cmdline.c

   1 /*
   2  *  Copyright Droids Corporation
   3  *  Olivier Matz <zer0@droids-corp.org>
   4  *
   5  *  This program is free software; you can redistribute it and/or modify
   6  *  it under the terms of the GNU General Public License as published by
   7  *  the Free Software Foundation; either version 2 of the License, or
   8  *  (at your option) any later version.
   9  *
  10  *  This program is distributed in the hope that it will be useful,
  11  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  12  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  13  *  GNU General Public License for more details.
  14  *
  15  *  You should have received a copy of the GNU General Public License
  16  *  along with this program; if not, write to the Free Software
  17  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  18  *
  19  *  Revision : $Id: cmdline.c,v 1.7 2009-11-08 17:24:33 zer0 Exp $
  20  *
  21  */
  22
  23 #include <stdio.h>
  24 #include <string.h>
  25
  26 #include <aversive.h>
  27 #include <aversive/error.h>
  28 #include <aversive/queue.h>
  29
  30 #include <parse.h>
  31 #include <rdline.h>
  32 #include <uart.h>
  33 #include <clock_time.h>
  34
  35 #include "callout.h"
  36 #include "main.h"
  37 #include "cmdline.h"
  38
  39 #include "DualVirtualSerial.h"
  40
  41
  42
  43 /******** See in commands.c for the list of commands. */
  44 extern parse_pgm_ctx_t main_ctx[];
  45
  46 int usbserial1_dev_send(char c, FILE* f)
  47 {
  48         CDC_Device_SendByte(&VirtualSerial1_CDC_Interface, (uint8_t)c);
  49         return 0;
  50 }
  51
  52 int usbserial1_dev_recv(FILE* f)
  53 {
  54         int16_t c;
  55         /* non-blocking ! */
  56         c = CDC_Device_ReceiveByte(&VirtualSerial1_CDC_Interface);
  57         if (c < 0)
  58                 return _FDEV_EOF;
  59
  60         return c;
  61 }
  62
  63
  64 int usbserial2_dev_send(char c, FILE* f)
  65 {
  66         CDC_Device_SendByte(&VirtualSerial2_CDC_Interface, (uint8_t)c);
  67         return 0;
  68 }
  69
  70 int usbserial2_dev_recv(FILE* f)
  71 {
  72         int16_t c;
  73
  74         /* non-blocking ! */
  75         c = CDC_Device_ReceiveByte(&VirtualSerial2_CDC_Interface);
  76         if (c < 0)
  77                 return _FDEV_EOF;
  78
  79         return c;
  80 }
  81
  82
  83 static void
  84 valid_buffer(const char *buf, uint8_t size)
  85 {
  86         int8_t ret;
  87
  88         ret = parse(main_ctx, buf);
  89         if (ret == PARSE_AMBIGUOUS)
  90                 printf_P(PSTR("Ambiguous command\r\n"));
  91         else if (ret == PARSE_NOMATCH)
  92                 printf_P(PSTR("Command not found\r\n"));
  93         else if (ret == PARSE_BAD_ARGS)
  94                 printf_P(PSTR("Bad arguments\r\n"));
  95 }
  96
  97 static int8_t
  98 complete_buffer(const char *buf, char *dstbuf, uint8_t dstsize,
  99                 int16_t *state)
 100 {
 101         return complete(main_ctx, buf, state, dstbuf, dstsize);
 102 }
 103
 104
 105 static void write_char(char c)
 106 {
 107         usbserial1_dev_send(c, NULL);
 108 }
 109
 110
 111 void cmdline_init(void)
 112 {
 113         rdline_init(&xbeeboard.rdl, write_char, valid_buffer, complete_buffer);
 114         snprintf_P(xbeeboard.prompt, sizeof(xbeeboard.prompt), PSTR("mainboard > "));
 115 }
 116
 117
 118 /* sending "pop" on cmdline uart resets the robot */
 119 void emergency(char c)
 120 {
 121         static uint8_t i = 0;
 122
 123         if ((i == 0 && c == 'p') ||
 124             (i == 1 && c == 'o') ||
 125             (i == 2 && c == 'p'))
 126                 i++;
 127         else if ( !(i == 1 && c == 'p') )
 128                 i = 0;
 129         if (i == 3)
 130                 bootloader();
 131 }
 132
 133 /* log function, add a command to configure
 134  * it dynamically */
 135 void mylog(struct error * e, ...)
 136 {
 137         va_list ap;
 138 #ifndef HOST_VERSION
 139         u16 stream_flags = stdout->flags;
 140 #endif
 141         uint8_t i;
 142         time_h tv;
 143
 144         if (e->severity > ERROR_SEVERITY_ERROR) {
 145                 if (xbeeboard.log_level < e->severity)
 146                         return;
 147
 148                 for (i=0; i<NB_LOGS+1; i++)
 149                         if (xbeeboard.logs[i] == e->err_num)
 150                                 break;
 151                 if (i == NB_LOGS+1)
 152                         return;
 153         }
 154
 155         va_start(ap, e);
 156         tv = time_get_time();
 157         printf_P(PSTR("%d.%.3d: "), (int)tv.s, (int)(tv.us/1000UL));
 158
 159         vfprintf_P(stdout, e->text, ap);
 160         printf_P(PSTR("\r\n"));
 161         va_end(ap);
 162 #ifndef HOST_VERSION
 163         stdout->flags = stream_flags;
 164 #endif
 165 }
 166
 167 int cmdline_poll(void)
 168 {
 169         const char *history, *buffer;
 170         int8_t ret, same = 0;
 171         int16_t c;
 172
 173         c = CDC_Device_ReceiveByte(&VirtualSerial1_CDC_Interface);
 174         if (c < 0)
 175                 return -1;
 176
 177         ret = rdline_char_in(&xbeeboard.rdl, c);
 178         if (ret == 1) {
 179                 buffer = rdline_get_buffer(&xbeeboard.rdl);
 180                 history = rdline_get_history_item(&xbeeboard.rdl, 0);
 181                 if (history) {
 182                         same = !memcmp(buffer, history, strlen(history)) &&
 183                                 buffer[strlen(history)] == '\n';
 184                 }
 185                 else
 186                         same = 0;
 187                 if (strlen(buffer) > 1 && !same)
 188                         rdline_add_history(&xbeeboard.rdl, buffer);
 189
 190                 if (xbeeboard.rdl.status != RDLINE_STOPPED)
 191                         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 192         }
 193
 194         return 0;
 195 }
 196