Commit | Line | Data |
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df27a6a3 | 1 | /* |
4cff3ded AW |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). |
3 | Smoothie 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 3 of the License, or (at your option) any later version. | |
4 | Smoothie 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. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
4cff3ded AW |
6 | */ |
7 | ||
8 | #include <string> | |
838b33b4 | 9 | #include <stdarg.h> |
4cff3ded | 10 | using std::string; |
4cff3ded AW |
11 | #include "libs/Module.h" |
12 | #include "libs/Kernel.h" | |
13 | #include "libs/nuts_bolts.h" | |
14 | #include "SerialConsole.h" | |
13e4a3f9 | 15 | #include "libs/RingBuffer.h" |
423df6df | 16 | #include "libs/SerialMessage.h" |
838b33b4 | 17 | #include "libs/StreamOutput.h" |
4cff3ded AW |
18 | |
19 | // Serial reading module | |
df27a6a3 | 20 | // Treats every received line as a command and passes it ( via event call ) to the command dispatcher. |
4cff3ded | 21 | // The command dispatcher will then ask other modules if they can do something with it |
838b33b4 | 22 | SerialConsole::SerialConsole( PinName rx_pin, PinName tx_pin, int baud_rate ){ |
da3a10b9 | 23 | this->serial = new mbed::Serial( rx_pin, tx_pin ); |
838b33b4 | 24 | this->serial->baud(baud_rate); |
df27a6a3 | 25 | } |
4cff3ded | 26 | |
4cff3ded AW |
27 | // Called when the module has just been loaded |
28 | void SerialConsole::on_module_loaded() { | |
29 | // We want to be called every time a new char is received | |
da3a10b9 | 30 | this->serial->attach(this, &SerialConsole::on_serial_char_received, mbed::Serial::RxIrq); |
4cff3ded AW |
31 | |
32 | // We only call the command dispatcher in the main loop, nowhere else | |
33 | this->register_for_event(ON_MAIN_LOOP); | |
38d375e7 AW |
34 | |
35 | // Add to the pack of streams kernel can call to, for example for broadcasting | |
36 | this->kernel->streams->append_stream(this); | |
4cff3ded | 37 | } |
ca5e9a57 | 38 | |
4cff3ded AW |
39 | // Called on Serial::RxIrq interrupt, meaning we have received a char |
40 | void SerialConsole::on_serial_char_received(){ | |
171061cf | 41 | while(this->serial->readable()){ |
838b33b4 | 42 | char received = this->serial->getc(); |
06ca20a3 BD |
43 | // convert CR to NL (for host OSs that don't send NL) |
44 | if( received == '\r' ){ received = '\n'; } | |
df27a6a3 | 45 | this->buffer.push_back(received); |
13e4a3f9 | 46 | } |
4cff3ded | 47 | } |
ca5e9a57 | 48 | |
4cff3ded AW |
49 | // Actual event calling must happen in the main loop because if it happens in the interrupt we will loose data |
50 | void SerialConsole::on_main_loop(void * argument){ | |
13e4a3f9 | 51 | if( this->has_char('\n') ){ |
13e4a3f9 | 52 | string received; |
57775cc4 | 53 | received.reserve(20); |
13e4a3f9 AW |
54 | while(1){ |
55 | char c; | |
56 | this->buffer.pop_front(c); | |
57 | if( c == '\n' ){ | |
df27a6a3 | 58 | struct SerialMessage message; |
b6c86164 AW |
59 | message.message = received; |
60 | message.stream = this; | |
df27a6a3 | 61 | this->kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); |
13e4a3f9 AW |
62 | return; |
63 | }else{ | |
64 | received += c; | |
65 | } | |
66 | } | |
67 | } | |
4cff3ded AW |
68 | } |
69 | ||
838b33b4 | 70 | |
836222e7 MM |
71 | int SerialConsole::puts(const char* s) |
72 | { | |
25a021fb | 73 | return fwrite(s, strlen(s), 1, (FILE*)(*this->serial)); |
838b33b4 AW |
74 | } |
75 | ||
99b9ed8a MM |
76 | int SerialConsole::_putc(int c) |
77 | { | |
78 | return this->serial->putc(c); | |
79 | } | |
80 | ||
81 | int SerialConsole::_getc() | |
82 | { | |
83 | return this->serial->getc(); | |
84 | } | |
838b33b4 | 85 | |
edac9072 | 86 | // Does the queue have a given char ? |
13e4a3f9 AW |
87 | bool SerialConsole::has_char(char letter){ |
88 | int index = this->buffer.head; | |
89 | while( index != this->buffer.tail ){ | |
90 | if( this->buffer.buffer[index] == letter ){ | |
91 | return true; | |
92 | } | |
93 | index = this->buffer.next_block_index(index); | |
94 | } | |
95 | return false; | |
96 | } |