amiro-os / core / src / aos_shell.c @ 47e89ebf
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file aos_shell.c
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* @brief Shell code.
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* @details Shell code as well as shell related channels and streams.
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*
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* @addtogroup aos_shell
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* @{
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*/
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#include <amiroos.h> |
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#include <string.h> |
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#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/**
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* @brief Event mask to be set on OS related events.
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*/
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#define AOS_SHELL_EVENTMASK_OS EVENT_MASK(0) |
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/**
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* @brief Event mask to be set on a input event.
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*/
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#define AOS_SHELL_EVENTMASK_INPUT EVENT_MASK(1) |
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/*
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* forward declarations
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*/
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static size_t _channelwrite(void *instance, const uint8_t *bp, size_t n); |
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static size_t _channelread(void *instance, uint8_t *bp, size_t n); |
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static msg_t _channelput(void *instance, uint8_t b); |
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static msg_t _channelget(void *instance); |
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static msg_t _channelputt(void *instance, uint8_t b, sysinterval_t time); |
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static msg_t _channelgett(void *instance, sysinterval_t time); |
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static size_t _channelwritet(void *instance, const uint8_t *bp, size_t n, sysinterval_t time); |
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static size_t _channelreadt(void *instance, uint8_t *bp, size_t n, sysinterval_t time); |
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static msg_t _channelctl(void *instance, unsigned int operation, void *arg); |
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static size_t _streamwrite(void *instance, const uint8_t *bp, size_t n); |
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static size_t _stremread(void *instance, uint8_t *bp, size_t n); |
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static msg_t _streamput(void *instance, uint8_t b); |
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static msg_t _streamget(void *instance); |
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static const struct AosShellChannelVMT _channelvmt = { |
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(size_t) 0,
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_channelwrite, |
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_channelread, |
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_channelput, |
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_channelget, |
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_channelputt, |
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_channelgett, |
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_channelwritet, |
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_channelreadt, |
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_channelctl, |
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}; |
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static const struct AosShellStreamVMT _streamvmt = { |
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(size_t) 0,
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_streamwrite, |
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_stremread, |
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_streamput, |
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_streamget, |
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}; |
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/**
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* @brief Enumerator of special keyboard keys.
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*/
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typedef enum special_key { |
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KEY_UNKNOWN, /**< any/unknow key */
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KEY_AMBIGUOUS, /**< key is ambiguous */
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KEY_TAB, /**< tabulator key */
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KEY_ESCAPE, /**< escape key */
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KEY_BACKSPACE, /**< backspace key */
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KEY_INSERT, /**< insert key */
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KEY_DELETE, /**< delete key */
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KEY_HOME, /**< home key */
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KEY_END, /**< end key */
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KEY_PAGE_UP, /**< page up key */
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KEY_PAGE_DOWN, /**< page down key */
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KEY_ARROW_UP, /**< arrow up key */
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KEY_ARROW_DOWN, /**< arrow down key */
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KEY_ARROW_LEFT, /**< arrow left key */
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KEY_ARROW_RIGHT, /**< arrow right key */
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KEY_CTRL_ARROW_UP, /**< CTRL + arrow up key */
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KEY_CTRL_ARROW_DOWN, /**< CTRL + arrow down key */
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KEY_CTRL_ARROW_LEFT, /**< CTRL + arrow left key */
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KEY_CTRL_ARROW_RIGHT, /**< CTRL + arrow right key */
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} special_key_t; |
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/**
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* @brief Enumerator for case (in)sensitive character matching.
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*/
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typedef enum charmatch { |
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CHAR_MATCH_NOT = 0, /**< Characters do not match at all. */ |
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CHAR_MATCH_NCASE = 1, /**< Characters would match case insensitive. */ |
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CHAR_MATCH_CASE = 2, /**< Characters do match with case. */ |
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} charmatch_t; |
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Implementation of the BaseAsynchronous write() method (inherited from BaseSequentialStream).
