root / trunk / code / projects / diagnostic_station / station / comm_server.c @ 1185
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#include "comm_server.h" |
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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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#define comm_server_debug
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// ###############
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// ## Constants ##
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// ###############
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#define buffer_size 120 |
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// ####################
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// ## Initialization ##
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// ####################
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void comm_server_init ()
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{ |
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usb_init (); |
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} |
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// ########################
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// ## Message processing ##
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// ########################
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// This function is copied from XNS
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//static void serial_send_string_P (const char *s)/*{{{*/
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//{
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// char buf;
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// while (memcpy_P (&buf, s, sizeof (char)), buf!=0)
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// {
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// serial_transmit (buf);
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// s++;
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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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{ |
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uint8_t text_len=strlen_P (text); |
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// If the buffer is shorter than the text, there is no match
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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 && 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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return false; |
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} |
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// ########################
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// ## Messages (sending) ##
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// ########################
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void server_send_finished ()
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{ |
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usb_puts ("finished");
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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_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 ((char *)message);
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usb_puts ("]" NL);
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#endif
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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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while (1) |
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{ |
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c=usb_getc (); |
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usb_puts ("[");
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usb_puti (c); |
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usb_puts ("] ");
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} |
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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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uint8_t c; |
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uint8_t buffer_fill=0;
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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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// Do nothing until we receive a byte (this function will return 0 when a character has been read)
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// (Yes, we could use the blocking function for now, but we may need the non-blocking later)
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while (usb_getc_nb ((char *)&c)); |
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if (c=='\r' || c=='\n') |
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{ |
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// A newline character was received. This terminates the message.
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// Empty lines are ignored.
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if (buffer_fill>0) |
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{ |
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// Add a terminating 0 to the buffer so the string functions won't try to read outside the buffer.
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buffer[buffer_fill]=0;
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// Handle the message.
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handle_message (buffer, buffer_fill); |
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// Reset the buffer
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buffer_fill=0;
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} |
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} |
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else
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{ |
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// If there is enough space left in the buffer, add the character we just received. Leave one byte for a
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// terminating 0. If there is not enough space in the buffer, the rest of the message is ignored.
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if (buffer_fill<buffer_size-1) |
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{ |
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buffer[buffer_fill]=c; |
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++buffer_fill; |
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} |
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} |
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} |
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} |