebuf, sizeof(linebuf));
158 // reset serial port error anyway
159 ser_setstatus(ser, 0);
161 // check message minimum length
164 if (linebuf[0] == 0x1B && linebuf[1] == 0x1B) // ESC
168 "Entering interactive mode\r\n");
172 protocol_parse(ser, linebuf);
181 * Read a line from serial. We use a temporary buffer
182 * because otherwise we would have to extract a message
183 * from the port immediately: there might not be any
184 * available, and one might get free while we read
185 * the line. We also add a fake ID at the start to
188 buf = rl_readline(&rl_ctx);
190 if (buf && buf[0] != '\0')
192 // exit special case to immediately change serial input
193 if (!strcmp(buf, "exit") || !strcmp(buf, "quit"))
195 rl_clear_history(&rl_ctx);
197 "Leaving interactive mode...\r\n");
198 interactive = FORCE_INTERACTIVE;
202 //TODO: remove sequence numbers
206 strncpy(linebuf + 2, buf, sizeof(linebuf) - 3);
207 linebuf[sizeof(linebuf) - 1] = '\0';
208 protocol_parse(ser, linebuf);
216 * TODO: Command declarations and definitions should be in another file(s).
217 * Maybe we should use CMD_HUNK_TEMPLATE.
222 MAKE_CMD(ver, "", "s",
224 args[1].s = VERS_TAG;
229 MAKE_CMD(sleep, "d", "",
231 timer_delay((mtime_t)args[1].l);
236 MAKE_CMD(ping, "", "",
241 /* Register commands. */
242 static void protocol_registerCmds(void)
249 /* Initialization: readline context, parser and register commands. */
250 void protocol_init(Serial *ser)
252 interactive = FORCE_INTERACTIVE;
254 rl_init_ctx(&rl_ctx);
255 rl_setprompt(&rl_ctx, ">> ");
256 rl_sethook_get(&rl_ctx, (getc_hook)ser_getchar, ser);
257 rl_sethook_put(&rl_ctx, (putc_hook)ser_putchar, ser);
258 rl_sethook_match(&rl_ctx, parser_rl_match, NULL);
262 protocol_registerCmds();