root / trunk / code / projects / diagnostic_station / station / comm_server.c @ 1390
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1 | 1182 | deffi | #include "comm_server.h" |
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2 | 1169 | deffi | |
3 | 1171 | deffi | #include <avr/pgmspace.h> |
4 | 1198 | deffi | #include <string.h> |
5 | 1171 | deffi | |
6 | 1183 | deffi | #include "global.h" |
7 | 1185 | deffi | #include "tests.h" |
8 | 1183 | deffi | |
9 | 1272 | deffi | #include "comm_interactive.h" |
10 | |||
11 | 1183 | deffi | // ##############
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12 | // ## Settings ##
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13 | // ##############
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14 | |||
15 | 1198 | deffi | //#define comm_server_debug
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16 | 1183 | deffi | |
17 | // ###############
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18 | // ## Constants ##
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19 | // ###############
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20 | |||
21 | 1171 | deffi | #define buffer_size 120 |
22 | |||
23 | 1198 | deffi | // 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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24 | // the avr-libc documentation, chapter "Data in Program Space").
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25 | 1171 | deffi | |
26 | 1198 | deffi | // Commands
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27 | const char command_ping [] PROGMEM = "ping" ; |
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28 | const char command_start_test [] PROGMEM = "start_test" ; |
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29 | const char command_all [] PROGMEM = "all" ; |
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30 | const char command_comm [] PROGMEM = "comm" ; |
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31 | const char command_bom [] PROGMEM = "bom" ; |
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32 | const char command_rangefinder [] PROGMEM = "rangefinder"; |
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33 | const char command_motor [] PROGMEM = "motor" ; |
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34 | const char command_encoder [] PROGMEM = "encoder" ; |
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35 | 1271 | deffi | const char command_emitter [] PROGMEM = "emitter" ; |
36 | const char command_detector [] PROGMEM = "detector" ; |
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37 | 1198 | deffi | const char command_help [] PROGMEM = "help" ; |
38 | 1272 | deffi | const char command_interactive [] PROGMEM = "interactive"; |
39 | const char command_i [] PROGMEM = "i" ; |
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40 | 1198 | deffi | |
41 | // Help
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42 | const char help_text [] PROGMEM = |
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43 | "# Available commands:" NL
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44 | "# - help" NL
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45 | "# - ping" NL
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46 | "# - start_test all" NL
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47 | "# - start_test comm" NL
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48 | "# - start_test bom all|<num> (0..15)" NL
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49 | 1296 | deffi | "# - start_test rangefinder all|<num> (0..4)" NL
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50 | "# - start_test motor all|<num> (0..1)" NL
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51 | "# - start_test encoder all|<num> (0..1)" NL
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52 | 1198 | deffi | ; |
53 | |||
54 | |||
55 | 1183 | deffi | // ####################
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56 | // ## Initialization ##
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57 | // ####################
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58 | |||
59 | 1182 | deffi | void comm_server_init ()
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60 | 1169 | deffi | { |
61 | usb_init (); |
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62 | } |
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63 | |||
64 | |||
65 | 1183 | deffi | // ########################
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66 | // ## Message processing ##
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67 | // ########################
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68 | 1171 | deffi | |
69 | 1198 | deffi | static char *find_next_parameter (char *p) |
70 | { |
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71 | // Advance p until a blank or the terminating zero is found.
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72 | while ((*p)!=' ' && (*p)!=0) p++; |
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73 | |||
74 | // Advance p until a non-blank (including the terminating zero) is found.
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75 | while (*p==' ') p++; |
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76 | |||
77 | // We have found the next parameter unless p points to the terminating zero.
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78 | if (*p==0) |
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79 | return NULL; |
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80 | else
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81 | return p;
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82 | } |
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83 | |||
84 | 1182 | deffi | /** Check if the buffer starts with the given text, followed by a space */
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85 | 1198 | deffi | static bool serial_match (PGM_P text, const char *buffer) |
86 | 1182 | deffi | { |
87 | 1183 | deffi | uint8_t text_len=strlen_P (text); |
88 | 1198 | deffi | uint8_t buffer_len=strlen (buffer); |
89 | 1182 | deffi | |
90 | // If the buffer is shorter than the text, there is no match
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91 | 1198 | deffi | if (buffer_len<text_len) return false; |
92 | 1182 | deffi | |
93 | // If the buffer is longer than the text, it must have a space at position after the text
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94 | 1198 | deffi | if (buffer_len>text_len && buffer[text_len]!=' ') return false; |
95 | 1182 | deffi | |
96 | 1183 | deffi | // Test for match
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97 | if (strncmp_P ((char *)buffer, text, text_len)==0) return true; |
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98 | |||
99 | return false; |
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100 | } |
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101 | 1182 | deffi | |
102 | 1202 | deffi | static bool serial_number_u8 (uint8_t *num, const char *buffer) |
103 | { |
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104 | uint8_t result=0;
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105 | |||
106 | // Iterate over the buffer
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107 | while (1) |
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108 | { |
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109 | // Look at the character
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110 | char c=*buffer;
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111 | 1182 | deffi | |
112 | 1202 | deffi | if (c>='0' && c<='9') |
113 | { |
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114 | // It's a digit. Process it.
