1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
|
/*
* r3PCR Teensy Controller Code
*
*
* Copyright (C) 2013 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);
}
}
|
