Commit from zer0 on branch b_zer0 (2007-09-17 22:53 CEST)
=================================
Add parse module
aversive config/Configure.help 1.13.4.9
aversive config/config.in 1.42.4.11
aversive config/generate_aversive_config 1.23.4.8
+ aversive modules/ihm/parse/Makefile 1.1.2.1
+ aversive modules/ihm/parse/parse.c 1.1.2.1
+ aversive modules/ihm/parse/parse.h 1.1.2.1
+ aversive modules/ihm/parse/parse_num.c 1.1.2.1
+ aversive modules/ihm/parse/parse_num.h 1.1.2.1
+ aversive modules/ihm/parse/parse_string.c 1.1.2.1
+ aversive modules/ihm/parse/parse_string.h 1.1.2.1
+ aversive modules/ihm/parse/test/Makefile 1.1.2.1
+ aversive modules/ihm/parse/test/error_config.h 1.1.2.1
+ aversive modules/ihm/parse/test/main.c 1.1.2.1
+ aversive modules/ihm/parse/test/uart_config.h 1.1.2.1
aversive projects/example1/.config 1.5.4.4
==============================
aversive/config/Configure.help (1.13.4.8 -> 1.13.4.9)
==============================
@@ -169,6 +169,10 @@
CONFIG_MODULE_RDLINE_HISTORY
Enable history buffer, to save last commands (up and down arrows)
+CONFIG_MODULE_PARSE
+ The parse module is able to parse a buffer containing strings,
+ numbers, (...) into a C structure.
+
CONFIG_MODULE_LCD
This module provide an interface to control an external standard
=========================
aversive/config/config.in (1.42.4.10 -> 1.42.4.11)
=========================
@@ -225,7 +225,7 @@
#### menu
bool 'Menu' CONFIG_MODULE_MENU
-#### menu
+#### rdline
dep_bool 'Rdline' CONFIG_MODULE_RDLINE \
$CONFIG_MODULE_CIRBUF
@@ -238,6 +238,10 @@
dep_bool ' |-- Enable history' CONFIG_MODULE_RDLINE_HISTORY \
$CONFIG_MODULE_RDLINE
+#### parse
+
+bool 'Parse' CONFIG_MODULE_PARSE
+
endmenu
#############################################################################
========================================
aversive/config/generate_aversive_config (1.23.4.7 -> 1.23.4.8)
========================================
@@ -16,6 +16,7 @@
CONFIG_MODULE_PWM,hardware/pwm
CONFIG_MODULE_ADC,hardware/adc
CONFIG_MODULE_MENU,ihm/menu
+ CONFIG_MODULE_PARSE,ihm/parse
CONFIG_MODULE_RDLINE,ihm/rdline
CONFIG_MODULE_LCD,devices/ihm/lcd
CONFIG_MODULE_MULTISERVO,devices/servo/multiservo
===================================
aversive/modules/ihm/parse/Makefile (1.1.2.1)
===================================
@@ -0,0 +1,6 @@
+TARGET = parse
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = parse.c parse_num.c parse_string.c
+
+include $(AVERSIVE_DIR)/mk/aversive_module.mk
==================================
aversive/modules/ihm/parse/parse.c (1.1.2.1)
==================================
@@ -0,0 +1,170 @@
+#include <stdio.h>
+#include <inttypes.h>
+#include <ctype.h>
+
+#include "parse.h"
+
+/* XXX */
+#ifndef BUFSIZ
+#define BUFSIZ 128
+#endif
+
+static int
+isendofline(char c)
+{
+ if (c == '\n' ||
+ c == '\r' )
+ return 1;
+ return 0;
+}
+
+static int
+iscomment(char c)
+{
+ if (c == '#')
+ return 1;
+ return 0;
+}
+
+int
+isendoftoken(char c)
+{
+ if (!c || iscomment(c) || isblank(c) || isendofline(c))
+ return 1;
+ return 0;
+}
+
+
+
+int8_t
+parse_buf(struct ctx * ctx, char * buf)
+{
+ struct inst ** inst_list = (struct inst **) ctx->insts;
+ struct inst * inst = *inst_list;
+ struct token_hdr ** token_list;
+ struct token_hdr * token;
+ char *curbuf;
+ char result_buf[BUFSIZ]; /* XXX align, size */
+ void (*f)(void *, void *) = NULL;
+ void * data = NULL;
+ int8_t n;
+ int comment = 0;
+ int linelen = 0;
+ int parse_it = 0;
+#ifdef CMDLINE_DEBUG
+ char debug_buf[BUFSIZ];
+#endif
+
+ /*
+ * - look if the buffer contains at least one line
