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
  40 #ifdef USE_USB
  41 #include "DualVirtualSerial.h"
  42 #endif
  43
  44
  45 extern parse_pgm_ctx_t main_ctx[];
  46
  47 int cmdline_dev_send(char c, FILE* f)
  48 {
  49 #ifdef USE_USB
  50         CDC_Device_SendByte(&VirtualSerial1_CDC_Interface, (uint8_t)c);
  51 #else
  52         uart_send(CMDLINE_UART, c);
  53 #endif
  54         return 0;
  55 }
  56
  57 int cmdline_dev_recv(FILE* f)
  58 {
  59         int16_t c;
  60 #ifdef USE_USB
  61         /* non-blocking ! */
  62         c = CDC_Device_ReceiveByte(&VirtualSerial1_CDC_Interface);
  63 #else
  64         c = uart_recv_nowait(CMDLINE_UART);
  65 #endif
  66         if (c < 0)
  67                 return _FDEV_EOF;
  68
  69         return c;
  70 }
  71
  72
  73 int xbee_dev_send(char c, FILE* f)
  74 {
  75 #ifdef USE_USB
  76         CDC_Device_SendByte(&VirtualSerial2_CDC_Interface, (uint8_t)c);
  77 #else
  78         uart_send(XBEE_UART, c);
  79 #endif
  80         return 0;
  81 }
  82
  83 int xbee_dev_recv(FILE* f)
  84 {
  85         int16_t c;
  86
  87 #ifdef USE_USB
  88         /* non-blocking ! */
  89         c = CDC_Device_ReceiveByte(&VirtualSerial2_CDC_Interface);
  90 #else
  91         c = uart_recv_nowait(XBEE_UART);
  92 #endif
  93         if (c < 0)
  94                 return _FDEV_EOF;
  95
  96         return c;
  97 }
  98
  99 static void
 100 valid_buffer(const char *buf, uint8_t size)
 101 {
 102         int8_t ret;
 103
 104         ret = parse(main_ctx, buf);
 105         if (ret == PARSE_AMBIGUOUS)
 106                 printf_P(PSTR("Ambiguous command\r\n"));
 107         else if (ret == PARSE_NOMATCH)
 108                 printf_P(PSTR("Command not found\r\n"));
 109         else if (ret == PARSE_BAD_ARGS)
 110                 printf_P(PSTR("Bad arguments\r\n"));
 111 }
 112
 113 static int8_t
 114 complete_buffer(const char *buf, char *dstbuf, uint8_t dstsize,
 115                 int16_t *state)
 116 {
 117         return complete(main_ctx, buf, state, dstbuf, dstsize);
 118 }
 119
 120
 121 static void write_char(char c)
 122 {
 123         cmdline_dev_send(c, NULL);
 124 }
 125
 126
 127 void cmdline_init(void)
 128 {
 129         rdline_init(&xbeeboard.rdl, write_char, valid_buffer, complete_buffer);
 130         snprintf_P(xbeeboard.prompt, sizeof(xbeeboard.prompt), PSTR("mainboard > "));
 131 }
 132
 133
 134 /* sending "pop" on cmdline uart resets the robot */
 135 void emergency(char c)
 136 {
 137         static uint8_t i = 0;
 138
 139         if ((i == 0 && c == 'p') ||
 140             (i == 1 && c == 'o') ||
 141             (i == 2 && c == 'p'))
 142                 i++;
 143         else if ( !(i == 1 && c == 'p') )
 144                 i = 0;
 145         if (i == 3)
 146                 bootloader();
 147 }
 148
 149 /* log function, add a command to configure
 150  * it dynamically */
 151 void mylog(struct error * e, ...)
 152 {
 153         va_list ap;
 154 #ifndef HOST_VERSION
 155         u16 stream_flags = stdout->flags;
 156 #endif
 157         uint8_t i;
 158         time_h tv;
 159
 160         if (e->severity > ERROR_SEVERITY_ERROR) {
 161                 if (xbeeboard.log_level < e->severity)
 162                         return;
 163
 164                 for (i=0; i<NB_LOGS+1; i++)
 165                         if (xbeeboard.logs[i] == e->err_num)
 166                                 break;
 167                 if (i == NB_LOGS+1)
 168                         return;
 169         }
 170
 171         va_start(ap, e);
 172         tv = time_get_time();
 173         printf_P(PSTR("%d.%.3d: "), (int)tv.s, (int)(tv.us/1000UL));
 174
 175         vfprintf_P(stdout, e->text, ap);
 176         printf_P(PSTR("\r\n"));
 177         va_end(ap);
 178 #ifndef HOST_VERSION
 179         stdout->flags = stream_flags;
 180 #endif
 181 }
 182
 183 int cmdline_poll(void)
 184 {
 185         const char *history, *buffer;
 186         int8_t ret, same = 0;
 187         int16_t c;
 188
 189         c = cmdline_dev_recv(NULL);
 190         if (c < 0)
 191                 return -1;
 192
 193         ret = rdline_char_in(&xbeeboard.rdl, c);
 194         if (ret == 1) {
 195                 buffer = rdline_get_buffer(&xbeeboard.rdl);
 196                 history = rdline_get_history_item(&xbeeboard.rdl, 0);
 197                 if (history) {
 198                         same = !memcmp(buffer, history, strlen(history)) &&
 199                                 buffer[strlen(history)] == '\n';
 200                 }
 201                 else
 202                         same = 0;
 203                 if (strlen(buffer) > 1 && !same)
 204                         rdline_add_history(&xbeeboard.rdl, buffer);
 205
 206                 if (xbeeboard.rdl.status != RDLINE_STOPPED)
 207                         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 208         }
 209
 210         return 0;
 211 }
 212