amiro-os / core / inc / aos_shell.h @ 7368d8da
History | View | Annotate | Download (10.933 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2020 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU General Public License as published by
|
| 7 |
the Free Software Foundation, either version 3 of the License, or
|
| 8 |
(at your option) any later version.
|
| 9 |
|
| 10 |
This program is distributed in the hope that it will be useful,
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 13 |
GNU General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
/**
|
| 20 |
* @file aos_shell.h
|
| 21 |
* @brief Shell macros and structures.
|
| 22 |
*
|
| 23 |
* @addtogroup aos_shell
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#ifndef AMIROOS_SHELL_H
|
| 28 |
#define AMIROOS_SHELL_H
|
| 29 |
|
| 30 |
#include <amiroos.h> |
| 31 |
|
| 32 |
#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__) |
| 33 |
|
| 34 |
/******************************************************************************/
|
| 35 |
/* CONSTANTS */
|
| 36 |
/******************************************************************************/
|
| 37 |
|
| 38 |
/**
|
| 39 |
* @brief Size of the escape sequence buffer.
|
| 40 |
*/
|
| 41 |
#if !defined(AOS_SHELL_ESCSEQUENCE_LENGTH) || defined(__DOXYGEN__)
|
| 42 |
#define AOS_SHELL_ESCSEQUENCE_LENGTH 8 |
| 43 |
#endif
|
| 44 |
|
| 45 |
/**
|
| 46 |
* @brief Shell event flag that is emitted when the thread starts.
|
| 47 |
*/
|
| 48 |
#define AOS_SHELL_EVTFLAG_START ((eventflags_t)(1 << 0)) |
| 49 |
|
| 50 |
/**
|
| 51 |
* @brief Shell event flag that is emitted when a command is executed.
|
| 52 |
*/
|
| 53 |
#define AOS_SHELL_EVTFLAG_EXECUTE ((eventflags_t)(1 << 1)) |
| 54 |
|
| 55 |
/**
|
| 56 |
* @brief Shell event flag that is emitted when a command execution finished.
|
| 57 |
*/
|
| 58 |
#define AOS_SHELL_EVTFLAG_DONE ((eventflags_t)(1 << 2)) |
| 59 |
|
| 60 |
/**
|
| 61 |
* @brief Shell event flag that is emitted when the shread stops.
|
| 62 |
*/
|
| 63 |
#define AOS_SHELL_EVTFLAG_EXIT ((eventflags_t)(1 << 3)) |
| 64 |
|
| 65 |
/**
|
| 66 |
* @brief Shell event flag that is emitted when an I/O error occurred.
|
| 67 |
*/
|
| 68 |
#define AOS_SHELL_EVTFLAG_IOERROR ((eventflags_t)(1 << 4)) |
| 69 |
|
| 70 |
/**
|
| 71 |
* @brief Shell input configuration for replacing content by user input.
|
| 72 |
*/
|
| 73 |
#define AOS_SHELL_CONFIG_INPUT_OVERWRITE (1 << 0) |
| 74 |
|
| 75 |
/**
|
| 76 |
* @brief Shell prompt configuration print a minimalistic prompt.
|
| 77 |
*/
|
| 78 |
#define AOS_SHELL_CONFIG_PROMPT_MINIMAL (1 << 1) |
| 79 |
|
| 80 |
/**
|
| 81 |
* @brief Shell prompt configuration to additionally print the system uptime with the prompt.
|
| 82 |
*/
|
| 83 |
#define AOS_SHELL_CONFIG_PROMPT_UPTIME (1 << 2) |
| 84 |
|
| 85 |
/**
|
| 86 |
* @brief Shell prompt configuration to additionally print the date and time with the prompt.
|
| 87 |
*/
|
| 88 |
#define AOS_SHELL_CONFIG_PROMPT_DATETIME (2 << 2) |
| 89 |
|
| 90 |
/**
|
| 91 |
* @brief Shell prompt configuration to additionally print the system uptime with the prompt.
|
| 92 |
*/
|
| 93 |
#define AOS_SHELL_CONFIG_MATCH_CASE (1 << 4) |
| 94 |
|
| 95 |
/**
|
| 96 |
* @brief Shell I/O channel flag whether the channel is attached to a list.
|
| 97 |
*/
|
| 98 |
#define AOS_SHELLCHANNEL_ATTACHED (1 << 0) |
| 99 |
|
| 100 |
/**
|
| 101 |
* @brief Shell I/O channel flag whether the channel is enabled as input.
|
| 102 |
*/
|
| 103 |
#define AOS_SHELLCHANNEL_INPUT_ENABLED (1 << 1) |
| 104 |
|
| 105 |
/**
|
| 106 |
* @brief Shell I/O channel flag whether the channel is enabled as output.
