4 * This file is part of BeRTOS.
6 * Bertos is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
11 * This program is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
16 * You should have received a copy of the GNU General Public License
17 * along with this program; if not, write to the Free Software
18 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
20 * As a special exception, you may use this file as part of a free software
21 * library without restriction. Specifically, if other files instantiate
22 * templates or use macros or inline functions from this file, or you compile
23 * this file and link it with other files to produce an executable, this
24 * file does not by itself cause the resulting executable to be covered by
25 * the GNU General Public License. This exception does not however
26 * invalidate any other reasons why the executable file might be covered by
27 * the GNU General Public License.
29 * Copyright 2003, 2004, 2006, 2012 Develer S.r.l. (http://www.develer.com/)
30 * Copyright 2000 Bernie Innocenti <bernie@codewiz.org>
34 * \brief Implementation of the command protocol between the board and the host
37 * \author Giovanni Bajo <rasky@develer.com>
38 * \author Marco Benelli <marco@develer.com>
39 * \author Bernie Innocenti <bernie@codewiz.org>
40 * \author Daniele Basile <asterix@develer.com>
46 #include "cfg/cfg_parser.h"
47 #include <cfg/compiler.h>
48 #include <cfg/debug.h>
50 #include <drv/timer.h>
52 #include <mware/readline.h>
53 #include <mware/parser.h>
60 // DEBUG: set to 1 to force interactive mode
61 #define FORCE_INTERACTIVE 1
64 * True if we are in interactive mode, false if we are in protocol mode.
65 * In interactive mode, commands are read through readline() (prompt,
66 * completion, history) and replies/errors are sent to the output channel.
67 * In protocol mode, we implement the default protocol
69 static bool interactive;
71 /// Readline context, used for interactive mode.
72 static struct RLContext rl_ctx;
75 * Send a NAK asking the host to send the current message again.
77 * \a fd kfile handler for serial.
78 * \a err human-readable description of the error for debug purposes.
80 INLINE void NAK(KFile *fd, const char *err)
83 kfile_printf(fd, "NAK \"%s\"\r\n", err);
85 kfile_printf(fd, "NAK\r\n");
89 static void protocol_prompt(KFile *fd)
91 kfile_print(fd, ">> ");
95 * Print args on s, with format specified in t->result_fmt.
96 * Return number of valid arguments or -1 in case of error.
98 static bool protocol_reply(KFile *fd, const struct CmdTemplate *t,
101 unsigned short offset = strlen(t->arg_fmt) + 1;
102 unsigned short nres = strlen(t->result_fmt);
104 for (unsigned short i = 0; i < nres; ++i)
106 if (t->result_fmt[i] == 'd')
108 kfile_printf(fd, " %ld", args[offset+i].l);
110 else if (t->result_fmt[i] == 's')
112 kfile_printf(fd, " %s", args[offset+i].s);
121 kfile_printf(fd, "\r\n");
125 static void protocol_parse(KFile *fd, const char *buf)
127 const struct CmdTemplate *templ;
130 templ = parser_get_cmd_template(buf);
133 kfile_print(fd, "-1 Invalid command.\r\n");
138 parms args[CONFIG_PARSER_MAX_ARGS];
140 /* Args Check. TODO: Handle different case. see doc/PROTOCOL . */
141 if (!parser_get_cmd_arguments(buf, templ, args))
143 kfile_print(fd, "-2 Invalid arguments.\r\n");
149 if(!parser_execute_cmd(templ, args))
151 NAK(fd, "Error in executing command.");
153 if (!protocol_reply(fd, templ, args))
155 NAK(fd, "Invalid return format.");
162 void protocol_run(KFile *fd)
164 static char linebuf[80];
168 kfile_gets(fd, linebuf, sizeof(linebuf));
170 /* Clear errors on channel */
173 /* check message minimum length */
176 /* If we enter lines beginning with sharp(#)
177 they are stripped out from commands */
178 if(linebuf[0] != '#')
180 if (linebuf[0] == 0x1B && linebuf[1] == 0x1B) // ESC
183 kfile_printf(fd, "Entering interactive mode\r\n");
187 protocol_parse(fd, linebuf);
197 * Read a line from channel. We use a temporary buffer
198 * because otherwise we would have to extract a message
199 * from the port immediately: there might not be any
200 * available, and one might get free while we read
201 * the line. We also add a fake ID at the start to
204 buf = rl_readline(&rl_ctx);
206 /* If we enter lines beginning with sharp(#)
207 they are stripped out from commands */
208 if(buf && buf[0] != '#')
212 // exit special case to immediately change serial input
213 if (!strcmp(buf, "exit") || !strcmp(buf, "quit"))
215 rl_clear_history(&rl_ctx);
216 kfile_printf(fd, "Leaving interactive mode...\r\n");
217 interactive = FORCE_INTERACTIVE;
221 //TODO: remove sequence numbers
225 strncpy(linebuf + 2, buf, sizeof(linebuf) - 3);
226 linebuf[sizeof(linebuf) - 1] = '\0';
227 protocol_parse(fd, linebuf);
236 * TODO: Command declarations and definitions should be in another file(s).
237 * Maybe we should use CMD_HUNK_TEMPLATE.
241 MAKE_CMD(ver, "", "ddd",
243 args[1].l = VERS_MAJOR;
244 args[2].l = VERS_MINOR;
245 args[3].l = VERS_REV;
250 /* Register commands. */
251 static void protocol_registerCmds(void)
256 /* Initialization: readline context, parser and register commands. */
257 void protocol_init(KFile *fd)
259 interactive = FORCE_INTERACTIVE;
261 rl_init_ctx(&rl_ctx);
262 //rl_setprompt(&rl_ctx, ">> ");
263 rl_sethook_get(&rl_ctx, (getc_hook)kfile_getc, fd);
264 rl_sethook_put(&rl_ctx, (putc_hook)kfile_putc, fd);
265 rl_sethook_match(&rl_ctx, parser_rl_match, NULL);
266 rl_sethook_clear(&rl_ctx, (clear_hook)kfile_clearerr,fd);
269 protocol_registerCmds();