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/*
* r3PCR Teensy Controller Code
*
*
* Copyright (C) 2013-2014 Bernhard Tittelbach <xro@realraum.at>
*
* This code 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
* any later version.
*
* This code 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 spreadspace avr utils. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdlib.h>
#include <stdio.h>
#include "cmd_queue.h"
//static assert:
//~ static int SDFLKJ[sizeof(int) == sizeof(int16_t)] = { 0 };
#define CMDQ_INPUT_LIST_LEN 2
typedef struct {
uint8_t num_args;
uint8_t cmd;
void* function_ptr;
int16_t input_list[CMDQ_INPUT_LIST_LEN];
uint8_t num_args_read;
} cmd_queue_item;
#define CMQ_QUEUE_LENGTH 4
cmd_queue_item cmd_queue_[CMQ_QUEUE_LENGTH];
uint8_t cmd_queue_todo_pos_ = 0;
uint8_t cmd_queue_fillargs_pos_ = 0;
uint8_t cmd_queue_next_here_ = 0;
#define CMDQ_READBUFFER_LEN 20
char cmdq_readbuffer_[CMDQ_READBUFFER_LEN];
uint8_t cmdq_readbuffer_pos_ = 0;
inline void cmdq_finishReadingArgument(void)
{
cmdq_readbuffer_[cmdq_readbuffer_pos_] = '\0';
cmdq_readbuffer_pos_ = 0;
cmd_queue_[cmd_queue_fillargs_pos_].input_list[cmd_queue_[cmd_queue_fillargs_pos_].num_args_read++] = atoi(cmdq_readbuffer_);
}
//call regularily if in state CQ_READING
uint8_t cmdq_addCharToArgumentBuffer(uint8_t c)
{
if ( cmd_queue_todo_pos_ == cmd_queue_next_here_ )
return 1; //nothing to do with us, since no cmd's queued
if (cmd_queue_[cmd_queue_fillargs_pos_].num_args_read >= CMDQ_INPUT_LIST_LEN)
return 1; //nothing to do with us
if (cmd_queue_[cmd_queue_fillargs_pos_].num_args_read >= cmd_queue_[cmd_queue_fillargs_pos_].num_args )
return 1; //nothing to do with us
//if input terminated by \n or \r then addArgument
if (c == '\n' || c == '\r' || c == ',' || c == 0x1B)
{
cmdq_finishReadingArgument();
return 0;
} else { //continue reading
cmdq_readbuffer_[cmdq_readbuffer_pos_++] = (char) c;
}
//if numlen +1 of readbuffer reached, addArgument as well (leave one char free to terminate with \0)
if (cmdq_readbuffer_pos_ +1 >= CMDQ_READBUFFER_LEN)
{
cmdq_finishReadingArgument();
}
return 0;
}
void cmdq_queueCmdWithNumArgs(void* fptr, uint8_t num_args, uint8_t cmd)
{
if (num_args > CMDQ_INPUT_LIST_LEN)
{
printf("{\"cmd\":\"%c\",\"cmd_ok\":false,\"error\":\"max args == %d\"}\r\n", cmd, CMDQ_INPUT_LIST_LEN);
return; //to continue would hang cmdq, so we don't
}
if ((cmd_queue_next_here_ +1) % CMQ_QUEUE_LENGTH == cmd_queue_todo_pos_) //for this check REQUIRED: CMQ_QUEUE_LENGTH > 2
cmdq_doWork(); //no more space in queue -> execute now !
cmd_queue_[cmd_queue_next_here_].num_args = num_args;
cmd_queue_[cmd_queue_next_here_].cmd = cmd;
cmd_queue_[cmd_queue_next_here_].function_ptr = fptr;
cmd_queue_[cmd_queue_next_here_].num_args_read = 0;
cmd_queue_fillargs_pos_ = cmd_queue_next_here_;
cmd_queue_next_here_++;
cmd_queue_next_here_ %= CMQ_QUEUE_LENGTH;
}
void cmdq_doWork(void)
{
while ( cmd_queue_todo_pos_ != cmd_queue_next_here_ )
{
// is num_args_read_ now equal to num args we expect ?
if (cmd_queue_[cmd_queue_todo_pos_].num_args_read != cmd_queue_[cmd_queue_todo_pos_].num_args )
break;
if (cmd_queue_[cmd_queue_todo_pos_].function_ptr == 0 )
break;
switch (cmd_queue_[cmd_queue_todo_pos_].num_args)
{
case 0:
((void(*)(void)) cmd_queue_[cmd_queue_todo_pos_].function_ptr)();
break;
case 1:
((void(*)(int16_t)) cmd_queue_[cmd_queue_todo_pos_].function_ptr)(cmd_queue_[cmd_queue_todo_pos_].input_list[0]);
break;
case 2:
((void(*)(int16_t,int16_t)) cmd_queue_[cmd_queue_todo_pos_].function_ptr)(cmd_queue_[cmd_queue_todo_pos_].input_list[0], cmd_queue_[cmd_queue_todo_pos_].input_list[1]);
break;
}
char cmd = cmd_queue_[cmd_queue_todo_pos_].cmd;
cmd_queue_[cmd_queue_todo_pos_].num_args_read = 0;
cmd_queue_[cmd_queue_todo_pos_].num_args = 0;
cmd_queue_[cmd_queue_todo_pos_].function_ptr = 0;
cmd_queue_[cmd_queue_todo_pos_].cmd = 0;
cmd_queue_todo_pos_++;
cmd_queue_todo_pos_ %= CMQ_QUEUE_LENGTH;
printf("{\"cmd\":\"%c\",\"cmd_ok\":true}\r\n",cmd);
}
}
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