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 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>
53 #include <mware/readline.h>
54 #include <mware/parser.h>
61 // Define the format string for ADC
62 #define ADC_FORMAT_STR "dddd"
63 #define ADC_CHANNEL_NUM 4
65 // DEBUG: set to 1 to force interactive mode
66 #define FORCE_INTERACTIVE 1
69 * True if we are in interactive mode, false if we are in protocol mode.
70 * In interactive mode, commands are read through readline() (prompt,
71 * completion, history) without IDs, and replies/errors are sent to the serial
73 * In protocol mode, we implement the default protocol
75 static bool interactive;
77 /// Readline context, used for interactive mode.
78 static struct RLContext rl_ctx;
80 uint8_t reg_status_dout;
82 * Send a NAK asking the host to send the current message again.
84 * \a fd kfile handler for serial.
85 * \a err human-readable description of the error for debug purposes.
87 INLINE void NAK(KFile *fd, const char *err)
90 kfile_printf(fd, "NAK \"%s\"\r\n", err);
92 kfile_printf(fd, "NAK\r\n");
96 static void protocol_prompt(KFile *fd)
98 kfile_print(fd, ">> ");
102 * Print args on s, with format specified in t->result_fmt.
103 * Return number of valid arguments or -1 in case of error.
105 static bool protocol_reply(KFile *fd, const struct CmdTemplate *t,
108 unsigned short offset = strlen(t->arg_fmt) + 1;
109 unsigned short nres = strlen(t->result_fmt);
111 for (unsigned short i = 0; i < nres; ++i)
113 if (t->result_fmt[i] == 'd')
115 kfile_printf(fd, " %ld", args[offset+i].l);
117 else if (t->result_fmt[i] == 's')
119 kfile_printf(fd, " %s", args[offset+i].s);
127 kfile_printf(fd, "\r\n");
131 static void protocol_parse(KFile *fd, const char *buf)
133 const struct CmdTemplate *templ;
136 templ = parser_get_cmd_template(buf);
139 kfile_print(fd, "-1 Invalid command.\r\n");
144 parms args[CONFIG_PARSER_MAX_ARGS];
146 /* Args Check. TODO: Handle different case. see doc/PROTOCOL . */
147 if (!parser_get_cmd_arguments(buf, templ, args))
149 kfile_print(fd, "-2 Invalid arguments.\r\n");
155 if(!parser_execute_cmd(templ, args))
157 NAK(fd, "Error in executing command.");
159 if (!protocol_reply(fd, templ, args))
161 NAK(fd, "Invalid return format.");
168 void protocol_run(KFile *fd)
171 * \todo to be removed, we could probably access the serial FIFO
174 static char linebuf[80];
178 kfile_gets(fd, linebuf, sizeof(linebuf));
180 // reset serial port error anyway
183 // check message minimum length
186 /* If we enter lines beginning with sharp(#)
187 they are stripped out from commands */
188 if(linebuf[0] != '#')
190 if (linebuf[0] == 0x1B && linebuf[1] == 0x1B) // ESC
193 kfile_printf(fd, "Entering interactive mode\r\n");
197 protocol_parse(fd, linebuf);
207 * Read a line from serial. We use a temporary buffer
208 * because otherwise we would have to extract a message
209 * from the port immediately: there might not be any
210 * available, and one might get free while we read
211 * the line. We also add a fake ID at the start to
214 buf = rl_readline(&rl_ctx);
216 /* If we enter lines beginning with sharp(#)
217 they are stripped out from commands */
218 if(buf && buf[0] != '#')
222 // exit special case to immediately change serial input
223 if (!strcmp(buf, "exit") || !strcmp(buf, "quit"))
225 rl_clear_history(&rl_ctx);
226 kfile_printf(fd, "Leaving interactive mode...\r\n");
227 interactive = FORCE_INTERACTIVE;
231 //TODO: remove sequence numbers
235 strncpy(linebuf + 2, buf, sizeof(linebuf) - 3);
236 linebuf[sizeof(linebuf) - 1] = '\0';
237 protocol_parse(fd, linebuf);
246 * TODO: Command declarations and definitions should be in another file(s).
247 * Maybe we should use CMD_HUNK_TEMPLATE.
251 MAKE_CMD(ver, "", "ddd",
253 args[1].l = VERS_MAJOR;
254 args[2].l = VERS_MINOR;
255 args[3].l = VERS_REV;
260 /* Register commands. */
261 static void protocol_registerCmds(void)
266 /* Initialization: readline context, parser and register commands. */
267 void protocol_init(KFile *fd)
269 interactive = FORCE_INTERACTIVE;
271 rl_init_ctx(&rl_ctx);
272 //rl_setprompt(&rl_ctx, ">> ");
273 rl_sethook_get(&rl_ctx, (getc_hook)kfile_getc, fd);
274 rl_sethook_put(&rl_ctx, (putc_hook)kfile_putc, fd);
275 rl_sethook_match(&rl_ctx, parser_rl_match, NULL);
276 rl_sethook_clear(&rl_ctx, (clear_hook)kfile_clearerr,fd);
280 protocol_registerCmds();