--- /dev/null
+/*
+ * Copyright Droids Corporation
+ * Olivier Matz <zer0@droids-corp.org>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: cmdline.c,v 1.7 2009-11-08 17:24:33 zer0 Exp $
+ *
+ */
+
+#include <stdio.h>
+#include <string.h>
+
+#include <aversive.h>
+#include <aversive/error.h>
+#include <aversive/queue.h>
+
+#include <parse.h>
+#include <rdline.h>
+#include <uart.h>
+
+#include "callout.h"
+#include "main.h"
+#include "cmdline.h"
+
+#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;
+ uart_send(CMDLINE_UART, c);
+ return 0;
+}
+
+int cmdline_dev_recv(FILE* f)
+{
+ int16_t c;
+
+ (void)f;
+ c = uart_recv_nowait(CMDLINE_UART);
+ if (c < 0)
+ return _FDEV_EOF;
+
+ return c;
+}
+
+
+int xbee_dev_send(char c, FILE* f)
+{
+ (void)f;
+ uart_send(XBEE_UART, c);
+ return 0;
+}
+
+int xbee_dev_recv(FILE* f)
+{
+ int16_t c;
+
+ (void)f;
+ c = uart_recv_nowait(XBEE_UART);
+ if (c < 0)
+ return _FDEV_EOF;
+
+ return c;
+}
+
+void cmdline_valid_buffer(const char *buf, uint8_t size)
+{
+ int8_t ret;
+ PGM_P ctx = (PGM_P)main_ctx;
+
+ (void)size;
+ ret = parse(ctx, buf);
+ if (ret == PARSE_AMBIGUOUS)
+ printf_P(PSTR("Ambiguous command\r\n"));
+ else if (ret == PARSE_NOMATCH)
+ printf_P(PSTR("Command not found\r\n"));
+ else if (ret == PARSE_BAD_ARGS)
+ printf_P(PSTR("Bad arguments\r\n"));
+}
+
+static int8_t
+complete_buffer(const char *buf, char *dstbuf, uint8_t dstsize,
+ int16_t *state)
+{
+ PGM_P ctx = (PGM_P)main_ctx;
+ return complete(ctx, buf, state, dstbuf, dstsize);
+}
+
+
+void cmdline_write_char(char c)
+{
+ cmdline_dev_send(c, NULL);
+}
+
+
+/* sending "pop" on cmdline uart resets the robot */
+void emergency(char c)
+{
+ static uint8_t i = 0;
+
+ if ((i == 0 && c == 'p') ||
+ (i == 1 && c == 'o') ||
+ (i == 2 && c == 'p'))
+ i++;
+ else if ( !(i == 1 && c == 'p') )
+ i = 0;
+ if (i == 3) {
+ //bootloader();
+ reset();
+ }
+}
+
+/* log function, configured dynamically */
+void mylog(struct error * e, ...)
+{
+#ifndef HOST_VERSION
+ u16 stream_flags = stdout->flags;
+#endif
+ 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 (imuboard.log_level < e->severity)
+ return;
+
+ for (i=0; i<NB_LOGS+1; i++)
+ if (imuboard.logs[i] == e->err_num)
+ break;
+ if (i == NB_LOGS+1)
+ return;
+ }
+
+ /* get time */
+ IRQ_LOCK(flags);
+ ms = global_ms;
+ IRQ_UNLOCK(flags);
+
+ /* prevent flush log to occur */
+ prio = callout_mgr_set_prio(&imuboard.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(&imuboard.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(&imuboard.intr_cm, &flush_log_timer,
+ FLUSH_LOGS_MS);
+}
+
+
+int cmdline_poll(void)
+{
+ const char *history, *buffer;
+ int8_t ret, same = 0;
+ int16_t c;
+
+ c = cmdline_dev_recv(NULL);
+ if (c < 0)
+ return -1;
+
+ ret = rdline_char_in(&imuboard.rdl, c);
+ if (ret == 1) {
+ buffer = rdline_get_buffer(&imuboard.rdl);
+ history = rdline_get_history_item(&imuboard.rdl, 0);
+ if (history) {
+ same = !memcmp(buffer, history, strlen(history)) &&
+ buffer[strlen(history)] == '\n';
+ }
+ else
+ same = 0;
+ if (strlen(buffer) > 1 && !same)
+ rdline_add_history(&imuboard.rdl, buffer);
+
+ if (imuboard.rdl.status != RDLINE_STOPPED)
+ rdline_newline(&imuboard.rdl, imuboard.prompt);
+ }
+
+ return 0;
+}
+
+void cmdline_init(void)
+{
+ /* init command line */
+ rdline_init(&imuboard.rdl, cmdline_write_char, cmdline_valid_buffer,
+ complete_buffer);
+ snprintf_P(imuboard.prompt, sizeof(imuboard.prompt),
+ PSTR("imu > "));
+
+ /* load a timer for flushing logs */
+ callout_init(&flush_log_timer, flush_logs_cb, NULL, LOW_PRIO);
+ callout_schedule(&imuboard.intr_cm, &flush_log_timer, FLUSH_LOGS_MS);
+}
git.droids-corp.org / protos / imu.git / blobdiff