Revision 1185
Server communication: basic message processing
| comm_server.c | ||
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#include <avr/pgmspace.h> |
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#include "global.h" |
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#include "tests.h" |
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// ############## |
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// ## Settings ## |
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// } |
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//} |
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/** Check if the buffer starts with the given text, followed by a space */ |
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// This function is copied from XNS |
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static bool serial_match (PGM_P text, uint8_t *buffer, uint8_t size) |
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if (size<text_len) return false; |
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// If the buffer is longer than the text, it must have a space at position after the text |
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if (size>text_len && text[text_len]!=' ') return false;
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if (size>text_len && buffer[text_len]!=' ') return false;
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// Test for match |
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if (strncmp_P ((char *)buffer, text, text_len)==0) return true; |
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// ######################## |
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// ## Messages (sending) ## |
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// ######################## |
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} |
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// ###################### |
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// ## Message handlers ## |
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// ###################### |
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static void handle_message_ping (uint8_t *buffer, uint8_t size) |
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{
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usb_puts ("pong" NL);
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orbs_set (255, 127, 0, 0, 255, 0); |
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delay_ms (400); |
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orbs_set (0, 255, 0, 255, 127, 0); |
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} |
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static void handle_message_start_test (uint8_t *buffer, uint8_t size) |
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{
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// FIXME parameter handling |
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// Parameters: all/rangefinder/motor/encoder all/<num> |
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test_all (); |
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} |
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// ########################## |
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// ## Messages (receiving) ## |
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// ########################## |
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// Put all symbolic string constants into the program memory because else all of them would be copied into the RAM (see |
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// the avr-libc documentation, chapter "Data in Program Space"). |
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const char command_ping [] PROGMEM = "ping"; |
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const char command_ping [] PROGMEM = "ping" ; |
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const char command_start_test [] PROGMEM = "start_test"; |
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static void handle_message (uint8_t *message, uint8_t size) |
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{
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#ifdef comm_server_debug |
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// Output: "# Received a message, size <size>: [<message>]" |
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usb_puts ("# Received a message, size ");
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usb_puti(size); |
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usb_puts (": [");
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usb_puts ("]" NL);
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#endif |
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if (serial_match (command_ping, message, size)) usb_puts ("pong" NL);
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bool handled=false; |
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if (serial_match (command_ping , message, size)) { handle_message_ping (message, size); handled=true; }
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if (serial_match (command_start_test, message, size)) { handle_message_start_test (message, size); handled=true; }
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// More messages go here |
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if (!handled) |
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{
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usb_puts ("# Warning: unhandled message: [");
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usb_puts ((char *)message); |
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usb_puts ("]" NL);
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} |
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} |
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// ############### |
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// ## Debugging ## |
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// ############### |
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void byte_transmission_test (void) |
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{
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uint8_t c; |
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} |
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// ############### |
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// ## Main loop ## |
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// ############### |
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void server_main (void) |
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{
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uint8_t buffer[buffer_size]; |
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//byte_transmission_test (); // Does not return |
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usb_puts (NL); |
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usb_puts ("# Diagnostic station server mode" NL);
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while (1) |
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{
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} |
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} |
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