+ * - look if line contains only spaces or comments
+ * - count line length
+ */
+ curbuf = buf;
+ while (! isendofline(*curbuf)) {
+ if ( *curbuf == '\0' ) {
+ dprintf("Incomplete buf (len=%d)\n", linelen);
+ return 0;
+ }
+ if ( iscomment(*curbuf) ) {
+ comment = 1;
+ }
+ if ( ! isblank(*curbuf) && ! comment) {
+ parse_it = 1;
+ }
+ curbuf++;
+ linelen++;
+ }
+
+ /* skip all endofline chars */
+ while (isendofline(buf[linelen])) {
+ linelen++;
+ }
+
+ /* empty line */
+ if ( parse_it == 0 ) {
+ dprintf("Empty line (len=%d)\n", linelen);
+ return linelen;
+ }
+
+#ifdef CMDLINE_DEBUG
+ snprintf(debug_buf, (linelen>BUFSIZ-n ? BUFSIZ-n : linelen), "%s", buf);
+ dprintf("Parse line : len=%d, <%s>\n", linelen, debug_buf);
+#endif
+
+ /* parse it !! */
+ while (inst) {
+ dprintf("INST\n");
+ inst = *inst_list;
+ token_list = (struct token_hdr **) inst->tokens;
+ token = *token_list;
+ curbuf = buf;
+
+ /* check if we match all tokens of inst */
+ while (token) {
+ dprintf("TK\n");
+ /* skip spaces */
+ while (isblank(*curbuf)) {
+ curbuf++;
+ }
+
+ /* end of buf */
+ if ( isendofline(*curbuf) || iscomment(*curbuf) )
+ break;
+
+ n = token->parse(token, curbuf,
result_buf+token->offset);
+ if ( n < 0 )
+ break;
+ dprintf("TK parsed (len=%d)\n", n);
+ curbuf += n;
+
+ token_list ++;
+ token = *token_list;
+ }
+
+ /* fully parsed */
+ if (!token) {
+ dprintf("INST fully parsed\n");
+ /* skip spaces */
+ while (isblank(*curbuf)) {
+ curbuf++;
+ }
+
+ /* if end of buf -> there is no garbage after inst */
+ if (isendofline(*curbuf) || iscomment(*curbuf)) {
+ if (!f) {
+ f = inst->f;
+ data = inst->data;
+ }
+ else {
+ /* more than 1 inst matches */
+ /* return -1; */
+ /* XXX */
+ f=NULL;
+ dprintf("Ambiguous cmd\n");
+ break;
+ }
+ }
+ else {
+ dprintf("Garbage after inst %x\n", *curbuf &
0xff);
+ }
+ }
+
+ inst_list ++;
+ inst = *inst_list;
+ }
+
+ /* call func */
+ if (f) {
+ f(result_buf, data);
+ }
+
+ /* no match */
+ else {
+ /* XXX */
+ /* return mes couilles */
+ dprintf("No match\n");
+ }
+
+ return linelen;
+}
==================================
aversive/modules/ihm/parse/parse.h (1.1.2.1)
==================================
@@ -0,0 +1,35 @@
+#ifndef _PARSE_H_
+#define _PARSE_H_
+
+#include <aversive/types.h>
+
+#ifndef offsetof
+#define offsetof(type, field) ((size_t) &( ((type *)0)->field) )
+#endif
+
+struct token_hdr {
+ /* parse(token ptr, buf, res pts) */
+ int8_t (*parse)(void *, char *, void *);
+ int8_t (*complete)(void *, char *, char *, uint8_t);
+ char * help_str;
+ uint8_t offset;
+};
+
+struct inst {
+ /* f(parsed_struct, data) */
+ void (*f)(void *, void *);
+ void * data;
+ char * help_str;
+ void * tokens[];
+};
+
+struct ctx {
+ char * name;
+ void * insts[];
+};
+
+
+int8_t parse_buf(struct ctx * ctx, char * buf);
+int isendoftoken(char c);
+
+#endif /* _PARSE_H_ */
======================================
aversive/modules/ihm/parse/parse_num.c (1.1.2.1)
======================================
@@ -0,0 +1,365 @@
+#include <stdio.h>
+#include <inttypes.h>
+#include <ctype.h>
+
+#include "parse.h"
+#include "parse_num.h"
+
+//#define debug_printf(args...) printf(args)
+#define debug_printf(args...) do {} while(0)
+
+/* XXX to remove ?? */
+#define U08_MIN 0x00
+#define U08_MAX 0xFF
+#define U16_MIN 0x0000
+#define U16_MAX 0xFFFF
+#define U32_MIN 0x00000000
+#define U32_MAX 0xFFFFFFFF
+#define S08_MIN 0x80
+#define S08_MAX 0x7F
+#define S16_MIN 0x8000
+#define S16_MAX 0x7FFF
+#define S32_MIN 0x80000000
+#define S32_MAX 0x7FFFFFFF
+
+
+
+
+
+enum num_parse_state_t {
