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.
5 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
11 #include "libs/Module.h"
12 #include "libs/Kernel.h"
13 #include "libs/nuts_bolts.h"
14 #include "SerialConsole.h"
15 #include "libs/RingBuffer.h"
16 #include "libs/SerialMessage.h"
17 #include "libs/StreamOutput.h"
19 // Serial reading module
20 // Treats every received line as a command and passes it ( via event call ) to the command dispatcher.
21 // The command dispatcher will then ask other modules if they can do something with it
22 SerialConsole::SerialConsole( PinName rx_pin
, PinName tx_pin
, int baud_rate
){
23 this->serial
= new mbed::Serial( rx_pin
, tx_pin
);
24 this->serial
->baud(baud_rate
);
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
30 this->serial
->attach(this, &SerialConsole::on_serial_char_received
, mbed::Serial::RxIrq
);
32 // We only call the command dispatcher in the main loop, nowhere else
33 this->register_for_event(ON_MAIN_LOOP
);
36 // Called on Serial::RxIrq interrupt, meaning we have received a char
37 void SerialConsole::on_serial_char_received(){
38 if(this->serial
->readable()){
39 char received
= this->serial
->getc();
40 // convert CR to NL (for host OSs that don't send NL)
41 if( received
== '\r' ){ received
= '\n'; }
42 this->buffer
.push_back(received
);
46 // Actual event calling must happen in the main loop because if it happens in the interrupt we will loose data
47 void SerialConsole::on_main_loop(void * argument
){
48 if( this->has_char('\n') ){
53 this->buffer
.pop_front(c
);
55 struct SerialMessage message
;
56 message
.message
= received
;
57 message
.stream
= this;
58 this->kernel
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
68 int SerialConsole::printf(const char* format
, ...){
71 va_start (args
, format
);
72 result
= vfprintf( this->serial
->_file
, format
, args
);
78 bool SerialConsole::has_char(char letter
){
79 int index
= this->buffer
.head
;
80 while( index
!= this->buffer
.tail
){
81 if( this->buffer
.buffer
[index
] == letter
){
84 index
= this->buffer
.next_block_index(index
);