Diff: modules/communication/SerialConsole.cpp

Revision:

0:31e91bb0ef3c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/modules/communication/SerialConsole.cpp	Tue Jul 31 21:11:18 2012 +0000
@@ -0,0 +1,88 @@
+/*  
+      This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+      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.
+      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.
+      You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. 
+*/
+
+#include <string>
+#include <stdarg.h>
+using std::string;
+#include "libs/Module.h"
+#include "libs/Kernel.h"
+#include "libs/nuts_bolts.h"
+#include "SerialConsole.h"
+#include "libs/RingBuffer.h"
+#include "libs/SerialMessage.h"
+#include "libs/StreamOutput.h"
+
+// Serial reading module
+// Treats every received line as a command and passes it ( via event call ) to the command dispatcher. 
+// The command dispatcher will then ask other modules if they can do something with it
+SerialConsole::SerialConsole( PinName rx_pin, PinName tx_pin, int baud_rate ){
+    this->serial = new mbed::Serial( rx_pin, tx_pin );
+    this->serial->printf("T1\n");
+    this->serial->baud(baud_rate);
+}  
+
+// Called when the module has just been loaded
+void SerialConsole::on_module_loaded() {
+    // We want to be called every time a new char is received
+    this->serial->attach(this, &SerialConsole::on_serial_char_received, mbed::Serial::RxIrq);
+
+    // We only call the command dispatcher in the main loop, nowhere else
+    this->register_for_event(ON_MAIN_LOOP);
+}
+        
+// Called on Serial::RxIrq interrupt, meaning we have received a char
+void SerialConsole::on_serial_char_received(){
+    while(this->serial->readable()){
+        char received = this->serial->getc();
+        // convert CR to NL (for host OSs that don't send NL)
+        if( received == '\r' ){ received = '\n'; }
+        this->buffer.push_back(received); 
+    }
+}
+        
+// Actual event calling must happen in the main loop because if it happens in the interrupt we will loose data
+void SerialConsole::on_main_loop(void * argument){
+    if( this->has_char('\n') ){
+        int index = 0;
+        string received;
+        while(1){
+           char c;
+           this->buffer.pop_front(c);
+           if( c == '\n' ){
+                struct SerialMessage message; 
+                message.message = received;
+                message.stream = this;
+                this->kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); 
+                return;
+            }else{
+                received += c;
+            }
+        }
+    }
+}
+
+
+int SerialConsole::printf(const char* format, ...){
+    va_list args;
+    int result=0; 
+    va_start (args, format);
+    this->serial->printf( format, args);
+    va_end (args);
+    return result;
+}
+
+
+bool SerialConsole::has_char(char letter){
+    int index = this->buffer.head;
+    while( index != this->buffer.tail ){
+        if( this->buffer.buffer[index] == letter ){
+            return true;
+        }
+        index = this->buffer.next_block_index(index);
+    }
+    return false;
+}