#include "pgmspace.h"
#include "state.h"
#include "exec.h"
-#include "action.h"
+#include "base64.h"
+#include "rtc.h"
+#include "stepper.h"
+#include "cpp_magic.h"
#ifdef __AVR__
#include <avr/wdt.h>
+#include <util/atomic.h>
+#else
+#define ATOMIC_BLOCK(x)
+#define ATOMIC_RESTORESTATE
#endif
#include <stdio.h>
#include <stdlib.h>
-static char *_cmd = 0;
-static bool _active = false;
+#ifdef __AVR__
+#define RING_BUF_ATOMIC_COPY(TO, FROM) \
+ ATOMIC_BLOCK(ATOMIC_RESTORESTATE) TO = FROM
+#endif
+#define RING_BUF_NAME sync_q
+#define RING_BUF_TYPE uint8_t
+#define RING_BUF_INDEX_TYPE volatile uint16_t
+#define RING_BUF_SIZE SYNC_QUEUE_SIZE
+#include "ringbuf.def"
+
+
+static struct {
+ bool active;
+ uint32_t id;
+ uint32_t last_empty;
+ unsigned count;
+ stat_t parse_error;
+ int col;
+ float position[AXES];
+} cmd = {0,};
+
+
+// Define command callbacks
+#define CMD(CODE, NAME, SYNC, ...) \
+ stat_t command_##NAME(); \
+ IF(SYNC)(unsigned command_##NAME##_size();) \
+ IF(SYNC)(void command_##NAME##_exec(void *);)
+#include "command.def"
+#undef CMD
-static void command_i2c_cb(i2c_cmd_t cmd, uint8_t *data, uint8_t length) {
- switch (cmd) {
- case I2C_NULL: break;
- case I2C_ESTOP: estop_trigger(STAT_ESTOP_USER); break;
- case I2C_CLEAR: estop_clear(); break;
- case I2C_PAUSE: state_request_hold(); break;
- case I2C_OPTIONAL_PAUSE: state_request_optional_pause(); break;
- case I2C_RUN: state_request_start(); break;
- case I2C_STEP: state_request_step(); break;
- case I2C_FLUSH: state_request_flush(); break;
- case I2C_REPORT: report_request_full(); break;
- case I2C_REBOOT: hw_request_hard_reset(); break;
- }
-}
+// Help & name
+#define CMD(CODE, NAME, SYNC, HELP) \
+ static const char command_##NAME##_name[] PROGMEM = #NAME; \
+ static const char command_##NAME##_help[] PROGMEM = #HELP;
+#include "command.def"
+#undef CMD
-void command_init() {
- i2c_set_read_callback(command_i2c_cb);
-}
+static uint16_t _space() {return sync_q_space();}
-// Command forward declarations
-// (Don't be afraid, X-Macros rock!)
-#define CMD(NAME, ...) \
- uint8_t command_##NAME(int, char *[]);
+static bool _is_synchronous(char code) {
+ switch (code) {
+#define CMD(CODE, NAME, SYNC, ...) case COMMAND_##NAME: return SYNC;
#include "command.def"
#undef CMD
+ }
+ return false;
+}
-// Command names & help
-#define CMD(NAME, MINARGS, MAXARGS, HELP) \
- static const char pstr_##NAME[] PROGMEM = #NAME; \
- static const char NAME##_help[] PROGMEM = HELP;
+static stat_t _dispatch(char *s) {
+ switch (*s) {
+#define CMD(CODE, NAME, SYNC, ...) \
+ case COMMAND_##NAME: return command_##NAME(s);
#include "command.def"
#undef CMD
+ }
+
+ return STAT_INVALID_COMMAND;
+}
-// Command table
-#define CMD(NAME, MINARGS, MAXARGS, HELP) \
- {pstr_##NAME, command_##NAME, MINARGS, MAXARGS, NAME##_help},
-static const command_t commands[] PROGMEM = {
+static unsigned _size(char code) {
+ switch (code) {
+#define CMD(CODE, NAME, SYNC, ...) \
+ IF(SYNC)(case COMMAND_##NAME: return command_##NAME##_size();)
#include "command.def"
#undef CMD
- {}, // Sentinel
-};
-
-
-int command_find(const char *match) {
- for (int i = 0; ; i++) {
- const char *name = (const char *)pgm_read_word(&commands[i].name);
- if (!name) break;
-
- if (strcmp_P(match, name) == 0) return i;
+ default: break;
}
- return -1;
+ return 0;
}
-int command_exec(int argc, char *argv[]) {
- putchar('\n');
