Changeset 598:26946168046e

Timestamp:

06/11/08 09:39:25 (7 months ago)

Author:

Maxime Petazzoni <maxime.petazzoni@…>

Branch:

default

Message:

Refactor RCMD to use only one single source file.

Location:

nxos/base/lib/rcmd

Files:

• _rcmd.c (deleted)
• _rcmd.h (deleted)
• rcmd.c (modified) (5 diffs)
• rcmd.h (modified) (1 diff)

nxos/base/lib/rcmd/rcmd.c

@@ -10 +10 @@
 #include "base/util.h"
 #include "base/assert.h"
+#include "base/display.h"
+#include "base/nxt.h"
+#include "base/drivers/motors.h"
+#include "base/drivers/sound.h"
+#include "base/drivers/systick.h"
 #include "base/lib/fs/fs.h"
 #include "base/lib/rcmd/rcmd.h"
-#include "base/lib/rcmd/_rcmd.h"
+
+static rcmd_err_t nx_rcmd_move(char *line);
+static rcmd_err_t nx_rcmd_print(char *line);
+static rcmd_err_t nx_rcmd_clear(char *line);
+static rcmd_err_t nx_rcmd_play(char *line);
+static rcmd_err_t nx_rcmd_exec(char *line);
+static rcmd_err_t nx_rcmd_wait(char *line);
+
+static rcmd_command_def rcmd_commands[] = {
+  { "move",  4, nx_rcmd_move },
+  { "print", 2, nx_rcmd_print },
+  { "clear", 1, nx_rcmd_clear },
+  { "play",  3, nx_rcmd_play },
+  { "exec",  2, nx_rcmd_exec },
+  { "wait",  2, nx_rcmd_wait },
+  { NULL, 0, NULL },
+};
+
+static char *rcmd_err_str[RCMD_ERR_N_ERRS] = {
+  "No error.",
+  "Invalid parameter count.",
+  "Invalid parameter.",
+  "File I/O error.",
+  "Parser reached end of file.",
+  "Command not found.",
+};
+
+static void nx_rcmd_tokenize(char *line, char sep, int *ntokens, int *indices) {
+  size_t len;
+  U32 i;
+
+  len = strlen(line);
+  *ntokens = 0;
+  i = 0;
+
+  while (i < len) {
+    while (i < len && line[i] == sep) {
+      /* Replace all occurences of the token separator char by \0. */
+      line[i++] = 0;
+    }
+
+    if (i == len || *ntokens == RCMD_MAX_TOKENS) {
+      return;
+    }
+
+    indices[*ntokens] = i;
+    (*ntokens)++;
+
+    while (i < len && line[i] != sep) {
+      /* Pass token characters. */
+      i++;
+    }
+  }
+}
+
+static rcmd_err_t nx_rcmd_move(char *line) {
+  int ntokens, indices[RCMD_MAX_TOKENS], subind[NXT_N_MOTORS], i;
+  char *spec;
+
+  bool active[NXT_N_MOTORS] = {FALSE};
+  S32 speeds[NXT_N_MOTORS];
+  U32 durations[NXT_N_MOTORS];
+  bool success;
+
+  nx_rcmd_tokenize(line, RCMD_TOKEN_SEPARATOR, &ntokens, indices);
+
+  if (ntokens != rcmd_commands[RCMD_CMD_MOVE].argc) {
+    return RCMD_ERR_INCORRECT_ARGC;
+  }
+
+  /* Parse motors spec. */
+  spec = line + indices[1];
+  nx_rcmd_tokenize(spec, ',', &ntokens, subind);
+  for (i=0; i<ntokens; i++) {
+    U8 motor = spec[subind[i]] - 'A';
+    if (motor < NXT_N_MOTORS) {
+      active[motor] = TRUE;
+    } else {
+      return RCMD_ERR_INVALID_PARAMETER;
+    }
+  }
+
+  /* Parse speeds spec. */
+  spec = line + indices[2];
+  nx_rcmd_tokenize(spec, ',', &ntokens, subind);
+  for (i=0; i<NXT_N_MOTORS; i++) {
+    if (ntokens <= i) {
+      success = atos32(spec + subind[ntokens-1], &speeds[i]);
+    } else {
+      success = atos32(spec + subind[i], &speeds[i]);
+    }
+
+    if (!success || speeds[i] > 100 || speeds[i] < -100) {
+      return RCMD_ERR_INVALID_PARAMETER;
+    }
+  }
+
+  /* Parse durations spec. */
+  spec = line + indices[3];
+  nx_rcmd_tokenize(spec, ',', &ntokens, subind);
+  for (i=0; i<NXT_N_MOTORS; i++) {
+    if (ntokens <= i) {
+      success = atou32(spec + subind[ntokens-1], &durations[i]);
+    } else {
+      success = atou32(spec + subind[i], &durations[i]);
+    }
+
+    if (!success || (speeds[i] != 0 && durations[i] == 0)) {
+      return RCMD_ERR_INVALID_PARAMETER;
+    }
+  }
+
+  /* Activate motors. */
+  for (i=0; i<NXT_N_MOTORS; i++) {
+    if (active[i]) {
+      if (speeds[i] != 0) {