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115 | result*=10;
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116 | result+=(c-'0');
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117 | } |
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118 | else if (c==' ' || c==0) |
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119 | { |
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120 | // It's a space or a terminating zero, which means that the paramter is a valid number.
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121 | *num=result; |
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122 | return true; |
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123 | } |
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124 | else
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125 | { |
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126 | // It's a different character, which means that the parameter is not a number.
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127 | return false; |
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128 | } |
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129 | |||
130 | // Move to the next byte
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131 | buffer++; |
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132 | } |
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133 | } |
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134 | 1182 | deffi | |
135 | 1183 | deffi | |
136 | 1185 | deffi | |
137 | |||
138 | 1202 | deffi | |
139 | |||
140 | 1183 | deffi | // ########################
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141 | // ## Messages (sending) ##
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142 | // ########################
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143 | |||
144 | void server_send_finished ()
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145 | { |
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146 | usb_puts ("finished");
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147 | 1182 | deffi | } |
148 | |||
149 | 1202 | deffi | // ##########################
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150 | // ## Messages (Receiving) ##
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151 | // ##########################
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152 | 1182 | deffi | |
153 | 1202 | deffi | static void unhandled_parameters (char *buffer) |
154 | { |
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155 | usb_puts ("# Warning: unhandled parameters: [");
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156 | usb_puts (buffer); |
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157 | usb_puts ("]" NL);
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158 | } |
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159 | |||
160 | static void parameter_missing (void) |
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161 | { |
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162 | usb_puts ("# Parameter missing" NL);
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163 | } |
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164 | |||
165 | |||
166 | 1185 | deffi | // ######################
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167 | // ## Message handlers ##
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168 | // ######################
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169 | |||
170 | 1202 | deffi | |
171 | 1198 | deffi | static void handle_message_ping (char *buffer) |
172 | 1185 | deffi | { |
173 | usb_puts ("pong" NL);
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174 | orbs_set (255, 127, 0, 0, 255, 0); |
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175 | delay_ms (400);
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176 | orbs_set (0, 255, 0, 255, 127, 0); |
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177 | } |
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178 | |||
179 | 1202 | deffi | static void handle_message_start_test_all (char *buffer) |
180 | 1185 | deffi | { |
181 | 1202 | deffi | test_all (); |
182 | } |
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183 | |||
184 | static void handle_message_start_test_comm (char *buffer) |
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185 | { |
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186 | test_comm (); |
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187 | } |
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188 | |||
189 | 1271 | deffi | /** If the next parameter is "all", call the test all function. If it's a number, call the test one function. **/
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190 | 1202 | deffi | static void handle_message_start_test_component (char *buffer, void (*test_all_fn)(void), void (*test_one_fn)(uint8_t)) |
191 | { |
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192 | // Find the next parameter
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193 | 1198 | deffi | buffer=find_next_parameter (buffer); |
194 | |||
195 | 1202 | deffi | // Initialize a buffer for the component number
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196 | uint8_t num=0;
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197 | |||
198 | 1198 | deffi | if (!buffer)
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199 | 1202 | deffi | // No paramter found (we could also interpret that as implicit "all")
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200 | parameter_missing (); |
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201 | 1198 | deffi | else if (serial_match (command_all, buffer)) |
202 | 1202 | deffi | // The paramter is "all". Call the all-tests function
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203 | test_all_fn (); |
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204 | else if (serial_number_u8 (&num, buffer)) |
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205 | // The paramter is a number. Call the one-test function
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206 | test_one_fn (num); |
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207 | 1198 | deffi | else
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208 | 1202 | deffi | // Unknwon parameter
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209 | unhandled_parameters (buffer); |
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210 | 1185 | deffi | } |
211 | |||
212 | 1271 | deffi | static void test_bom_both (uint8_t num) { test_bom (num, true , true ); } |
213 | static void test_bom_emitter (uint8_t num) { test_bom (num, true , false); } |
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214 | static void test_bom_detector (uint8_t num) { test_bom (num, false, true ); } |
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215 | 1202 | deffi | |
216 | 1271 | deffi | static void test_bom_all_both (void) { test_bom_all (true , true ); } |
217 | static void test_bom_all_emitter (void) { test_bom_all (true , false); } |
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218 | static void test_bom_all_detector (void) { test_bom_all (false, true ); } |
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219 | 1202 | deffi | |
220 | static void handle_message_start_test_bom (char *buffer) |
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221 | { |
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222 | 1271 | deffi | // "start_test bom..."
