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
);
35 // Add to the pack of streams kernel can call to, for example for broadcasting
36 THEKERNEL
->streams
->append_stream(this);
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
);
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') ){
56 this->buffer
.pop_front(c
);
58 struct SerialMessage message
;
59 message
.message
= received
;
60 message
.stream
= this;
61 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
71 int SerialConsole::puts(const char* s
)
73 return fwrite(s
, strlen(s
), 1, (FILE*)(*this->serial
));
76 int SerialConsole::_putc(int c
)
78 return this->serial
->putc(c
);
81 int SerialConsole::_getc()
83 return this->serial
->getc();
86 // Does the queue have a given char ?
87 bool SerialConsole::has_char(char letter
){
88 int index
= this->buffer
.tail
;
89 while( index
!= this->buffer
.head
){
90 if( this->buffer
.buffer
[index
] == letter
){
93 index
= this->buffer
.next_block_index(index
);