X-Git-Url: http://git.droids-corp.org/?p=protos%2Fxbee-avr.git;a=blobdiff_plain;f=cmdline.c;h=568dcad3ee226ef43957a9d01dc1756dd9764315;hp=d9fd8367c2a015e1c3df2e498d973149f13302dd;hb=HEAD;hpb=57895b3bb2fe0582c589685b7df34f3968b346ec

diff --git a/cmdline.c b/cmdline.c
index d9fd836..568dcad 100644
--- a/cmdline.c
+++ b/cmdline.c
@@ -30,29 +30,23 @@
 #include <parse.h>
 #include <rdline.h>
 #include <uart.h>
-#include <clock_time.h>
 
 #include "callout.h"
 #include "main.h"
 #include "cmdline.h"
 
-
-#ifdef USE_USB
-#include "DualVirtualSerial.h"
-#endif
-
+#define FLUSH_LOGS_MS 1000 /* every second */
+#define LOG_PER_SEC_MAX 10
 
 extern const parse_ctx_t PROGMEM main_ctx[];
 
+static struct callout flush_log_timer;
+static uint8_t log_count;
 
 int cmdline_dev_send(char c, FILE* f)
 {
 	(void)f;
-#ifdef USE_USB
-	CDC_Device_SendByte(&VirtualSerial1_CDC_Interface, (uint8_t)c);
-#else
 	uart_send(CMDLINE_UART, c);
-#endif
 	return 0;
 }
 
@@ -61,12 +55,7 @@ int cmdline_dev_recv(FILE* f)
 	int16_t c;
 
 	(void)f;
-#ifdef USE_USB
-	/* non-blocking ! */
-	c = CDC_Device_ReceiveByte(&VirtualSerial1_CDC_Interface);
-#else
 	c = uart_recv_nowait(CMDLINE_UART);
-#endif
 	if (c < 0)
 		return _FDEV_EOF;
 
@@ -77,11 +66,7 @@ int cmdline_dev_recv(FILE* f)
 int xbee_dev_send(char c, FILE* f)
 {
 	(void)f;
-#ifdef USE_USB
-	CDC_Device_SendByte(&VirtualSerial2_CDC_Interface, (uint8_t)c);
-#else
 	uart_send(XBEE_UART, c);
-#endif
 	return 0;
 }
 
@@ -90,20 +75,14 @@ int xbee_dev_recv(FILE* f)
 	int16_t c;
 
 	(void)f;
-#ifdef USE_USB
-	/* non-blocking ! */
-	c = CDC_Device_ReceiveByte(&VirtualSerial2_CDC_Interface);
-#else
 	c = uart_recv_nowait(XBEE_UART);
-#endif
 	if (c < 0)
 		return _FDEV_EOF;
 
 	return c;
 }
 
-static void
-valid_buffer(const char *buf, uint8_t size)
+void cmdline_valid_buffer(const char *buf, uint8_t size)
 {
 	int8_t ret;
 	PGM_P ctx = (PGM_P)main_ctx;
@@ -127,19 +106,12 @@ complete_buffer(const char *buf, char *dstbuf, uint8_t dstsize,
 }
 
 
-static void write_char(char c)
+void cmdline_write_char(char c)
 {
 	cmdline_dev_send(c, NULL);
 }
 
 
-void cmdline_init(void)
-{
-	rdline_init(&xbeeboard.rdl, write_char, valid_buffer, complete_buffer);
-	snprintf_P(xbeeboard.prompt, sizeof(xbeeboard.prompt), PSTR("mainboard > "));
-}
-
-
 /* sending "pop" on cmdline uart resets the robot */
 void emergency(char c)
 {
@@ -151,21 +123,28 @@ void emergency(char c)
 		i++;
 	else if ( !(i == 1 && c == 'p') )
 		i = 0;
-	if (i == 3)
-		bootloader();
+	if (i == 3) {
+		//bootloader();
+		reset();
+	}
 }
 
-/* log function, add a command to configure
- * it dynamically */
+/* log function, configured dynamically */
 void mylog(struct error * e, ...)
 {
-	va_list ap;
 #ifndef HOST_VERSION
 	u16 stream_flags = stdout->flags;
 #endif
-	uint8_t i;
-	time_h tv;
+	va_list ap;
+	uint8_t i, flags;
+	uint32_t ms;
+	uint8_t prio;
+
+	/* too many logs */
+	if (log_count >= LOG_PER_SEC_MAX)
+		return;
 
+	/* higher log value means lower criticity */
 	if (e->severity > ERROR_SEVERITY_ERROR) {
 		if (xbeeboard.log_level < e->severity)
 			return;
@@ -177,18 +156,42 @@ void mylog(struct error * e, ...)
 			return;
 	}
 
-	va_start(ap, e);
-	tv = time_get_time();
-	printf_P(PSTR("%d.%.3d: "), (int)tv.s, (int)(tv.us/1000UL));
+	/* get time */
+	IRQ_LOCK(flags);
+	ms = global_ms;
+	IRQ_UNLOCK(flags);
+
+	/* prevent flush log to occur */
+	prio = callout_mgr_set_prio(&xbeeboard.intr_cm,
+		LOW_PRIO);
 
+	/* display the log */
+	va_start(ap, e);
+	printf_P(PSTR("%d.%.3d: "), (int)(ms/1000UL), (int)(ms%1000UL));
 	vfprintf_P(stdout, e->text, ap);
 	printf_P(PSTR("\r\n"));
 	va_end(ap);
+
 #ifndef HOST_VERSION
 	stdout->flags = stream_flags;
 #endif
+	callout_mgr_restore_prio(&xbeeboard.intr_cm, prio);
 }
 
+static void flush_logs_cb(struct callout_mgr *cm, struct callout *tim,
+	void *arg)
+{
+	(void)cm;
+	(void)tim;
+	(void)arg;
+
+	if (log_count == LOG_PER_SEC_MAX)
+		printf_P("some logs were dropped\n");
+	callout_reschedule(&xbeeboard.intr_cm, &flush_log_timer,
+		FLUSH_LOGS_MS);
+}
+
+
 int cmdline_poll(void)
 {
 	const char *history, *buffer;
@@ -219,3 +222,15 @@ int cmdline_poll(void)
 	return 0;
 }
 
+void cmdline_init(void)
+{
+	/* init command line */
+	rdline_init(&xbeeboard.rdl, cmdline_write_char, cmdline_valid_buffer,
+		complete_buffer);
+	snprintf_P(xbeeboard.prompt, sizeof(xbeeboard.prompt),
+		PSTR("mainboard > "));
+
+	/* load a timer for flushing logs */
+	callout_init(&flush_log_timer, flush_logs_cb, NULL, LOW_PRIO);
+	callout_schedule(&xbeeboard.intr_cm, &flush_log_timer, FLUSH_LOGS_MS);
+}