+ START,
+ DEC_NEG,
+ BIN,
+ HEX,
+ FLOAT_POS,
+ FLOAT_NEG,
+ ERROR,
+
+ FIRST_OK, /* not used */
+ ZERO_OK,
+ HEX_OK,
+ OCTAL_OK,
+ BIN_OK,
+ DEC_NEG_OK,
+ DEC_POS_OK,
+ FLOAT_POS_OK,
+ FLOAT_NEG_OK,
+};
+
+
+static inline int8_t
+add_to_res(uint8_t c, uint32_t * res, uint8_t base)
+{
+ /* overflow */
+ if ( (U32_MAX - c) / base < *res ) {
+ return -1;
+ }
+
+ *res = *res * base + c ;
+ return 0;
+}
+
+
+/* parse an int or a float */
+int8_t
+parse_num(void * data, char * srcbuf, void * res)
+{
+ struct token_num * token = data;
+ enum num_parse_state_t st = START;
+ char * buf = srcbuf;
+ char c = *buf;
+ uint32_t res1=0, res2=0, res3=1;
+ enum numtype type = token->type;
+
+ while ( st != ERROR && c && ! isendoftoken(c) ) {
+ debug_printf("%c %x -> ", c, c);
+ switch (st) {
+ case START:
+ if (c == '-') {
+ st = DEC_NEG;
+ }
+ else if (c == '0') {
+ st = ZERO_OK;
+ }
+ else if (c == '.') {
+ st = FLOAT_POS;
+ res1 = 0;
+ }
+ else if (c >= '1' && c <= '9') {
+ if (add_to_res(c - '0', &res1, 10) < 0)
+ st = ERROR;
+ else
+ st = DEC_POS_OK;
+ }
+ else {
+ st = ERROR;
+ }
+ break;
+
+ case ZERO_OK:
+ if (c == 'x') {
+ st = HEX;
+ }
+ else if (c == 'b') {
+ st = BIN;
+ }
+ else if (c == '.') {
+ st = FLOAT_POS;
+ res1 = 0;
+ }
+ else if (c >= '0' && c <= '7') {
+ if (add_to_res(c - '0', &res1, 10) < 0)
+ st = ERROR;
+ else
+ st = OCTAL_OK;
+ }
+ else {
+ st = ERROR;
+ }
+ break;
+
+ case DEC_NEG:
+ if (c >= '0' && c <= '9') {
+ if (add_to_res(c - '0', &res1, 10) < 0)
+ st = ERROR;
+ else
+ st = DEC_NEG_OK;
+ }
+ else if (c == '.') {
+ res1 = 0;
+ st = FLOAT_NEG;
+ }
+ else {
+ st = ERROR;
+ }
+ break;
+
+ case DEC_NEG_OK:
+ if (c >= '0' && c <= '9') {
+ if (add_to_res(c - '0', &res1, 10) < 0)
+ st = ERROR;
+ }
+ else if (c == '.') {
+ st = FLOAT_NEG;
+ }
+ else {
+ st = ERROR;
+ }
+ break;
+
+ case DEC_POS_OK:
+ if (c >= '0' && c <= '9') {
+ if (add_to_res(c - '0', &res1, 10) < 0)
+ st = ERROR;
+ }
+ else if (c == '.') {
+ st = FLOAT_POS;
+ }
+ else {
+ st = ERROR;
+ }
+ break;
+
+ case HEX:
+ st = HEX_OK;
+ /* no break */
+ case HEX_OK:
+ if (c >= '0' && c <= '9') {
+ if (add_to_res(c - '0', &res1, 16) < 0)
+ st = ERROR;
+ }
+ else if (c >= 'a' && c <= 'f') {
+ if (add_to_res(c - 'a' + 10, &res1, 16) < 0)
+ st = ERROR;
+ }
+ else if (c >= 'A' && c <= 'F') {
+ if (add_to_res(c - 'A' + 10, &res1, 16) < 0)
+ st = ERROR;
+ }
+ else {
+ st = ERROR;
+ }
+ break;
+
+
+ case OCTAL_OK:
+ if (c >= '0' && c <= '7') {
+ if (add_to_res(c - '0', &res1, 8) < 0)
+ st = ERROR;
+ }
+ else {
+ st = ERROR;
+ }
+ break;
+
+ case BIN:
+ st = BIN_OK;
+ /* no break */
+ case BIN_OK:
+ if (c >= '0' && c <= '1') {
+ if (add_to_res(c - '0', &res1, 2) < 0)
+ st = ERROR;
+ }
+ else {
+ st = ERROR;
+ }
+ break;
+
+ case FLOAT_POS:
+ if (c >= '0' && c <= '9') {
+ if (add_to_res(c - '0', &res2, 10) < 0)
+ st = ERROR;
+ else
+ st = FLOAT_POS_OK;
+ res3 = 10;
+ }
+ else {
+ st = ERROR;
+ }
+ break;
+
+ case FLOAT_NEG:
+ if (c >= '0' && c <= '9') {
+ if (add_to_res(c - '0', &res2, 10) < 0)
+ st = ERROR;
+ else
+ st = FLOAT_NEG_OK;
+ res3 = 10;
+ }
+ else {
+ st = ERROR;
+ }
+ break;
+
+ case FLOAT_POS_OK:
+ if (c >= '0' && c <= '9') {
+ if (add_to_res(c - '0', &res2, 10) < 0)
+ st = ERROR;
+ if (add_to_res(0, &res3, 10) < 0)
+ st = ERROR;
+ }
+ else {
+ st = ERROR;
+ }
+ break;
+
+ case FLOAT_NEG_OK:
+ if (c >= '0' && c <= '9') {
+ if (add_to_res(c - '0', &res2, 10) < 0)
+ st = ERROR;
+ if (add_to_res(0, &res3, 10) < 0)
+ st = ERROR;
+ }
+ else {
+ st = ERROR;
+ }
+ break;
+
+ default:
+ debug_printf("not impl ");