|
| 107 |
*/
|
| 108 |
#define AOS_SHELLCHANNEL_OUTPUT_ENABLED (1 << 2) |
| 109 |
|
| 110 |
/******************************************************************************/
|
| 111 |
/* SETTINGS */
|
| 112 |
/******************************************************************************/
|
| 113 |
|
| 114 |
/******************************************************************************/
|
| 115 |
/* CHECKS */
|
| 116 |
/******************************************************************************/
|
| 117 |
|
| 118 |
/******************************************************************************/
|
| 119 |
/* DATA STRUCTURES AND TYPES */
|
| 120 |
/******************************************************************************/
|
| 121 |
|
| 122 |
/**
|
| 123 |
* @brief AosShellChannel specific methods.
|
| 124 |
*/
|
| 125 |
#define _aos_shell_channel_methods \
|
| 126 |
_base_asynchronous_channel_methods |
| 127 |
|
| 128 |
/**
|
| 129 |
* @brief AosShellChannel specific data.
|
| 130 |
*/
|
| 131 |
#define _aos_shell_channel_data \
|
| 132 |
/* pointer to a BaseAsynchronousChannel object */ \
|
| 133 |
BaseAsynchronousChannel* asyncchannel; \ |
| 134 |
/* event listener for the associated BaseAsynchronousChannel */ \
|
| 135 |
event_listener_t listener; \ |
| 136 |
/* pointer to the next chennal in a AosShellStream */ \
|
| 137 |
struct aos_shellchannel* next; \
|
| 138 |
/* flags related to the channel */ \
|
| 139 |
uint8_t flags; |
| 140 |
|
| 141 |
/**
|
| 142 |
* @extends BaseAsynchronousChannelVMT
|
| 143 |
*
|
| 144 |
* @brief AosShellChannel virtual methods table.
|
| 145 |
*/
|
| 146 |
struct AosShellChannelVMT {
|
| 147 |
_aos_shell_channel_methods |
| 148 |
}; |
| 149 |
|
| 150 |
/**
|
| 151 |
* @extends BaseAsynchronousChannel
|
| 152 |
*
|
| 153 |
* @brief Shell channel class.
|
| 154 |
* @details This class implements an asynchronous I/O channel.
|
| 155 |
*/
|
| 156 |
typedef struct aos_shellchannel { |
| 157 |
/** @brief Virtual Methods Table. */
|
| 158 |
const struct AosShellChannelVMT* vmt; |
| 159 |
_aos_shell_channel_data |
| 160 |
} AosShellChannel; |
| 161 |
|
| 162 |
/**
|
| 163 |
* @brief AosShellStream methods.
|
| 164 |
*/
|
| 165 |
#define _aos_shellstream_methods \
|
| 166 |
_base_sequential_stream_methods |
| 167 |
|
| 168 |
/**
|
| 169 |
* @brief AosShellStream data.
|
| 170 |
*/
|
| 171 |
#define _aos_shellstream_data \
|
| 172 |
/* Pointer to the first channel in a list. */ \
|
| 173 |
AosShellChannel* channel; |
| 174 |
|
| 175 |
/**
|
| 176 |
* @extends BaseSequentialStream
|
| 177 |
*
|
| 178 |
* @brief AosShellStream virtual methods table.
|
| 179 |
*/
|
| 180 |
struct AosShellStreamVMT {
|
| 181 |
_aos_shellstream_methods |
| 182 |
}; |
| 183 |
|
| 184 |
/**
|
| 185 |
* @extends BaseSequentialStream
|
| 186 |
*
|
| 187 |
* @brief Shell Stream class.
|
| 188 |
* @details This class implements an base sequential stream.
|
| 189 |
* @todo So far only output but no input is supported.
|
| 190 |
*/
|
| 191 |
typedef struct aos_shellstream { |
| 192 |
const struct AosShellStreamVMT* vmt; |
| 193 |
_aos_shellstream_data |
| 194 |
} AosShellStream; |
| 195 |
|
| 196 |
/**
|
| 197 |
* @brief Shell command calback type.
|
| 198 |
*
|
| 199 |
* @param[in] stream Stream to print to.
|
| 200 |
* @param[in] argc Number of arguments.
|
| 201 |
* @param[in] argv List of arguments.
|
| 202 |
*/
|
| 203 |
typedef int (*aos_shellcmdcb_t)(BaseSequentialStream* stream, int argc, char* argv[]); |
| 204 |
|
| 205 |
/**
|
| 206 |
* @brief Shell command structure.
|
| 207 |
*/
|
| 208 |
typedef struct aos_shellcommand { |
| 209 |
/**
|
| 210 |
* @brief Command name.
|
| 211 |
*/
|
| 212 |
const char* name; |
| 213 |
|
| 214 |
/**
|
| 215 |
* @brief Callback function.
