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 const parse_ctx_t PROGMEM main_ctx[];
  46
  47
  48 int cmdline_dev_send(char c, FILE* f)
  49 {
  50         (void)f;
  51 #ifdef USE_USB
  52         CDC_Device_SendByte(&VirtualSerial1_CDC_Interface, (uint8_t)c);
  53 #else
  54         uart_send(CMDLINE_UART, c);
  55 #endif
  56         return 0;
  57 }
  58
  59 int cmdline_dev_recv(FILE* f)
  60 {
  61         int16_t c;
  62
  63         (void)f;
  64 #ifdef USE_USB
  65         /* non-blocking ! */
  66         c = CDC_Device_ReceiveByte(&VirtualSerial1_CDC_Interface);
  67 #else
  68         c = uart_recv_nowait(CMDLINE_UART);
  69 #endif
  70         if (c < 0)
  71                 return _FDEV_EOF;
  72
  73         return c;
  74 }
  75
  76
  77 int xbee_dev_send(char c, FILE* f)
  78 {
  79         (void)f;
  80 #ifdef USE_USB
  81         CDC_Device_SendByte(&VirtualSerial2_CDC_Interface, (uint8_t)c);
  82 #else
  83         uart_send(XBEE_UART, c);
  84 #endif
  85         return 0;
  86 }
  87
  88 int xbee_dev_recv(FILE* f)
  89 {
  90         int16_t c;
  91
  92         (void)f;
  93 #ifdef USE_USB
  94         /* non-blocking ! */
  95         c = CDC_Device_ReceiveByte(&VirtualSerial2_CDC_Interface);
  96 #else
  97         c = uart_recv_nowait(XBEE_UART);
  98 #endif
  99         if (c < 0)
 100                 return _FDEV_EOF;
 101
 102         return c;
 103 }
 104
 105 static void
 106 valid_buffer(const char *buf, uint8_t size)
 107 {
 108         int8_t ret;
 109         PGM_P ctx = (PGM_P)main_ctx;
 110
 111         (void)size;
 112         ret = parse(ctx, buf);
 113         if (ret == PARSE_AMBIGUOUS)
 114                 printf_P(PSTR("Ambiguous command\r\n"));
 115         else if (ret == PARSE_NOMATCH)
 116                 printf_P(PSTR("Command not found\r\n"));
 117         else if (ret == PARSE_BAD_ARGS)
 118                 printf_P(PSTR("Bad arguments\r\n"));
 119 }
 120
 121 static int8_t
 122 complete_buffer(const char *buf, char *dstbuf, uint8_t dstsize,
 123                 int16_t *state)
 124 {
 125         PGM_P ctx = (PGM_P)main_ctx;
 126         return complete(ctx, buf, state, dstbuf, dstsize);
 127 }
 128
 129
 130 static void write_char(char c)
 131 {
 132         cmdline_dev_send(c, NULL);
 133 }
 134
 135
 136 void cmdline_init(void)
 137 {
 138         rdline_init(&xbeeboard.rdl, write_char, valid_buffer, complete_buffer);
 139         snprintf_P(xbeeboard.prompt, sizeof(xbeeboard.prompt), PSTR("mainboard > "));
 140 }
 141
 142
 143 /* sending "pop" on cmdline uart resets the robot */
 144 void emergency(char c)
 145 {
 146         static uint8_t i = 0;
 147
 148         if ((i == 0 && c == 'p') ||
 149             (i == 1 && c == 'o') ||
 150             (i == 2 && c == 'p'))
 151                 i++;
 152         else if ( !(i == 1 && c == 'p') )
 153                 i = 0;
 154         if (i == 3)
 155                 bootloader();
 156 }
 157
 158 /* log function, add a command to configure
 159  * it dynamically */
 160 void mylog(struct error * e, ...)
 161 {
 162         va_list ap;
 163 #ifndef HOST_VERSION
 164         u16 stream_flags = stdout->flags;
 165 #endif
 166         uint8_t i;
 167         time_h tv;
 168
 169         if (e->severity > ERROR_SEVERITY_ERROR) {
 170                 if (xbeeboard.log_level < e->severity)
 171                         return;
 172
 173                 for (i=0; i<NB_LOGS+1; i++)
 174                         if (xbeeboard.logs[i] == e->err_num)
 175                                 break;
 176                 if (i == NB_LOGS+1)
 177                         return;
 178         }
 179
 180         va_start(ap, e);
 181         tv = time_get_time();
 182         printf_P(PSTR("%d.%.3d: "), (int)tv.s, (int)(tv.us/1000UL));
 183
 184         vfprintf_P(stdout, e->text, ap);
 185         printf_P(PSTR("\r\n"));
 186         va_end(ap);
 187 #ifndef HOST_VERSION
 188         stdout->flags = stream_flags;
 189 #endif
 190 }
 191
 192 int cmdline_poll(void)
 193 {
 194         const char *history, *buffer;
 195         int8_t ret, same = 0;
 196         int16_t c;
 197
 198         c = cmdline_dev_recv(NULL);
 199         if (c < 0)
 200                 return -1;
 201
 202         ret = rdline_char_in(&xbeeboard.rdl, c);
 203         if (ret == 1) {
 204                 buffer = rdline_get_buffer(&xbeeboard.rdl);
 205                 history = rdline_get_history_item(&xbeeboard.rdl, 0);
 206                 if (history) {
 207                         same = !memcmp(buffer, history, strlen(history)) &&
 208                                 buffer[strlen(history)] == '\n';
 209                 }
 210                 else
 211                         same = 0;
 212                 if (strlen(buffer) > 1 && !same)
 213                         rdline_add_history(&xbeeboard.rdl, buffer);
 214
 215                 if (xbeeboard.rdl.status != RDLINE_STOPPED)
 216                         rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);
 217         }
 218
 219         return 0;
 220 }
 221