+
+ }
+
+ /* XXX uint32_t et %d */
+ debug_printf("(%d) (%d) (%d)\n", res1, res2, res3);
+
+ buf ++;
+ c = *buf;
+
+ /* token too long */
+ if (buf-srcbuf > 127)
+ return -1;
+ }
+
+ switch (st) {
+ case ZERO_OK:
+ case DEC_POS_OK:
+ case HEX_OK:
+ case OCTAL_OK:
+ case BIN_OK:
+ if ( type == INT8 && res1 <= S08_MAX ) {
+ *(int8_t *)res = (int8_t) res1;
+ return (buf-srcbuf);
+ }
+ else if ( type == INT16 && res1 <= S16_MAX ) {
+ *(int16_t *)res = (int16_t) res1;
+ return (buf-srcbuf);
+ }
+ else if ( type == INT32 && res1 <= S32_MAX ) {
+ *(int32_t *)res = (int32_t) res1;
+ }
+ else if ( type == UINT8 && res1 <= U08_MAX ) {
+ *(uint8_t *)res = (uint8_t) res1;
+ return (buf-srcbuf);
+ }
+ else if (type == UINT16 && res1 <= U16_MAX ) {
+ *(uint16_t *)res = (uint16_t) res1;
+ return (buf-srcbuf);
+ }
+ else if ( type == UINT32 ) {
+ *(uint32_t *)res = (uint32_t) res1;
+ return (buf-srcbuf);
+ }
+ else if ( type == FLOAT ) {
+ *(float *)res = (float)res1;
+ return (buf-srcbuf);
+ }
+ else {
+ return -1;
+ }
+ break;
+
+ case DEC_NEG_OK:
+ if ( type == INT8 && res1 <= S08_MAX + 1 ) {
+ *(int8_t *)res = (int8_t) res1;
+ return (buf-srcbuf);
+ }
+ else if ( type == INT16 && res1 <= S16_MAX + 1 ) {
+ *(int16_t *)res = (int16_t) res1;
+ return (buf-srcbuf);
+ }
+ else if ( type == INT32 && res1 <= (uint32_t)S32_MAX + 1 ) {
+ *(int32_t *)res = (int32_t) res1;
+ return (buf-srcbuf);
+ }
+ else if ( type == FLOAT ) {
+ *(float *)res = - (float)res1;
+ return (buf-srcbuf);
+ }
+ else {
+ return -1;
+ }
+ break;
+
+ case FLOAT_POS:
+ case FLOAT_POS_OK:
+ if ( type == FLOAT ) {
+ *(float *)res = (float)res1 + ((float)res2 /
(float)res3);
+ return (buf-srcbuf);
+
+ }
+ else {
+ return -1;
+ }
+ break;
+
+ case FLOAT_NEG:
+ case FLOAT_NEG_OK:
+ if ( type == FLOAT ) {
+ *(float *)res = - ((float)res1 + ((float)res2 /
(float)res3));
+ return (buf-srcbuf);
+
+ }
+ else {
+ return -1;
+ }
+ break;
+
+ default:
+ debug_printf("error\n");
+ return -1;
+ }
+ return -1;
+}
+
+
======================================
aversive/modules/ihm/parse/parse_num.h (1.1.2.1)
======================================
@@ -0,0 +1,34 @@
+#ifndef _PARSE_NUM_H_
+#define _PARSE_NUM_H_
+
+#include "parse.h"
+
+enum numtype {
+ UINT8,
+ UINT16,
+ UINT32,
+ INT8,
+ INT16,
+ INT32,
+ FLOAT,
+};
+
+struct token_num {
+ struct token_hdr hdr;
+ enum numtype type;
+};
+
+int8_t parse_num(void * token_ptr, char * srcbuf, void * res);
+
+#define TOKEN_NUM_INITIALIZER(structure, field, numtype) \
+{ \
+ { \
+ .parse = parse_num, \
+ .complete = NULL, \
+ .help_str = NULL, \
+ .offset = offsetof(structure, field), \
+ }, \
+ .type = numtype, \
+};
+
+#endif /* _PARSE_NUM_H_ */
=========================================
aversive/modules/ihm/parse/parse_string.c (1.1.2.1)
=========================================
@@ -0,0 +1,52 @@
+#include <stdio.h>
+#include <inttypes.h>
+#include <ctype.h>
+#include <string.h>
+
+#include "parse.h"
+#include "parse_string.h"
+
+int8_t
+parse_string(void * data, char * buf, void * res)
+{
+ struct token_string * token = data;
+ uint8_t token_len;
+
+ if (! *buf)
+ return -1;
+
+ /* fixed string */
+ if (token->str) {
+ token_len = strlen(token->str);
+
+ /* if token is too big... */
+ if (token_len >= STR_TOKEN_SIZE - 1) {
+ return -1;
+ }
+
+ if ( strncmp(buf, token->str, token_len) ) {
+ return -1;
+ }
+
+ if ( !isendoftoken(*(buf+token_len)) )
+ return -1;
+ }
+ /* unspecified string */
+ else {
+ token_len=0;
+ while(!isendoftoken(buf[token_len]) &&
+ token_len < (STR_TOKEN_SIZE-1))
