X-Git-Url: https://codewiz.org/gitweb?a=blobdiff_plain;f=app%2Ftriface%2Fprotocol.c;h=7dc434e64e901687cacbc0a36ffa375ca2662920;hb=cfd59c8655ed7268c9c48aa58560158d235bc0de;hp=1b66c9908dd9f5b2fc3dfe1cc93c35e888a4be7c;hpb=f7c30da5c75281bd2dfba133529a7ac1fa31e6b1;p=bertos.git diff --git a/app/triface/protocol.c b/app/triface/protocol.c old mode 100755 new mode 100644 index 1b66c990..7dc434e6 --- a/app/triface/protocol.c +++ b/app/triface/protocol.c @@ -1,7 +1,34 @@ /** * \file * * * \brief Implementation of the command protocol between the board and the host @@ -14,32 +41,40 @@ * \author Bernardo Innocenti */ -/*#* - *#* $Log$ - *#* Revision 1.1 2006/06/01 12:29:21 marco - *#* Add first simple protocol command (version request). - *#* - *#*/ - #include "protocol.h" + +#include #include #include #include #include #include -#include +#include +#include +#include "hw_adc.h" +#include #include +//#include + +#include "cmd_ctor.h" // MAKE_CMD, REGISTER_CMD +#include "hw_input.h" +#include "verstag.h" +#include + +// Define the format string for ADC +#define ADC_FORMAT_STR "dddd" // DEBUG: set to 1 to force interactive mode #define FORCE_INTERACTIVE 1 /** * True if we are in interactive mode, false if we are in protocol mode. - * In interactive mode, commands are read through readline() (prompt, completion, - * history) without IDs, and replies/errors are sent to the serial output. + * In interactive mode, commands are read through readline() (prompt, + * completion, history) without IDs, and replies/errors are sent to the serial + * output. * In protocol mode, we implement the default protocol */ static bool interactive; @@ -47,7 +82,7 @@ static bool interactive; /// Readline context, used for interactive mode. static struct RLContext rl_ctx; - +uint8_t reg_status_dout; /** * Send a NAK asking the host to send the current message again. * @@ -62,32 +97,84 @@ INLINE void NAK(Serial *ser, const char *err) #endif } +static void protocol_prompt(Serial *ser) +{ + ser_print(ser, ">> "); +} + +/* + * Print args on s, with format specified in t->result_fmt. + * Return number of valid arguments or -1 in case of error. + */ +static bool protocol_reply(Serial *s, const struct CmdTemplate *t, + const parms *args) +{ + unsigned short offset = strlen(t->arg_fmt) + 1; + unsigned short nres = strlen(t->result_fmt); + + for (unsigned short i = 0; i < nres; ++i) + { + if (t->result_fmt[i] == 'd') + { + ser_printf(s, " %ld", args[offset+i].l); + } + else if (t->result_fmt[i] == 's') + { + ser_printf(s, " %s", args[offset+i].s); + } + + else + { + abort(); + } + } + ser_printf(s, "\r\n"); + return true; +} + static void protocol_parse(Serial *ser, const char *buf) { const struct CmdTemplate *templ; - parms args[8]; // FIXME FIXME!! + /* Command check. */ templ = parser_get_cmd_template(buf); - if (!templ) { - NAK(ser, "invalid command"); + ser_print(ser, "-1 Invalid command.\r\n"); + protocol_prompt(ser); return; } - // Extract the arguments for the command + parms args[PARSER_MAX_ARGS]; + + /* Args Check. TODO: Handle different case. see doc/PROTOCOL . */ if (!parser_get_cmd_arguments(buf, templ, args)) { - NAK(ser, "invalid arguments"); + ser_print(ser, "-2 Invalid arguments.\r\n"); + protocol_prompt(ser); return; } - // EXEC! + /* Execute. */ + if(!parser_execute_cmd(templ, args)) + { + NAK(ser, "Error in executing command."); + } + if (!protocol_reply(ser, templ, args)) + { + NAK(ser, "Invalid return format."); + } + + protocol_prompt(ser); + return; } void protocol_run(Serial *ser) { - // \todo to be removed, we could probably access the serial FIFO directly + /** + * \todo to be removed, we could probably access the serial FIFO + * directly + */ static char linebuf[80]; if (!interactive) @@ -100,13 +187,21 @@ void protocol_run(Serial *ser) // check message minimum length if (linebuf[0]) { - if (linebuf[0] == 0x1B && linebuf[1] == 0x1B) // ESC + /* If we enter lines beginning with sharp(#) + they are stripped out from commands */ + if(linebuf[0] != '#') { - interactive = true; - ser_printf(ser, "Entering interactive mode\r\n"); + if (linebuf[0] == 0x1B && linebuf[1] == 0x1B) // ESC + { + interactive = true; + ser_printf(ser, + "Entering interactive mode\r\n"); + } + else + { + protocol_parse(ser, linebuf); + } } - else - protocol_parse(ser, linebuf); } } else @@ -123,71 +218,160 @@ void protocol_run(Serial *ser) */ buf = rl_readline(&rl_ctx); - if (buf && buf[0] != '\0') + /* If we enter lines beginning with sharp(#) + they are stripped out from commands */ + if(buf && buf[0] != '#') { - // exit special case to immediately change serial input - if (!strcmp(buf, "exit") || !strcmp(buf, "quit")) - { - rl_clear_history(&rl_ctx); - ser_printf(ser, "Leaving interactive mode...