+        nx_motors_rotate_time(i, (S8) speeds[i], durations[i], FALSE);
+      } else {
+        nx_motors_stop(i, TRUE);
+      }
+    }
+  }
+
+  nx_display_string("moving?\n");
+
+  return RCMD_ERR_NO_ERROR;
+}
+
+static rcmd_err_t nx_rcmd_print(char *line) {
+  int ntokens, indices[RCMD_MAX_TOKENS], i;
+
+  nx_rcmd_tokenize(line, RCMD_TOKEN_SEPARATOR, &ntokens, indices);
+
+  for (i=1; i<ntokens; i++) {
+    nx_display_string(line + indices[i]);
+    if (i < ntokens-1)
+      nx_display_string(" ");
+  }
+
+  nx_display_end_line();
+  return RCMD_ERR_NO_ERROR;
+}
+
+static rcmd_err_t nx_rcmd_clear(char *line) {
+  /* No-op. */
+  char c;
+  c = line[0];
+
+  nx_display_clear();
+  return RCMD_ERR_NO_ERROR;
+}
+
+static rcmd_err_t nx_rcmd_play(char *line) {
+  int ntokens, indices[RCMD_MAX_TOKENS];
+  U32 freq, duration;
+
+  nx_rcmd_tokenize(line, RCMD_TOKEN_SEPARATOR, &ntokens, indices);
+
+  if (ntokens < rcmd_commands[RCMD_CMD_PLAY].argc) {
+    return RCMD_ERR_INCORRECT_ARGC;
+  }
+
+  if (!atou32(line + indices[1], &freq) || freq < 200 ||
+      !atou32(line + indices[2], &duration) || duration < 100) {
+    return RCMD_ERR_INVALID_PARAMETER;
+  }
+
+  if (ntokens == 4 && streq(line + indices[3], "sync") == 0) {
+    nx_sound_freq(freq, duration);
+  } else {
+    nx_sound_freq_async(freq, duration);
+  }
+
+  return RCMD_ERR_NO_ERROR;
+}
+
+static rcmd_err_t nx_rcmd_exec(char *line) {
+  int ntokens, indices[RCMD_MAX_TOKENS];
+  char *filename;
+
+  nx_rcmd_tokenize(line, RCMD_TOKEN_SEPARATOR, &ntokens, indices);
+
+  if (ntokens != rcmd_commands[RCMD_CMD_EXEC].argc) {
+    return RCMD_ERR_INCORRECT_ARGC;
+  }
+
+  filename = line + indices[1];
+
+  /* Open the requested file and branch execution. */
+  nx_display_string("exec:");
+  nx_display_string(filename);
+  nx_display_end_line();
+
+  return RCMD_ERR_NO_ERROR;
+}
+
+static rcmd_err_t nx_rcmd_wait(char *line) {
+  int ntokens, indices[RCMD_MAX_TOKENS];
+  U32 wait;
+
+  nx_rcmd_tokenize(line, RCMD_TOKEN_SEPARATOR, &ntokens, indices);
+
+  if (ntokens != rcmd_commands[RCMD_CMD_EXEC].argc) {
+    return RCMD_ERR_INCORRECT_ARGC;
+  }
+
+  if (!atou32(line + indices[1], &wait) || wait == 0) {
+    return RCMD_ERR_INVALID_PARAMETER;
+  }
+
+  nx_systick_wait_ms(wait);
+  return RCMD_ERR_NO_ERROR;
+}
+
+static rcmd_err_t nx_rcmd_readline(fs_fd_t fd, char *line) {
+  fs_err_t err;
+  U32 i = 0;
+  U8 *buf = (U8 *)line;
+
+  while (i < RCMD_BUF_LEN - 2) {
+    err = nx_fs_read(fd, &(buf[i]));
+
+    if (err == FS_ERR_END_OF_FILE) {
+      buf[i] = 0;
+      return RCMD_ERR_END_OF_FILE;
+    } else if (err != FS_ERR_NO_ERROR) {
+      nx_display_uint(err);
+      nx_display_end_line();
+      return RCMD_ERR_READ_ERROR;
+    }
+
+    if (buf[i] == '\n') {
+      break;
+    }
+
+    i++;
+  }
+
+  buf[i] = 0;
+  return RCMD_ERR_NO_ERROR;
+}
+
+static void nx_rcmd_error(rcmd_err_t err, char *filename, int line) {
+/*  nx_display_clear(); */
+
+  nx_display_string("Error in file:\n");
+  nx_display_string(filename);
+  nx_display_end_line();
+
+  nx_display_string("At line ");
+  nx_display_uint(line);
+  nx_display_end_line();
+
+  nx_display_string(rcmd_err_str[err]);
+}
+
+static rcmd_err_t nx_rcmd_find_command(char *line, rcmd_command_def *command) {
+  U32 i = 0;
+  char *sep;
+
+  sep = strchr(line, RCMD_TOKEN_SEPARATOR);
+  if (sep) {
+    *sep = '\0';
+  }
+
+  while (rcmd_commands[i].name) {
+    if (streq(line, rcmd_commands[i].name)) {
+      *command = rcmd_commands[i];
+      *sep = RCMD_TOKEN_SEPARATOR;
+      return RCMD_ERR_NO_ERROR;
+    }
+
+    i++;
+  }
+
+  *sep = RCMD_TOKEN_SEPARATOR;
+  return RCMD_ERR_COMMAND_NOT_FOUND;
+}
 
