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
  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);
  25 }
  26
  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);
  31
  32     // We only call the command dispatcher in the main loop, nowhere else
  33     this->register_for_event(ON_MAIN_LOOP);
  34
  35     // Add to the pack of streams kernel can call to, for example for broadcasting
  36     this->kernel->streams->append_stream(this);
  37 }
  38
  39 // Called on Serial::RxIrq interrupt, meaning we have received a char
  40 void SerialConsole::on_serial_char_received(){
  41     while(this->serial->readable()){
  42         char received = this->serial->getc();
  43         // convert CR to NL (for host OSs that don't send NL)
  44         if( received == '\r' ){ received = '\n'; }
  45         this->buffer.push_back(received);
  46     }
  47 }
  48
  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){
  51     if( this->has_char('\n') ){
  52         string received;
  53         received.reserve(20);
  54         while(1){
  55            char c;
  56            this->buffer.pop_front(c);
  57            if( c == '\n' ){
  58                 struct SerialMessage message;
  59                 message.message = received;
  60                 message.stream = this;
  61                 this->kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
  62                 return;
  63             }else{
  64                 received += c;
  65             }
  66         }
  67     }
  68 }
  69
  70
  71 int SerialConsole::puts(const char* s)
  72 {
  73     return fwrite(s, strlen(s), 1, this->serial->_file);
  74 }
  75
  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 }
  85
  86 bool SerialConsole::has_char(char letter){
  87     int index = this->buffer.head;
  88     while( index != this->buffer.tail ){
  89         if( this->buffer.buffer[index] == letter ){
  90             return true;
  91         }
  92         index = this->buffer.next_block_index(index);
  93     }
  94     return false;
  95 }