-
- int i = command_find(argv[0]);
- if (i != -1) {
- uint8_t min_args = pgm_read_byte(&commands[i].min_args);
- uint8_t max_args = pgm_read_byte(&commands[i].max_args);
-
- if (argc <= min_args) return STAT_TOO_FEW_ARGUMENTS;
- else if (max_args < argc - 1) return STAT_TOO_MANY_ARGUMENTS;
- else {
- command_cb_t cb = (command_cb_t)pgm_read_word(&commands[i].cb);
- return cb(argc, argv);
- }
-
- } else if (argc != 1) return STAT_INVALID_COMMAND;
-
- // Get or set variable
- char *value = strchr(argv[0], '=');
- if (value) {
- *value++ = 0;
- if (vars_set(argv[0], value)) return STAT_OK;
-
- } else if (vars_print(argv[0])) {
- putchar('\n');
- return STAT_OK;
+static void _exec_cb(char code, uint8_t *data) {
+ switch (code) {
+#define CMD(CODE, NAME, SYNC, ...) \
+ IF(SYNC)(case COMMAND_##NAME: command_##NAME##_exec(data); break;)
+#include "command.def"
+#undef CMD
+ default: break;
}
-
- STATUS_ERROR(STAT_UNRECOGNIZED_NAME, "'%s'", argv[0]);
- return STAT_UNRECOGNIZED_NAME;
}
-char *_parse_arg(char **p) {
- char *start = *p;
- char *next = *p;
+static void _i2c_cb(uint8_t *data, uint8_t length) {_dispatch((char *)data);}
- bool inQuote = false;
- bool escape = false;
- while (**p) {
- char c = *(*p)++;
+void command_init() {i2c_set_read_callback(_i2c_cb);}
+bool command_is_active() {return cmd.active;}
+unsigned command_get_count() {return cmd.count;}
- switch (c) {
- case '\\':
- if (!escape) {
- escape = true;
- continue;
- }
- break;
- case ' ': case '\t':
- if (!inQuote && !escape) goto done;
- break;
+void command_print_help() {
+ static const char fmt[] PROGMEM = " %c %-12"PRPSTR" %"PRPSTR"\n";
- case '"':
- if (!escape) {
- inQuote = !inQuote;
- continue;
- }
- break;
+#define CMD(CODE, NAME, SYNC, HELP) \
+ printf_P(fmt, CODE, command_##NAME##_name, command_##NAME##_help);
- default: break;
- }
-
- *next++ = c;
- escape = false;
- }
-
- done:
- *next = 0;
- return start;
+#include "command.def"
+#undef CMD
}
-int command_parser(char *cmd) {
- // Parse line
- char *p = cmd + 1; // Skip `$`
- int argc = 0;
- char *argv[MAX_ARGS] = {0};
-
- if (cmd[1] == '$' && !cmd[2]) {
- report_request_full(); // Full report
- return STAT_OK;
- }
-
- while (argc < MAX_ARGS && *p) {
- // Skip space
- while (*p && isspace(*p)) *p++ = 0;
-
- // Start of token
- char *arg = _parse_arg(&p);
- if (*arg) argv[argc++] = arg;
- }
-
- // Exec command
- if (argc) return command_exec(argc, argv);
-
- return STAT_OK;
+void command_flush_queue() {
+ sync_q_init();
+ cmd.count = 0;
}
-static char *_command_next() {
- if (_cmd) return _cmd;
-
- // Get next command
- _cmd = usart_readline();
- if (!_cmd) return 0;
+void command_push(char code, void *_data) {
+ uint8_t *data = (uint8_t *)_data;
+ unsigned size = _size(code);
- // Remove leading whitespace
- while (*_cmd && isspace(*_cmd)) _cmd++;
+ sync_q_push(code);
+ for (unsigned i = 0; i < size; i++) sync_q_push(*data++);
- // Remove trailing whitespace
- for (size_t len = strlen(_cmd); len && isspace(_cmd[len - 1]); len--)
- _cmd[len - 1] = 0;
-
- return _cmd;
+ ATOMIC_BLOCK(ATOMIC_RESTORESTATE) cmd.count++;
}
// Special processing for synchronous commands
if (_is_synchronous(*block)) {
if (estop_triggered()) status = STAT_MACHINE_ALARMED;
- else if (state_is_flushing()) status = STAT_NOOP; // Flush
+ else if (state_is_flushing()) status = STAT_NOP; // Flush
else if (state_is_resuming() || _space() < _size(*block))