+ token_len++;
+
+ /* return if token too long */
+ if (token_len >= STR_TOKEN_SIZE - 1) {
+ return -1;
+ }
+ }
+
+ /* we are sure that token_len is < STR_TOKEN_SIZE-1 */
+ strncpy(res, buf, token_len);
+ *((char *)res + token_len) = 0;
+
+ return token_len;
+}
=========================================
aversive/modules/ihm/parse/parse_string.h (1.1.2.1)
=========================================
@@ -0,0 +1,28 @@
+#ifndef _PARSE_STRING_H_
+#define _PARSE_STRING_H_
+
+#include "parse.h"
+
+#define STR_TOKEN_SIZE 32
+
+typedef char fixed_string_t[STR_TOKEN_SIZE];
+
+struct token_string {
+ struct token_hdr hdr;
+ const char * str;
+};
+
+int8_t parse_string(void * token_ptr, char * srcbuf, void * res);
+
+#define TOKEN_STRING_INITIALIZER(structure, field, string) \
+{ \
+ { \
+ .parse = parse_string, \
+ .complete = NULL, \
+ .help_str = NULL, \
+ .offset = offsetof(structure, field), \
+ }, \
+ .str = string, \
+}
+
+#endif /* _PARSE_STRING_H_ */
========================================
aversive/modules/ihm/parse/test/Makefile (1.1.2.1)
========================================
@@ -0,0 +1,21 @@
+TARGET = main
+
+# repertoire des modules
+AVERSIVE_DIR = ../../../..
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = $(TARGET).c
+
+# List Assembler source files here.
+# Make them always end in a capital .S. Files ending in a lowercase .s
+# will not be considered source files but generated files (assembler
+# output from the compiler), and will be deleted upon "make clean"!
+# Even though the DOS/Win* filesystem matches both .s and .S the same,
+# it will preserve the spelling of the filenames, and gcc itself does
+# care about how the name is spelled on its command-line.
+ASRC =
+
+########################################
+
+-include .aversive_conf
+include $(AVERSIVE_DIR)/mk/aversive_project.mk
==============================================
aversive/modules/ihm/parse/test/error_config.h (1.1.2.1)
==============================================
@@ -0,0 +1,31 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * This program 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 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: error_config.h,v 1.1.2.1 2007-09-17 20:53:28 zer0 Exp $
+ *
+ */
+
+#ifndef _ERROR_CONFIG_
+#define _ERROR_CONFIG_
+
+/** enable the dump of the comment */
+#define ERROR_DUMP_TEXTLOG
+
+/** enable the dump of filename and line number */
+#define ERROR_DUMP_FILE_LINE
+
+#endif
======================================
aversive/modules/ihm/parse/test/main.c (1.1.2.1)
======================================
@@ -0,0 +1,254 @@
+/*
+ * Copyright Droids Corporation (2007)
+ * Olivier MATZ <[EMAIL PROTECTED]>
+ *
+ * This program 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 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: main.c,v 1.1.2.1 2007-09-17 20:53:28 zer0 Exp $
+ *
+ *
+ */
+
+/* test program for rdline, works on AVR and HOST... but there are a
+ * lot of defines... ;) */
+
+#include <stdio.h>
+#include <string.h>
+
+//#define DEBUG_SOCKET
+
+
+#ifdef HOST_VERSION
+#include <unistd.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include <inttypes.h>
+#include <termios.h>
+#include <ctype.h>
+
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <sys/un.h>
+#endif
+
+#include <aversive/wait.h>
+#include <uart.h>
+#include "rdline.h"
+
+/* globals */
+struct rdline rdl;
+char prompt[RDLINE_PROMPT_SIZE];
+int cpt=0;
+
+
+#ifdef DEBUG_SOCKET /* debug... keep it because it is nice */
+
+int s = -1;
+
+void sock_printf(const char * fmt, ...)
