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 1.6 2006/09/20 13:54:04 marco
20 *#* Usage examples of MAKE_CMD.
22 *#* Revision 1.5 2006/06/14 01:03:01 marco
23 *#* Add response code. Add command ping.
25 *#* Revision 1.4 2006/06/14 00:26:48 marco
26 *#* Use new macros for defining commands.
28 *#* Revision 1.3 2006/06/13 19:07:31 marco
29 *#* Fixed a bug in protocol_reply. Simplified rpc.
31 *#* Revision 1.2 2006/06/12 21:37:02 marco
32 *#* implemented some commands (ver and sleep)
34 *#* Revision 1.1 2006/06/01 12:29:21 marco
35 *#* Add first simple protocol command (version request).
42 #include <drv/timer.h>
43 #include <mware/readline.h>
44 #include <mware/parser.h>
45 #include <cfg/compiler.h>
46 #include <cfg/debug.h>
52 //#include <cmd_hunk.h>
54 #include "cmd_ctor.h" // MAKE_CMD, REGISTER_CMD
56 // DEBUG: set to 1 to force interactive mode
57 #define FORCE_INTERACTIVE 1
60 * True if we are in interactive mode, false if we are in protocol mode.
61 * In interactive mode, commands are read through readline() (prompt,
62 * completion, history) without IDs, and replies/errors are sent to the serial
64 * In protocol mode, we implement the default protocol
66 static bool interactive;
68 /// Readline context, used for interactive mode.
69 static struct RLContext rl_ctx;
73 * Send a NAK asking the host to send the current message again.
75 * \param err human-readable description of the error for debug purposes.
77 INLINE void NAK(Serial *ser, const char *err)
80 ser_printf(ser, "NAK \"%s\"\r\n", err);
82 ser_printf(ser, "NAK\r\n");
87 * Print args on s, with format specified in t->result_fmt.
88 * Return number of valid arguments or -1 in case of error.
90 static bool protocol_reply(Serial *s, const struct CmdTemplate *t,
93 unsigned short offset = strlen(t->arg_fmt) + 1;
94 unsigned short nres = strlen(t->result_fmt);
97 for (unsigned short i = 0; i < nres; ++i)
99 if (t->result_fmt[i] == 'd')
101 ser_printf(s, " %ld", args[offset+i].l);
103 else if (t->result_fmt[i] == 's')
105 ser_printf(s, " %s", args[offset+i].s);
112 ser_printf(s, "\r\n");
116 static void protocol_parse(Serial *ser, const char *buf)
118 const struct CmdTemplate *templ;
121 templ = parser_get_cmd_template(buf);
124 ser_print(ser, "-1 Invalid command.");
128 parms args[PARSER_MAX_ARGS];
130 /* Args Check. TODO: Handle different case. see doc/PROTOCOL . */
131 if (!parser_get_cmd_arguments(buf, templ, args))
133 ser_print(ser, "-2 Invalid arguments.");
138 if(!parser_execute_cmd(templ, args))
140 NAK(ser, "Error in executing command.");
142 if (!protocol_reply(ser, templ, args))
144 NAK(ser, "Invalid return format.");
149 void protocol_run(Serial *ser)
152 * \todo to be removed, we could probably access the serial FIFO
155 static char linebuf[80];
159 ser_gets(ser, linebuf, sizeof(linebuf));
161 // reset serial port error anyway
162 ser_setstatus(ser, 0);
164 // check message minimum length
167 if (linebuf[0] == 0x1B && linebuf[1] == 0x1B) // ESC
171 "Entering interactive mode\r\n");
175 protocol_parse(ser, linebuf);
184 * Read a line from serial. We use a temporary buffer
185 * because otherwise we would have to extract a message
186 * from the port immediately: there might not be any
187 * available, and one might get free while we read
188 * the line. We also add a fake ID at the start to
191 buf = rl_readline(&rl_ctx);
193 if (buf && buf[0] != '\0')
195 // exit special case to immediately change serial input
196 if (!strcmp(buf, "exit") || !strcmp(buf, "quit"))
198 rl_clear_history(&rl_ctx);
200 "Leaving interactive mode...\r\n");
201 interactive = FORCE_INTERACTIVE;
205 //TODO: remove sequence numbers
209 strncpy(linebuf + 2, buf, sizeof(linebuf) - 3);
210 linebuf[sizeof(linebuf) - 1] = '\0';
211 protocol_parse(ser, linebuf);
219 * TODO: Command declarations and definitions should be in another file(s).
220 * Maybe we should use CMD_HUNK_TEMPLATE.
224 /* Version. Example of declaring function and passing it to MAKE_CMD. */
225 static int ver_fn(const char **str)
230 MAKE_CMD(ver, "", "s", ver_fn(&args[1].s))
232 /* Sleep. Example of declaring function body directly in macro call. */
233 MAKE_CMD(sleep, "d", "",
235 timer_delay((mtime_t)args[1].l);
240 MAKE_CMD(ping, "", "",
245 /* Register commands. */
246 static void protocol_registerCmds(void)
253 /* Initialization: readline context, parser and register commands. */
254 void protocol_init(Serial *ser)
256 interactive = FORCE_INTERACTIVE;
258 rl_init_ctx(&rl_ctx);
259 rl_setprompt(&rl_ctx, ">> ");
260 rl_sethook_get(&rl_ctx, (getc_hook)ser_getchar, ser);
261 rl_sethook_put(&rl_ctx, (putc_hook)ser_putchar, ser);
262 rl_sethook_match(&rl_ctx, parser_rl_match, NULL);
266 protocol_registerCmds();