return false; // Wait
}
- default:
- if (estop_triggered()) {status = STAT_MACHINE_ALARMED; break;}
- else if (state_is_flushing()) break; // Flush command
- else if (!state_is_ready()) return; // Wait for exec queue
-
- // Parse and execute action
- status = action_parse(_cmd);
- if (status == STAT_QUEUE_FULL) return; // Try again later
+ // Dispatch non-empty commands
+ if (*block && status == STAT_OK) {
+ if (sync_q_empty()) command_reset_position();
+ status = _dispatch(block);
}
- _cmd = 0; // Command consumed
- _active = true;
+ block = 0; // Command consumed
+
+ // Reporting
report_request();
- if (status && status != STAT_NOOP) status_error(status);
+ if (status && status != STAT_NOP) status_error(status);
return true;
}
-bool command_is_active() {return _active;}
-
-
-// Command functions
-void static print_command_help(int i) {
- static const char fmt[] PROGMEM = " $%-12"PRPSTR" %"PRPSTR"\n";
- const char *name = (const char *)pgm_read_word(&commands[i].name);
- const char *help = (const char *)pgm_read_word(&commands[i].help);
-
- printf_P(fmt, name, help);
+void command_set_position(const float position[AXES]) {
+ memcpy(cmd.position, position, sizeof(cmd.position));
}
-uint8_t command_help(int argc, char *argv[]) {
- if (argc == 2) {
- int i = command_find(argv[1]);
+void command_get_position(float position[AXES]) {
+ memcpy(position, cmd.position, sizeof(cmd.position));
+}
- if (i == -1) return STAT_UNRECOGNIZED_NAME;
- else print_command_help(i);
- return STAT_OK;
- }
+void command_reset_position() {
+ float position[AXES];
+ exec_get_position(position);
+ command_set_position(position);
+}
- puts_P(PSTR("\nLine editing:\n"
- " ENTER Submit current command line.\n"
- " BS Backspace, delete last character.\n"
- " CTRL-X Cancel current line entry."));
- puts_P(PSTR("\nCommands:"));
- for (int i = 0; ; i++) {
- const char *name = (const char *)pgm_read_word(&commands[i].name);
- if (!name) break;
- print_command_help(i);
-#ifdef __AVR__
- wdt_reset();
-#endif
+// Returns true if command queued
+// Called from interrupt
+bool command_exec() {
+ if (!cmd.count) {
+ cmd.last_empty = rtc_get_time();
+ state_idle();
+ return false;
}
- puts_P(PSTR("\nVariables:"));
- vars_print_help();
-
- return STAT_OK;
-}
+ // On restart wait a bit to give queue a chance to fill
+ if (!exec_get_velocity() && cmd.count < EXEC_FILL_TARGET &&
+ !rtc_expired(cmd.last_empty + EXEC_DELAY)) return false;
+ if (state_get() == STATE_HOLDING) return false;
-uint8_t command_report(int argc, char *argv[]) {
- if (argc == 2) {
- vars_report_all(var_parse_bool(argv[1]));
- return STAT_OK;
- }
+ char code = (char)sync_q_next();
+ unsigned size = _size(code);
- vars_report_var(argv[1], var_parse_bool(argv[2]));
- return STAT_OK;
-}
+ static uint8_t data[INPUT_BUFFER_LEN];
+ for (int i = 0; i < size; i++)
+ data[i] = sync_q_next();
+ cmd.count--;
+ state_running();
-uint8_t command_reboot(int argc, char *argv[]) {
- hw_request_hard_reset();
- return 0;
-}
-
+ _exec_cb(code, data);
+ report_request();
-uint8_t command_messages(int argc, char *argv[]) {
- status_help();
- return 0;
+ return true;
}
-uint8_t command_resume(int argc, char *argv[]) {
- state_request_resume();
- return 0;
-}
+// Var callbacks
+uint32_t get_id() {return cmd.id;}
+void set_id(uint32_t id) {cmd.id = id;}
projects / bbctrl-firmware / commitdiff