 rcmd_err_t nx_rcmd_do(const char *line) {
@@ -28 +310 @@
   memcpy(cmdline, line, strlen(line));
 
-  err = nx__rcmd_find_command(cmdline, &command);
+  err = nx_rcmd_find_command(cmdline, &command);
   if (err != RCMD_ERR_NO_ERROR) {
     return err;
@@ -44 +326 @@
   fserr = nx_fs_open(file, FS_FILE_MODE_OPEN, &fd);
   if (fserr != FS_ERR_NO_ERROR) {
-    nx__rcmd_error(RCMD_ERR_READ_ERROR, file, 0);
+    nx_rcmd_error(RCMD_ERR_READ_ERROR, file, 0);
     return;
   }
@@ -50 +332 @@
   do {
     char line[RCMD_BUF_LEN] = {0};
-    err = nx__rcmd_readline(fd, line);
+    err = nx_rcmd_readline(fd, line);
     if (err == RCMD_ERR_READ_ERROR) {
       break;
@@ -61 +343 @@
     result = nx_rcmd_do(line);
     if (result != RCMD_ERR_NO_ERROR) {
-      nx__rcmd_error(result, file, n);
+      nx_rcmd_error(result, file, n);
       break;
     }

nxos/base/lib/rcmd/rcmd.h

@@ -64 +64 @@
 } rcmd_err_t;
 
+/** Command definition. */
+typedef struct {
+  char *name;  /**< Command name. */
+  int argc;    /**< Number of arguments expected by this command. */
+
+  /** Command actuator. */
+  rcmd_err_t (* actuator)(char*);
+} rcmd_command_def;
+
 /** Execute the given line.
  *