From 200574b741f08ec9f1f3e391176d499ad8faa4bb Mon Sep 17 00:00:00 2001 From: Daniele Basile Date: Thu, 19 Jan 2012 13:00:47 +0100 Subject: [PATCH] Import protocol module from triface prj. --- bertos/net/protocol.c | 283 ++++++++++++++++++++++++++++++++++++++++++ bertos/net/protocol.h | 50 ++++++++ 2 files changed, 333 insertions(+) create mode 100644 bertos/net/protocol.c create mode 100644 bertos/net/protocol.h diff --git a/bertos/net/protocol.c b/bertos/net/protocol.c new file mode 100644 index 00000000..e2ef94d6 --- /dev/null +++ b/bertos/net/protocol.c @@ -0,0 +1,283 @@ +/** + * \file + * + * + * \brief Implementation of the command protocol between the board and the host + * + * + * \author Giovanni Bajo + * \author Marco Benelli + * \author Bernie Innocenti + * \author Daniele Basile + */ + +#include "protocol.h" +#include "verstag.h" + +#include "cfg/cfg_parser.h" +#include +#include + +#include +#include + +#include +#include + +#include + +#include +#include + +// Define the format string for ADC +#define ADC_FORMAT_STR "dddd" +#define ADC_CHANNEL_NUM 4 + +// 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 protocol mode, we implement the default protocol + */ +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. + * + * \a fd kfile handler for serial. + * \a err human-readable description of the error for debug purposes. + */ +INLINE void NAK(KFile *fd, const char *err) +{ +#ifdef _DEBUG + kfile_printf(fd, "NAK \"%s\"\r\n", err); +#else + kfile_printf(fd, "NAK\r\n"); +#endif +} + +static void protocol_prompt(KFile *fd) +{ + kfile_print(fd, ">> "); +} + +/* + * 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(KFile *fd, 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') + { + kfile_printf(fd, " %ld", args[offset+i].l); + } + else if (t->result_fmt[i] == 's') + { + kfile_printf(fd, " %s", args[offset+i].s); + } + + else + { + abort(); + } + } + kfile_printf(fd, "\r\n"); + return true; +} + +static void protocol_parse(KFile *fd, const char *buf) +{ + const struct CmdTemplate *templ; + + /* Command check. */ + templ = parser_get_cmd_template(buf); + if (!templ) + { + kfile_print(fd, "-1 Invalid command.\r\n"); + protocol_prompt(fd); + return; + } + + parms args[CONFIG_PARSER_MAX_ARGS]; + + /* Args Check. TODO: Handle different case. see doc/PROTOCOL . */ + if (!parser_get_cmd_arguments(buf, templ, args)) + { + kfile_print(fd, "-2 Invalid arguments.\r\n"); + protocol_prompt(fd); + return; + } + + /* Execute. */ + if(!parser_execute_cmd(templ, args)) + { + NAK(fd, "Error in executing command."); + } + if (!protocol_reply(fd, templ, args)) + { + NAK(fd, "Invalid return format."); + } + + protocol_prompt(fd); + return; +} + +void protocol_run(KFile *fd) +{ + /** + * \todo to be removed, we could probably access the serial FIFO + * directly + */ + static char linebuf[80]; + + if (!interactive) + { + kfile_gets(fd, linebuf, sizeof(linebuf)); + + // reset serial port error anyway + kfile_clearerr(fd); + + // check message minimum length + if (linebuf[0]) + { + /* If we enter lines beginning with sharp(#) + they are stripped out from commands */ + if(linebuf[0] != '#') + { + if (linebuf[0] == 0x1B && linebuf[1] == 0x1B) // ESC + { + interactive = true; + kfile_printf(fd, "Entering interactive mode\r\n"); + } + else + { + protocol_parse(fd, linebuf); + } + } + } + } + else + { + const char *buf; + + /* + * Read a line from serial. We use a temporary buffer + * because otherwise we would have to extract a message + * from the port immediately: there might not be any + * available, and one might get free while we read + * the line. We also add a fake ID at the start to + * fool the parser. + */ + buf = rl_readline(&rl_ctx); + + /* If we enter lines beginning with sharp(#) + they are stripped out from commands */ + if(buf && buf[0] != '#') + { + if (buf[0] != '\0') + { + // exit special case to immediately change serial input + if (!strcmp(buf, "exit") || !strcmp(buf, "quit")) + { + rl_clear_history(&rl_ctx); + kfile_printf(fd, "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(fd, linebuf); + } + } + } + } +} + +/* + * 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); + + +/* Register commands. */ +static void protocol_registerCmds(void) +{ + REGISTER_CMD(ver); +} + +/* Initialization: readline context, parser and register commands. */ +void protocol_init(KFile *fd) +{ + interactive = FORCE_INTERACTIVE; + + rl_init_ctx(&rl_ctx); + //rl_setprompt(&rl_ctx, ">> "); + rl_sethook_get(&rl_ctx, (getc_hook)kfile_getc, fd); + rl_sethook_put(&rl_ctx, (putc_hook)kfile_putc, fd); + rl_sethook_match(&rl_ctx, parser_rl_match, NULL); + rl_sethook_clear(&rl_ctx, (clear_hook)kfile_clearerr,fd); + + parser_init(); + + protocol_registerCmds(); + + protocol_prompt(fd); +} diff --git a/bertos/net/protocol.h b/bertos/net/protocol.h new file mode 100644 index 00000000..5c0d92a4 --- /dev/null +++ b/bertos/net/protocol.h @@ -0,0 +1,50 @@ +/** + * \file + * + * + * \brief Implementation of the command protocol between the board and the host + * + * \author Marco Benelli + */ + + +#ifndef NET_PROTOCOL_H +#define NET_PROTOCOL_H + +#include + +#include + +void protocol_init(KFile *fd); +void protocol_run(KFile *fd); + +#endif /* NET_PROTOCOL_H */ -- 2.25.1