+{
+ va_list ap;
+ char buf[BUFSIZ];
+ int n;
+
+ va_start(ap, fmt);
+ n=vsnprintf(buf, BUFSIZ, fmt, ap);
+ if (s>0) write(s, buf, n);
+ va_end(ap);
+}
+
+void dump_it(struct cirbuf * cbuf)
+{
+ int i;
+ char e;
+
+ sock_printf("sta=%2.2d end=%2.2d len=%2.2d/%2.2d { ",
+ cbuf->start, cbuf->end,
+ CIRBUF_GET_LEN(cbuf),
+ CIRBUF_GET_MAXLEN(cbuf));
+
+ sock_printf("[ ");
+ CIRBUF_FOREACH(cbuf, i, e) {
+ sock_printf("%2.2x, ", e&0xFF);
+ }
+ sock_printf("]\n");
+}
+
+#else
+
+void sock_printf(const char * fmt, ...) {}
+void dump_it(struct cirbuf * cbuf) {}
+
+#endif /* DEBUG_SOCKET */
+
+
+#ifdef HOST_VERSION
+void
+write_char(char c) {
+ write(1, &c, 1);
+}
+#else
+void
+write_char(char c) {
+ uart0_send(c);
+}
+
+static void
+rx(char c)
+{
+ int8_t ret;
+ ret = rdline_char_in(&rdl, c);
+ if (ret == 1) {
+ rdline_add_history(&rdl, rdline_get_buffer(&rdl));
+ snprintf(prompt, sizeof(prompt), "toto[%d] > ", cpt++);
+ rdline_newline(&rdl, prompt);
+ }
+ else if (ret == -2) {
+ rdline_stop(&rdl);
+ printf("END\n");
+ }
+}
+
+#endif
+
+
+void display_buffer(const char * buf, uint8_t size)
+{
+ printf("**** GOT (%d) >> %s", size, buf);
+}
+
+const char * dummy_complete[] = {
+ "toto",
+ "titi",
+ "pouet",
+ "coin",
+};
+
+#define TEST_COMPLETION 1
+//#define TEST_COMPLETION 2
+int8_t complete_buffer(const char * buf, uint8_t size,
+ char * dstbuf, uint8_t dstsize,
+ int * state)
+{
+ sock_printf("complete -> %d\n", *state);
+#if TEST_COMPLETION == 1
+ if (*state < (sizeof(dummy_complete)/sizeof(const char *))) {
+ /* pourri mais bon c'est temporaire */
+ strcpy(dstbuf, dummy_complete[*state]);
+ (*state) ++;
+ return 1;
+ }
+ return 0;
+#else
+ dstbuf[0] = 'x';
+ dstbuf[1] = 'y';
+ dstbuf[2] = 'z';
+ dstbuf[3] = '\0';
+ return 2;
+#endif
+}
+
+
+
+int main(void)
+{
+#ifdef HOST_VERSION
+ struct termios oldterm, term;
+ char buf[BUFSIZ];
+ int n, i;
+ int8_t ret;
+#endif
+#ifdef DEBUG_SOCKET
+ struct sockaddr_in sin_ci;
+
+
+ s = socket(PF_INET, SOCK_STREAM, 0);
+ if (s < 0) {
+ printf("socket() failed\n");
+ }
+
+ memset(&sin_ci, 0, sizeof(sin_ci));
+ sin_ci.sin_family = AF_INET;
+ sin_ci.sin_addr.s_addr = htonl(INADDR_LOOPBACK);
+ sin_ci.sin_port = htons(31337);
+#ifndef __linux__
+ sin_ci.sin_len = sizeof(sin_ci);
+#endif
+
+ if (s > 0 && connect(s, (struct sockaddr *)&sin_ci, sizeof(sin_ci)) <
0) {
+ printf("connect() failed\n");
+ s = -1;
+ }
+#endif /* DEBUG_SOCKET */
+
+#ifdef HOST_VERSION
+ tcgetattr(0, &oldterm);
+ memcpy(&term, &oldterm, sizeof(term));
+ term.c_lflag &= ~(ICANON | ECHO | ISIG);
+ tcsetattr(0, TCSANOW, &term);
+ setbuf(stdin, NULL);
+#else
+ uart_init();
+ fdevopen(uart0_dev_send, uart0_dev_recv);
+
+ wait_ms(5000);
+ printf("Start\n");
+ uart0_register_rx_event(rx);
+
+ sei();
+#endif
+
+
+ /* common init */
+ rdline_init(&rdl, write_char, display_buffer, complete_buffer);
+ snprintf(prompt, sizeof(prompt), "toto[%d] > ", cpt++);
+ rdline_newline(&rdl, prompt);
+
+
+ /* loop to send chars on host */
+#ifdef HOST_VERSION
+ while ((n=read(0, buf, BUFSIZ-1)) > 0) {
+ buf[n] = 0;
+
+ for (i=0 ; i<n ; i++) {
+ sock_printf("%o ", buf[i]&0xff);
+ }
+ sock_printf(" RECV\n");
+ for (i=0 ; i<n ; i++) {