\r\n"); - interactive = FORCE_INTERACTIVE; - } - else + if (buf[0] != '\0') { - //TODO: remove sequence numbers - linebuf[0] = '0'; - linebuf[1] = ' '; + // exit special case to immediately change serial input + if (!strcmp(buf, "exit") || !strcmp(buf, "quit")) + { + rl_clear_history(&rl_ctx); + ser_printf(ser, + "Leaving interactive mode...\r\n"); + interactive = FORCE_INTERACTIVE; + } + else + { + //TODO: remove sequence numbers + linebuf[0] = '0'; + linebuf[1] = ' '; - strncpy(linebuf + 2, buf, sizeof(linebuf) - 3); - linebuf[sizeof(linebuf) - 1] = '\0'; - protocol_parse(ser, linebuf); + strncpy(linebuf + 2, buf, sizeof(linebuf) - 3); + linebuf[sizeof(linebuf) - 1] = '\0'; + protocol_parse(ser, linebuf); + } } } } } -static ResultCode cmd_ver(const char **str) -{ - *str = VERS_TAG; -kprintf("hello, version world!\nver=" VERS_TAG "\n"); - return RC_REPLY; -} -static ResultCode cmd_add_hunk(parms args_results[]) -{ - return cmd_ver(&args_results[0].s); -} -const struct CmdTemplate cmd_ver_template = -{ - "ver", "", "d", cmd_add_hunk -}; +/* + * Commands. + * TODO: Command declarations and definitions should be in another file(s). + * Maybe we should use CMD_HUNK_TEMPLATE. + * + */ + +MAKE_CMD(ver, "", "ddd", +({ + args[1].l = VERS_MAJOR; + args[2].l = VERS_MINOR; + args[3].l = VERS_REV; + 0; +}), 0); +/* Sleep. Example of declaring function body directly in macro call. */ +MAKE_CMD(sleep, "d", "", +({ + timer_delay((mtime_t)args[1].l); + 0; +}), 0) + +/* Ping. */ +MAKE_CMD(ping, "", "", +({ + //Silence "args not used" warning. + (void)args; + 0; +}), 0) + +/* Dout */ +MAKE_CMD(dout, "d", "", +({ + sipo_putchar((uint8_t)args[1].l); + + //Store status of dout ports. + reg_status_dout = (uint8_t)args[1].l; + 0; +}), 0) + +/* rdout read the status of out ports.*/ +MAKE_CMD(rdout, "", "d", +({ + args[1].l = reg_status_dout; + 0; +}), 0) + +/* Doutx sperimentale....... */ +MAKE_CMD(doutx, "d", "", + ({ + sipo_putchar((uint8_t)args[1].l); + + //Store status of dout ports. + reg_status_dout = (uint8_t)args[1].l; + 0; + }), 0) + +/* Reset */ +MAKE_CMD(reset, "", "", +({ + //Silence "args not used" warning. + (void)args; + wdt_init(7); + wdt_start(); + 0; +}), 0) + +/* Din */ +MAKE_CMD(din, "", "d", +({ + args[1].l = INPUT_GET(); + 0; +}), 0) + + + +/* Ain */ +MAKE_CMD(ain, "", ADC_FORMAT_STR, +({ + STATIC_ASSERT((sizeof(ADC_FORMAT_STR) - 1) == ADC_CHANNEL_NUM); + for(int i = 0; i < ADC_CHANNEL_NUM; i++) + args[i+1].l = adc_read_ai_channel(i); + + 0; +}), 0) + +/* Beep */ +MAKE_CMD(beep, "d", "", +({ + buz_beep(args[1].l); + 0; +}), 0) + +/* Register commands. */ static void protocol_registerCmds(void) { -// parser_register_cmd(&CMD_HUNK_TEMPLATE(quit)); -// parser_register_cmd(&CMD_HUNK_TEMPLATE(exit)); -// parser_register_cmd(&CMD_HUNK_TEMPLATE(wait)); -// parser_register_cmd(&CMD_HUNK_TEMPLATE(delay)); -// parser_register_cmd(&CMD_HUNK_TEMPLATE(SYN)); -// parser_register_cmd(&CMD_HUNK_TEMPLATE(RST)); -// parser_register_cmd(&CMD_HUNK_TEMPLATE(skip_end)); -// parser_register_cmd(&CMD_HUNK_TEMPLATE(restart)); -// parser_register_cmd(&CMD_HUNK_TEMPLATE(ver)); -// parser_register_cmd(&CMD_HUNK_TEMPLATE(power_off)); - - parser_register_cmd(&cmd_ver_template); + REGISTER_CMD(ver); + REGISTER_CMD(sleep); + REGISTER_CMD(ping); + REGISTER_CMD(dout); + //Set off all dout ports. + reg_status_dout = 0; + REGISTER_CMD(rdout); + REGISTER_CMD(doutx); + REGISTER_CMD(reset); + REGISTER_CMD(din); + REGISTER_CMD(ain); + REGISTER_CMD(beep); } + +/* Initialization: readline context, parser and register commands. */ void protocol_init(Serial *ser) { interactive = FORCE_INTERACTIVE; - // Initialize the readline context used for interactive mode rl_init_ctx(&rl_ctx); - rl_setprompt(&rl_ctx, ">> "); + //rl_setprompt(&rl_ctx, ">> "); rl_sethook_get(&rl_ctx, (getc_hook)ser_getchar, ser); rl_sethook_put(&rl_ctx, (putc_hook)ser_putchar, ser); rl_sethook_match(&rl_ctx, parser_rl_match, NULL); + rl_sethook_clear(&rl_ctx, (clear_hook)ser_clearstatus,ser); parser_init(); protocol_registerCmds(); + + protocol_prompt(ser); }