X-Git-Url: https://codewiz.org/gitweb?a=blobdiff_plain;f=app%2Ftriface%2Fprotocol.c;h=7dc434e64e901687cacbc0a36ffa375ca2662920;hb=cfd59c8655ed7268c9c48aa58560158d235bc0de;hp=c833837d52da547b415ab259373bb5aa19522b2d;hpb=304ab6d368e046801f9c6bab326bbb27f78cb875;p=bertos.git diff --git a/app/triface/protocol.c b/app/triface/protocol.c old mode 100755 new mode 100644 index c833837d..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 @@ -14,34 +41,31 @@ * \author Bernardo Innocenti */ -/*#* - *#* $Log$ - *#* Revision 1.2 2006/06/12 21:37:02 marco - *#* implemented some commands (ver and sleep) - *#* - *#* 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 /* malloc() - TODO: substitute with a more appropriate - memory allocator. */ +#include +#include +#include "hw_adc.h" +#include #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 @@ -58,7 +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. * @@ -73,35 +97,39 @@ 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 int protocol_reply(Serial *s, const struct CmdTemplate *t, +static bool protocol_reply(Serial *s, const struct CmdTemplate *t, const parms *args) { - int nres = strlen(t->result_fmt); + unsigned short offset = strlen(t->arg_fmt) + 1; + unsigned short nres = strlen(t->result_fmt); - if (nres > 0) + for (unsigned short i = 0; i < nres; ++i) { - for (int i = strlen(t->arg_fmt); i < nres; ++i) + if (t->result_fmt[i] == 'd') { - if (t->result_fmt[i] == 'd') - { - ser_printf(s, "%ld", args[i].l); - } - else if (t->result_fmt[i] == 's') - { - ser_printf(s, "%s ", args[i].s); - } - else - { - return -1; - } + 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_print(s, "\r\n"); - return nres; + ser_printf(s, "\r\n"); + return true; } static void protocol_parse(Serial *ser, const char *buf) @@ -112,31 +140,32 @@ static void protocol_parse(Serial *ser, const char *buf) templ = parser_get_cmd_template(buf); if (!templ) { - NAK(ser, "Invalid command."); + ser_print(ser, "-1 Invalid command.\r\n"); + protocol_prompt(ser); return; } parms args[PARSER_MAX_ARGS]; - /* Args Check. */ + /* 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; } /* Execute. */ - if (!parser_execute_cmd(templ, args)) + if(!parser_execute_cmd(templ, args)) { - NAK(ser, "Command failed."); + NAK(ser, "Error in executing command."); } - else + if (!protocol_reply(ser, templ, args)) { - if (protocol_reply(ser, templ, args) < 0) - { - NAK(ser, "Invalid return format."); - } + NAK(ser, "Invalid return format."); } + + protocol_prompt(ser); return; } @@ -158,15 +187,20 @@ 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"); - } - else - { - protocol_parse(ser, linebuf); + if (linebuf[0] == 0x1B && linebuf[1] == 0x1B) // ESC + { + interactive = true; + ser_printf(ser, + "Entering interactive mode\r\n"); + } + else + { + protocol_parse(ser, linebuf); + } } } } @@ -184,25 +218,30 @@ 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] = ' '; - - strncpy(linebuf + 2, buf, sizeof(linebuf) - 3); - linebuf[sizeof(linebuf) - 1] = '\0'; - protocol_parse(ser, linebuf); + // 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); + } } } } @@ -215,71 +254,124 @@ void protocol_run(Serial *ser) * */ -/* Version. */ -static ResultCode cmd_ver(const char **str) -{ - *str = VERS_TAG; - return 0; -} -static ResultCode cmd_ver_hunk(parms args_results[]) -{ - return cmd_ver(&args_results[0].s); -} - -const struct CmdTemplate cmd_ver_template = -{ - "ver", "", "s", cmd_ver_hunk, 0 -}; - -//DECLARE_CMD_HUNK(ver, (NIL), (string)(NIL)); - -/* Sleep. */ - -static ResultCode cmd_sleep(const long ms) -{ - timer_delay((mtime_t)ms); - return 0; -} - -static ResultCode cmd_sleep_hunk(parms args[]) -{ - return cmd_sleep(args[1].l); -} - -const struct CmdTemplate cmd_sleep_template = -{ - "sleep", "d", "", cmd_sleep_hunk, 0 -}; +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); - parser_register_cmd(&cmd_sleep_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); }