#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;
}
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;
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;
}
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;
}
-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)
{
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;
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;
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);
+}