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223 | char *param=find_next_parameter (buffer);
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224 | |||
225 | // In addition to "all" and a number, both handled by handle_message_start_test_component, we can also have
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226 | // "emitter" and "detector" here. Not that we pass param rather than buffer in these cases.
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227 | if (!param)
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228 | // "start_test bom"
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229 | // No paramter found (we could also pass that on to start_test_component)
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230 | parameter_missing (); |
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231 | else if (serial_match (command_emitter, param)) |
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232 | // "start_test bom emitter..."
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233 | handle_message_start_test_component (param, test_bom_all_emitter, test_bom_emitter); |
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234 | else if (serial_match (command_detector, param)) |
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235 | // "start_test bom detector..."
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236 | handle_message_start_test_component (param, test_bom_all_detector, test_bom_detector); |
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237 | else
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238 | // No emitter/detector given
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239 | handle_message_start_test_component (buffer, test_bom_all_both, test_bom_both); |
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240 | 1202 | deffi | } |
241 | |||
242 | static void handle_message_start_test_rangefinder (char *buffer) |
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243 | { |
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244 | handle_message_start_test_component (buffer, test_rangefinder_all, test_rangefinder); |
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245 | } |
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246 | |||
247 | static void handle_message_start_test_motor (char *buffer) |
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248 | { |
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249 | handle_message_start_test_component (buffer, test_motor_all, test_motor); |
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250 | } |
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251 | |||
252 | static void handle_message_start_test_encoder (char *buffer) |
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253 | { |
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254 | handle_message_start_test_component (buffer, test_encoder_all, test_encoder); |
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255 | } |
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256 | |||
257 | static void handle_message_start_test (char *buffer) |
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258 | { |
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259 | // TODO add required comm test
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260 | buffer=find_next_parameter (buffer); |
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261 | if (!buffer) parameter_missing ();
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262 | else if (serial_match (command_all , buffer)) handle_message_start_test_all (buffer); |
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263 | else if (serial_match (command_comm , buffer)) handle_message_start_test_comm (buffer); |
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264 | else if (serial_match (command_bom , buffer)) handle_message_start_test_bom (buffer); |
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265 | else if (serial_match (command_rangefinder, buffer)) handle_message_start_test_rangefinder (buffer); |
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266 | else if (serial_match (command_motor , buffer)) handle_message_start_test_motor (buffer); |
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267 | else if (serial_match (command_encoder , buffer)) handle_message_start_test_encoder (buffer); |
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268 | else unhandled_parameters (buffer);
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269 | } |
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270 | |||
271 | 1198 | deffi | static void handle_message_help (char *buffer) |
272 | { |
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273 | 1208 | deffi | usb_puts_P (help_text); |
274 | 1198 | deffi | } |
275 | 1185 | deffi | |
276 | 1198 | deffi | |
277 | 1183 | deffi | // ##########################
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278 | // ## Messages (receiving) ##
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279 | // ##########################
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280 | |||
281 | 1198 | deffi | /** message is 0 terminated */
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282 | static void handle_message (char *message) |
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283 | 1171 | deffi | { |
284 | 1183 | deffi | #ifdef comm_server_debug
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285 | 1185 | deffi | // Output: "# Received a message, size <size>: [<message>]"
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286 | 1183 | deffi | usb_puts ("# Received a message, size ");
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287 | 1171 | deffi | usb_puti(size); |
288 | 1183 | deffi | usb_puts (": [");
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289 | usb_puts ((char *)message);
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290 | usb_puts ("]" NL);
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291 | #endif
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292 | 1171 | deffi | |
293 | 1185 | deffi | bool handled=false; |
294 | 1272 | deffi | if (serial_match (command_ping , message)) { handle_message_ping (message); handled=true; } |
295 | if (serial_match (command_start_test , message)) { handle_message_start_test (message); handled=true; } |
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296 | if (serial_match (command_help , message)) { handle_message_help (message); handled=true; } |
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297 | if (serial_match (command_interactive, message)) { interactive_main () ; handled=true; } |
