2 * Copyright Droids Corporation
3 * Olivier Matz <zer0@droids-corp.org>
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.
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.
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
19 * Revision : $Id: cmdline.c,v 1.7 2009-11-08 17:24:33 zer0 Exp $
27 #include <aversive/error.h>
28 #include <aversive/queue.h>
33 #include <clock_time.h>
39 #include "DualVirtualSerial.h"
43 /******** See in commands.c for the list of commands. */
44 extern parse_pgm_ctx_t main_ctx[];
46 int usbserial1_dev_send(char c, FILE* f)
48 CDC_Device_SendByte(&VirtualSerial1_CDC_Interface, (uint8_t)c);
52 int usbserial1_dev_recv(FILE* f)
56 c = CDC_Device_ReceiveByte(&VirtualSerial1_CDC_Interface);
64 int usbserial2_dev_send(char c, FILE* f)
66 CDC_Device_SendByte(&VirtualSerial2_CDC_Interface, (uint8_t)c);
70 int usbserial2_dev_recv(FILE* f)
75 c = CDC_Device_ReceiveByte(&VirtualSerial2_CDC_Interface);
84 valid_buffer(const char *buf, uint8_t size)
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"));
98 complete_buffer(const char *buf, char *dstbuf, uint8_t dstsize,
101 return complete(main_ctx, buf, state, dstbuf, dstsize);
105 static void write_char(char c)
107 usbserial1_dev_send(c, NULL);
111 void cmdline_init(void)
113 rdline_init(&xbeeboard.rdl, write_char, valid_buffer, complete_buffer);
114 snprintf(xbeeboard.prompt, sizeof(xbeeboard.prompt), "mainboard > ");
118 /* sending "pop" on cmdline uart resets the robot */
119 void emergency(char c)
121 static uint8_t i = 0;
123 if ((i == 0 && c == 'p') ||
124 (i == 1 && c == 'o') ||
125 (i == 2 && c == 'p'))
127 else if ( !(i == 1 && c == 'p') )
133 /* log function, add a command to configure
135 void mylog(struct error * e, ...)
139 u16 stream_flags = stdout->flags;
144 if (e->severity > ERROR_SEVERITY_ERROR) {
145 if (xbeeboard.log_level < e->severity)
148 for (i=0; i<NB_LOGS+1; i++)
149 if (xbeeboard.logs[i] == e->err_num)
156 tv = time_get_time();
157 printf_P(PSTR("%d.%.3d: "), (int)tv.s, (int)(tv.us/1000UL));
159 vfprintf_P(stdout, e->text, ap);
160 printf_P(PSTR("\r\n"));
163 stdout->flags = stream_flags;
167 int cmdline_poll(void)
169 const char *history, *buffer;
170 int8_t ret, same = 0;
173 c = CDC_Device_ReceiveByte(&VirtualSerial1_CDC_Interface);
177 ret = rdline_char_in(&xbeeboard.rdl, c);
179 buffer = rdline_get_buffer(&xbeeboard.rdl);
180 history = rdline_get_history_item(&xbeeboard.rdl, 0);
182 same = !memcmp(buffer, history, strlen(history)) &&
183 buffer[strlen(history)] == '\n';
187 if (strlen(buffer) > 1 && !same)
188 rdline_add_history(&xbeeboard.rdl, buffer);
190 if (xbeeboard.rdl.status != RDLINE_STOPPED)
191 rdline_newline(&xbeeboard.rdl, xbeeboard.prompt);