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*/
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static size_t _channelwrite(void *instance, const uint8_t *bp, size_t n) |
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{
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if (((AosShellChannel*)instance)->flags & AOS_SHELLCHANNEL_OUTPUT_ENABLED) {
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return streamWrite(((AosShellChannel*)instance)->asyncchannel, bp, n);
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} else {
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return 0; |
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} |
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} |
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/**
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* @brief Implementation of the BaseAsynchronous read() method (inherited from BaseSequentialStream).
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*/
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static size_t _channelread(void *instance, uint8_t *bp, size_t n) |
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{
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if (((AosShellChannel*)instance)->flags & AOS_SHELLCHANNEL_INPUT_ENABLED) {
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return streamRead(((AosShellChannel*)instance)->asyncchannel, bp, n);
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} else {
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return 0; |
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} |
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} |
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/**
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* @brief Implementation of the BaseAsynchronous put() method (inherited from BaseSequentialStream).
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*/
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static msg_t _channelput(void *instance, uint8_t b) |
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{
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if (((AosShellChannel*)instance)->flags & AOS_SHELLCHANNEL_OUTPUT_ENABLED) {
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return streamPut(((AosShellChannel*)instance)->asyncchannel, b);
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} else {
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return MSG_RESET;
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} |
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} |
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/**
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* @brief Implementation of the BaseAsynchronous get() method (inherited from BaseSequentialStream).
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*/
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static msg_t _channelget(void *instance) |
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{
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if (((AosShellChannel*)instance)->flags & AOS_SHELLCHANNEL_INPUT_ENABLED) {
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return streamGet(((AosShellChannel*)instance)->asyncchannel);
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} else {
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return MSG_RESET;
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} |
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} |
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/**
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* @brief Implementation of the BaseAsynchronous putt() method.
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*/
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static msg_t _channelputt(void *instance, uint8_t b, sysinterval_t time) |
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{
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if (((AosShellChannel*)instance)->flags & AOS_SHELLCHANNEL_OUTPUT_ENABLED) {
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return chnPutTimeout(((AosShellChannel*)instance)->asyncchannel, b, time);
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} else {
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return MSG_RESET;
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} |
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} |
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/**
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* @brief Implementation of the BaseAsynchronous gett() method.
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*/
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static msg_t _channelgett(void *instance, sysinterval_t time) |
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{
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if (((AosShellChannel*)instance)->flags & AOS_SHELLCHANNEL_INPUT_ENABLED) {
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return chnGetTimeout(((AosShellChannel*)instance)->asyncchannel, time);
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} else {
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return MSG_RESET;
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} |
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} |
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/**
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* @brief Implementation of the BaseAsynchronous writet() method.
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*/
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static size_t _channelwritet(void *instance, const uint8_t *bp, size_t n, sysinterval_t time) |
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{
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if (((AosShellChannel*)instance)->flags & AOS_SHELLCHANNEL_OUTPUT_ENABLED) {
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return chnWriteTimeout(((AosShellChannel*)instance)->asyncchannel, bp, n, time);
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} else {
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return 0; |
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} |
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} |
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/**
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* @brief Implementation of the BaseAsynchronous readt() method.
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*/
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static size_t _channelreadt(void *instance, uint8_t *bp, size_t n, sysinterval_t time) |
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{
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if (((AosShellChannel*)instance)->flags & AOS_SHELLCHANNEL_INPUT_ENABLED) {
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return chnReadTimeout(((AosShellChannel*)instance)->asyncchannel, bp, n, time);
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} else {
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return 0; |
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} |
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} |
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/**
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* @brief Implementation of the BaseAsynchronousChannel ctl() method.
