src/modules/communication/SerialConsole.cpp

   1 /*
   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/>.
   6 */
   7
   8 #include <string>
   9 #include <stdarg.h>
  10 using std::string;
  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"
  18 #include "libs/StreamOutputPool.h"
  19
  20 // Serial reading module
  21 // Treats every received line as a command and passes it ( via event call ) to the command dispatcher.
  22 // The command dispatcher will then ask other modules if they can do something with it
  23 SerialConsole::SerialConsole( PinName rx_pin, PinName tx_pin, int baud_rate ){
  24     this->serial = new mbed::Serial( rx_pin, tx_pin );
  25     this->serial->baud(baud_rate);
  26 }
  27
  28 // Called when the module has just been loaded
  29 void SerialConsole::on_module_loaded() {
  30     // We want to be called every time a new char is received
  31     this->serial->attach(this, &SerialConsole::on_serial_char_received, mbed::Serial::RxIrq);
  32
  33     // We only call the command dispatcher in the main loop, nowhere else
  34     this->register_for_event(ON_MAIN_LOOP);
  35
  36     // Add to the pack of streams kernel can call to, for example for broadcasting
  37     THEKERNEL->streams->append_stream(this);
  38 }
  39
  40 // Called on Serial::RxIrq interrupt, meaning we have received a char
  41 void SerialConsole::on_serial_char_received(){
  42     while(this->serial->readable()){
  43         char received = this->serial->getc();
  44         // convert CR to NL (for host OSs that don't send NL)
  45         if( received == '\r' ){ received = '\n'; }
  46         this->buffer.push_back(received);
  47     }
  48 }
  49
  50 // Actual event calling must happen in the main loop because if it happens in the interrupt we will loose data
  51 void SerialConsole::on_main_loop(void * argument){
  52     if( this->has_char('\n') ){
  53         string received;
  54         received.reserve(20);
  55         while(1){
  56            char c;
  57            this->buffer.pop_front(c);
  58            if( c == '\n' ){
  59                 struct SerialMessage message;
  60                 message.message = received;
  61                 message.stream = this;
  62                 THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
  63                 return;
  64             }else{
  65                 received += c;
  66             }
  67         }
  68     }
  69 }
  70
  71
  72 int SerialConsole::puts(const char* s)
  73 {
  74     return fwrite(s, strlen(s), 1, (FILE*)(*this->serial));
  75 }
  76
  77 int SerialConsole::_putc(int c)
  78 {
  79     return this->serial->putc(c);
  80 }
  81
  82 int SerialConsole::_getc()
  83 {
  84     return this->serial->getc();
  85 }
  86
  87 // Does the queue have a given char ?
  88 bool SerialConsole::has_char(char letter){
  89     int index = this->buffer.tail;
  90     while( index != this->buffer.head ){
  91         if( this->buffer.buffer[index] == letter ){
  92             return true;
  93         }
  94         index = this->buffer.next_block_index(index);
  95     }
  96     return false;
  97 }