+ ret = rdline_char_in(&rdl, buf[i]);
+ if (ret == 1) {
+ rdline_add_history(&rdl,
rdline_get_buffer(&rdl));
+ snprintf(prompt, sizeof(prompt), "toto[%d] > ",
cpt++);
+ rdline_newline(&rdl, prompt);
+ }
+ else if (ret == -2) {
+ tcsetattr(0, TCSANOW, &oldterm);
+ printf("\n");
+ return 0;
+ }
+ }
+ }
+
+ tcsetattr(0, TCSANOW, &oldterm);
+ printf("\n");
+
+ /* irq driven on avr, see rx() */
+#else
+ while(1);
+#endif
+
+ return 0;
+}
=============================================
aversive/modules/ihm/parse/test/uart_config.h (1.1.2.1)
=============================================
@@ -0,0 +1,72 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * This program 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 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: uart_config.h,v 1.1.2.1 2007-09-17 20:53:28 zer0 Exp $
+ *
+ */
+
+/* Droids-corp 2004 - Zer0
+ * config for uart module
+ */
+
+#ifndef UART_CONFIG_H
+#define UART_CONFIG_H
+
+/*
+ * UART0 definitions
+ */
+
+/* compile uart0 fonctions, undefine it to pass compilation */
+#define UART0_COMPILE
+
+/* enable uart0 if == 1, disable if == 0 */
+#define UART0_ENABLED 1
+
+/* enable uart0 interrupts if == 1, disable if == 0 */
+#define UART0_INTERRUPT_ENABLED 1
+
+#define UART0_BAUDRATE 57600
+
+/*
+ * if you enable this, the maximum baudrate you can reach is
+ * higher, but the precision is lower.
+ */
+#define UART0_USE_DOUBLE_SPEED 0
+//#define UART0_USE_DOUBLE_SPEED 1
+
+#define UART0_RX_FIFO_SIZE 4
+#define UART0_TX_FIFO_SIZE 16
+//#define UART0_NBITS 5
+//#define UART0_NBITS 6
+//#define UART0_NBITS 7
+#define UART0_NBITS 8
+//#define UART0_NBITS 9
+
+#define UART0_PARITY UART_PARTITY_NONE
+//#define UART0_PARITY UART_PARTITY_ODD
+//#define UART0_PARITY UART_PARTITY_EVEN
+
+#define UART0_STOP_BIT UART_STOP_BITS_1
+//#define UART0_STOP_BIT UART_STOP_BITS_2
+
+
+
+
+/* .... same for uart 1, 2, 3 ... */
+
+#endif
+
==================================
aversive/projects/example1/.config (1.5.4.3 -> 1.5.4.4)
==================================
@@ -1,5 +1,5 @@
#
-# Automatically generated make config: don't edit
+# Automatically generated by make menuconfig: don't edit
#
#
@@ -70,26 +70,19 @@
#
# Base modules
#
-
-#
-# Enable math library in generation options to see all modules
-#
CONFIG_MODULE_CIRBUF=y
-# CONFIG_MODULE_FIXED_POINT is not set
-# CONFIG_MODULE_VECT2 is not set
-# CONFIG_MODULE_SCHEDULER is not set
-# CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set
+# CONFIG_MODULE_CIRBUF_LARGE is not set
+CONFIG_MODULE_FIXED_POINT=y
+CONFIG_MODULE_VECT2=y
+CONFIG_MODULE_SCHEDULER=y
+CONFIG_MODULE_SCHEDULER_CREATE_CONFIG=y
# CONFIG_MODULE_SCHEDULER_USE_TIMERS is not set
-# CONFIG_MODULE_TIME is not set
-# CONFIG_MODULE_TIME_CREATE_CONFIG is not set
+CONFIG_MODULE_TIME=y
+CONFIG_MODULE_TIME_CREATE_CONFIG=y
#
# Communication modules
#
-
-#
-# uart needs circular buffer, mf2 client may need scheduler
-#
CONFIG_MODULE_UART=y
CONFIG_MODULE_UART_CREATE_CONFIG=y
# CONFIG_MODULE_I2C is not set
@@ -117,6 +110,10 @@
# IHM modules
#
# CONFIG_MODULE_MENU is not set
+# CONFIG_MODULE_RDLINE is not set
+# CONFIG_MODULE_RDLINE_CREATE_CONFIG is not set
+# CONFIG_MODULE_RDLINE_KILL_BUF is not set