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*/
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static msg_t _channelctl(void *instance, unsigned int operation, void *arg) |
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{
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(void) instance;
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switch (operation) {
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case CHN_CTL_NOP:
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osalDbgCheck(arg == NULL);
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break;
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case CHN_CTL_INVALID:
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osalDbgAssert(false, "invalid CTL operation"); |
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break;
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default:
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break;
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} |
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return MSG_OK;
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} |
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static size_t _streamwrite(void *instance, const uint8_t *bp, size_t n) |
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{
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aosDbgCheck(instance != NULL);
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// local variables
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AosShellChannel* channel = ((AosShellStream*)instance)->channel; |
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size_t bytes; |
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size_t maxbytes = 0;
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// iterate through the list of channels
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while (channel != NULL) { |
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bytes = streamWrite(channel, bp, n); |
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maxbytes = (bytes > maxbytes) ? bytes : maxbytes; |
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channel = channel->next; |
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} |
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return maxbytes;
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} |
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static size_t _stremread(void *instance, uint8_t *bp, size_t n) |
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{
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(void)instance;
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(void)bp;
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(void)n;
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return 0; |
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} |
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static msg_t _streamput(void *instance, uint8_t b) |
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{
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aosDbgCheck(instance != NULL);
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// local variables
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AosShellChannel* channel = ((AosShellStream*)instance)->channel; |
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msg_t ret = MSG_OK; |
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// iterate through the list of channels
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while (channel != NULL) { |
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msg_t ret_ = streamPut(channel, b); |
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ret = (ret_ < ret) ? ret_ : ret; |
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channel = channel->next; |
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} |
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return ret;
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} |
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static msg_t _streamget(void *instance) |
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{
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(void)instance;
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return 0; |
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} |
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/**
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* @brief Print the shell prompt
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* @details Depending on the configuration flags, the system uptime is printed before the prompt string.
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*
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* @param[in] shell Pointer to the shell object.
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*/
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static void _printPrompt(aos_shell_t* shell) |
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{
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aosDbgCheck(shell != NULL);
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// print some time informattion before prompt if configured
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if (shell->config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) {
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// printf the system uptime
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if ((shell->config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) == AOS_SHELL_CONFIG_PROMPT_UPTIME) {
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// get current system uptime
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aos_timestamp_t uptime; |
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aosSysGetUptime(&uptime); |
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chprintf((BaseSequentialStream*)&shell->stream, "[%01u:%02u:%02u:%02u:%03u:%03u] ",
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(uint32_t)(uptime / MICROSECONDS_PER_DAY), |
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(uint8_t)(uptime % MICROSECONDS_PER_DAY / MICROSECONDS_PER_HOUR), |
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(uint8_t)(uptime % MICROSECONDS_PER_HOUR / MICROSECONDS_PER_MINUTE), |
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(uint8_t)(uptime % MICROSECONDS_PER_MINUTE / MICROSECONDS_PER_SECOND), |
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(uint16_t)(uptime % MICROSECONDS_PER_SECOND / MICROSECONDS_PER_MILLISECOND), |
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(uint16_t)(uptime % MICROSECONDS_PER_MILLISECOND / MICROSECONDS_PER_MICROSECOND)); |
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} |
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#if (HAL_USE_RTC == TRUE)
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else if ((shell->config & (AOS_SHELL_CONFIG_PROMPT_UPTIME | AOS_SHELL_CONFIG_PROMPT_DATETIME)) == AOS_SHELL_CONFIG_PROMPT_DATETIME) { |
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// get current RTC time
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struct tm dt;
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aosSysGetDateTime(&dt); |
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chprintf((BaseSequentialStream*)&shell->stream, "[%02u-%02u-%04u|%02u:%02u:%02u] ",
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dt.tm_mday, |
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dt.tm_mon + 1,
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dt.tm_year + 1900,
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dt.tm_hour, |
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dt.tm_min, |
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dt.tm_sec); |
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} |
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#endif /* (HAL_USE_RTC == TRUE) */ |
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else {
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aosDbgAssert(false);
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} |
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} |
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// print the actual prompt string
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if (shell->prompt && !(shell->config & AOS_SHELL_CONFIG_PROMPT_MINIMAL)) {
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chprintf((BaseSequentialStream*)&shell->stream, "%s$ ", shell->prompt);
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} else {
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chprintf((BaseSequentialStream*)&shell->stream, "%>$ ");
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} |
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return;
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} |
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/**
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* @brief Interprete a escape sequence
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* @details This function interpretes escape sequences (starting with ASCII
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* "Escape" character 0x1B) according to the VT100 / VT52 ANSI escape
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* sequence definitions.
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* @note Only the most important escape sequences are implemented yet.
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*
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* @param[in] seq Character sequence to interprete.
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* Must be terminated by NUL byte.
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