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298 | if (serial_match (command_i , message)) { interactive_main () ; handled=true; } |
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299 | 1185 | deffi | // More messages go here
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300 | |||
301 | if (!handled)
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302 | { |
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303 | usb_puts ("# Warning: unhandled message: [");
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304 | usb_puts ((char *)message);
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305 | usb_puts ("]" NL);
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306 | } |
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307 | 1171 | deffi | } |
308 | |||
309 | |||
310 | 1185 | deffi | // ###############
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311 | // ## Debugging ##
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312 | // ###############
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313 | 1171 | deffi | |
314 | 1182 | deffi | void byte_transmission_test (void) |
315 | { |
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316 | uint8_t c; |
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317 | |||
318 | while (1) |
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319 | { |
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320 | c=usb_getc (); |
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321 | usb_puts ("[");
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322 | usb_puti (c); |
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323 | usb_puts ("] ");
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324 | } |
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325 | } |
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326 | 1171 | deffi | |
327 | |||
328 | 1185 | deffi | // ###############
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329 | // ## Main loop ##
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330 | // ###############
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331 | |||
332 | 1212 | deffi | static void ready (void) |
333 | 1204 | deffi | { |
334 | 1242 | deffi | usb_puts ("ready" NL);
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335 | 1204 | deffi | } |
336 | |||
337 | 1171 | deffi | void server_main (void) |
338 | { |
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339 | 1198 | deffi | char buffer[buffer_size];
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340 | 1171 | deffi | uint8_t c; |
341 | uint8_t buffer_fill=0;
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342 | 1182 | deffi | |
343 | 1272 | deffi | // Set the orbs to green/yellow
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344 | orbs_set (0,255,0, 255,127,0); |
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345 | |||
346 | 1182 | deffi | //byte_transmission_test (); // Does not return
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347 | |||
348 | 1185 | deffi | usb_puts (NL); |
349 | usb_puts ("# Diagnostic station server mode" NL);
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350 | 1204 | deffi | |
351 | ready (); |
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352 | 1171 | deffi | |
353 | while (1) |
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354 | { |
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355 | // Do nothing until we receive a byte (this function will return 0 when a character has been read)
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356 | 1182 | deffi | // (Yes, we could use the blocking function for now, but we may need the non-blocking later)
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357 | 1183 | deffi | while (usb_getc_nb ((char *)&c)); |
358 | 1171 | deffi | |
359 | if (c=='\r' || c=='\n') |
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360 | { |
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361 | 1182 | deffi | // A newline character was received. This terminates the message.
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362 | 1171 | deffi | |
363 | 1182 | deffi | // Empty lines are ignored.
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364 | if (buffer_fill>0) |
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365 | { |
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366 | // Add a terminating 0 to the buffer so the string functions won't try to read outside the buffer.
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367 | buffer[buffer_fill]=0;
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368 | |||
369 | // Handle the message.
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370 | 1198 | deffi | handle_message (buffer); |
371 | 1204 | deffi | |
372 | 1182 | deffi | // Reset the buffer
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373 | buffer_fill=0;
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374 | } |
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375 | 1204 | deffi | |
376 | // TODO do better, make a function get_message?
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377 | ready (); |
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378 | 1171 | deffi | } |
379 | 1202 | deffi | else if (c==8) |
380 | { |
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381 | // Backspace
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382 | // Of course, the server will never send one, but it's convenient to have for debugging.
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383 | if (buffer_fill>0) --buffer_fill; |
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384 | } |
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385 | 1182 | deffi | else
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386 | { |
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387 | // If there is enough space left in the buffer, add the character we just received. Leave one byte for a
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388 | // terminating 0. If there is not enough space in the buffer, the rest of the message is ignored.
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389 | if (buffer_fill<buffer_size-1) |
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390 | { |
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391 | buffer[buffer_fill]=c; |
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392 | ++buffer_fill; |
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393 | } |
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394 | } |
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395 | |||
396 | 1171 | deffi | } |
397 | } |