+# CONFIG_MODULE_RDLINE_HISTORY is not set
#
# External devices modules
@@ -145,55 +142,39 @@
#
# Robot specific modules
#
-# CONFIG_MODULE_ROBOT_SYSTEM is not set
-# CONFIG_MODULE_POSITION_MANAGER is not set
-# CONFIG_MODULE_TRAJECTORY_MANAGER is not set
+CONFIG_MODULE_ROBOT_SYSTEM=y
+CONFIG_MODULE_POSITION_MANAGER=y
+CONFIG_MODULE_TRAJECTORY_MANAGER=y
#
# Control system modules
#
CONFIG_MODULE_CONTROL_SYSTEM_MANAGER=y
-
-#
-# Filters
-#
# CONFIG_MODULE_PID is not set
# CONFIG_MODULE_RAMP is not set
# CONFIG_MODULE_QUADRAMP is not set
-# CONFIG_MODULE_QUADRAMP_DERIVATE is not set
-# CONFIG_MODULE_BIQUAD is not set
+CONFIG_MODULE_QUADRAMP_DERIVATE=y
+CONFIG_MODULE_BIQUAD=y
#
# Crypto modules
#
-
-#
-# Crypto modules depend on utils module
-#
-# CONFIG_MODULE_AES is not set
-# CONFIG_MODULE_AES_CTR is not set
-# CONFIG_MODULE_MD5 is not set
-# CONFIG_MODULE_MD5_HMAC is not set
-# CONFIG_MODULE_RC4 is not set
+CONFIG_MODULE_AES=y
+CONFIG_MODULE_AES_CTR=y
+CONFIG_MODULE_MD5=y
+CONFIG_MODULE_MD5_HMAC=y
+CONFIG_MODULE_RC4=y
#
# Encodings modules
#
-
-#
-# Encoding modules depend on utils module
-#
# CONFIG_MODULE_BASE64 is not set
# CONFIG_MODULE_HAMMING is not set
#
# Debug modules
#
-
-#
-# Debug modules depend on utils module
-#
-# CONFIG_MODULE_DIAGNOSTIC is not set
+CONFIG_MODULE_DIAGNOSTIC=y
# CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
CONFIG_MODULE_ERROR=y
CONFIG_MODULE_ERROR_CREATE_CONFIG=y
Commit from zer0 (2007-09-17 22:53 CEST)
================
Add parse module
aversive_projects microb2008/main/.config 1.5
aversive_projects microb2008/main/main.c 1.6
=========================================
aversive_projects/microb2008/main/.config (1.4 -> 1.5)
=========================================
@@ -75,6 +75,7 @@
# Enable math library in generation options to see all modules
#
CONFIG_MODULE_CIRBUF=y
+# CONFIG_MODULE_CIRBUF_LARGE is not set
CONFIG_MODULE_FIXED_POINT=y
CONFIG_MODULE_VECT2=y
CONFIG_MODULE_SCHEDULER=y
@@ -117,6 +118,10 @@
# IHM modules
#
CONFIG_MODULE_MENU=y
+# CONFIG_MODULE_RDLINE is not set
+# CONFIG_MODULE_RDLINE_CREATE_CONFIG is not set
+# CONFIG_MODULE_RDLINE_KILL_BUF is not set
+# CONFIG_MODULE_RDLINE_HISTORY is not set
#
# External devices modules
========================================
aversive_projects/microb2008/main/main.c (1.5 -> 1.6)
========================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: main.c,v 1.5 2007-08-21 21:51:34 zer0 Exp $
+ * Revision : $Id: main.c,v 1.6 2007-09-17 20:53:28 zer0 Exp $
*
*/
@@ -367,15 +367,15 @@
/* TIME */
time_init(TIME_PRIO);
- scheduler_add_periodical_event_priority(sensor_update, NULL,
- 50000L / SCHEDULER_UNIT,
SENSORS_PRIO);
-
/* CAM */
cam_init();
action_init();
sensor_init();
+ scheduler_add_periodical_event_priority(sensor_update, NULL,
+ 50000L / SCHEDULER_UNIT,
SENSORS_PRIO);
+
sei();
wait_ms(100);
_______________________________________________
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WIKI : http://wiki.droids-corp.org/index.php/Aversive
DOXYGEN : http://zer0.droids-corp.org/doxygen_aversive/html/
BUGZILLA : http://bugzilla.droids-corp.org
COMMIT LOGS : http://zer0.droids-corp.org/aversive_commitlog