|
| 216 |
*/
|
| 217 |
aos_shellcmdcb_t callback; |
| 218 |
|
| 219 |
/**
|
| 220 |
* @brief Pointer to next command in a singly linked list.
|
| 221 |
*/
|
| 222 |
struct aos_shellcommand* next;
|
| 223 |
|
| 224 |
} aos_shellcommand_t; |
| 225 |
|
| 226 |
/**
|
| 227 |
* @brief Execution status of a shell command.
|
| 228 |
*/
|
| 229 |
typedef struct aos_shellexecstatus { |
| 230 |
/**
|
| 231 |
* @brief Pointer to the command that was executed.
|
| 232 |
*/
|
| 233 |
aos_shellcommand_t* command; |
| 234 |
|
| 235 |
/**
|
| 236 |
* @brief Return value of the executed command.
|
| 237 |
*/
|
| 238 |
int retval;
|
| 239 |
} aos_shellexecstatus_t; |
| 240 |
|
| 241 |
/**
|
| 242 |
* @brief Shell structure.
|
| 243 |
*/
|
| 244 |
typedef struct aos_shell { |
| 245 |
/**
|
| 246 |
* @brief Pointer to the thread object.
|
| 247 |
*/
|
| 248 |
thread_t* thread; |
| 249 |
|
| 250 |
/**
|
| 251 |
* @brief Event source.
|
| 252 |
*/
|
| 253 |
event_source_t eventSource; |
| 254 |
|
| 255 |
/**
|
| 256 |
* @brief Listener for OS related events.
|
| 257 |
*/
|
| 258 |
event_listener_t osEventListener; |
| 259 |
|
| 260 |
/**
|
| 261 |
* @brief Pointer to the first I/O channel.
|
| 262 |
*/
|
| 263 |
AosShellStream stream; |
| 264 |
|
| 265 |
/**
|
| 266 |
* @brief String to printed as prompt.
|
| 267 |
*/
|
| 268 |
const char* prompt; |
| 269 |
|
| 270 |
/**
|
| 271 |
* @brief Pointer to the first element of the singly linked list of commands.
|
| 272 |
* @details Commands are ordered alphabetically in the list.
|
| 273 |
*/
|
| 274 |
aos_shellcommand_t* commands; |
| 275 |
|
| 276 |
/**
|
| 277 |
* @brief Execution status of the most recent command.
|
| 278 |
*/
|
| 279 |
aos_shellexecstatus_t execstatus; |
| 280 |
|
| 281 |
/**
|
| 282 |
* @brief Structure containing all input data.
|
| 283 |
*/
|
| 284 |
struct {
|
| 285 |
/**
|
| 286 |
* @brief Input buffer.
|
| 287 |
* @details This buffer is interpreted as two dimensional array.
|
| 288 |
* It contains @p nentries elements of @p linewidth size each.
|
| 289 |
*/
|
| 290 |
char* buffer;
|
| 291 |
|
| 292 |
/**
|
| 293 |
* @brief Number of entries in the buffer.
|
| 294 |
* @note Must be >0.
|
| 295 |
*/
|
| 296 |
size_t nentries; |
| 297 |
|
| 298 |
/**
|
| 299 |
* @brief Width of each input line.
|
| 300 |
* @brief Must be >0.
|
| 301 |
*/
|
| 302 |
size_t linewidth; |
| 303 |
|
| 304 |
/**
|
| 305 |
* @brief Size of the argument buffer.
|
| 306 |
* @note Must be >0.
|
| 307 |
*/
|
| 308 |
size_t nargs; |
| 309 |
} input; |
| 310 |
|
| 311 |
/**
|
| 312 |
* @brief Configuration flags.
|
| 313 |
*/
|
| 314 |
uint8_t config; |
| 315 |
} aos_shell_t; |
| 316 |
|
| 317 |
/******************************************************************************/
|
| 318 |
/* MACROS */
|
| 319 |
/******************************************************************************/
|
| 320 |
|
| 321 |
/**
|
| 322 |
* @brief Initializes a shell command object.
|
| 323 |
*
|
| 324 |
* @param[in] var Name of the object variable to be initialized.
|
| 325 |
* @param[in] name Shell command name.
|
| 326 |
* @param[in] callback Pointer to the callback function.
|
| 327 |
*/
|
| 328 |
#define AOS_SHELL_COMMAND(var, name, callback) aos_shellcommand_t var = { \
|
| 329 |
/* name */ name, \
|
| 330 |
/* callback */ callback, \
|
| 331 |
/* next */ NULL, \ |
| 332 |
} |
| 333 |
|
| 334 |
/******************************************************************************/
|
| 335 |
/* EXTERN DECLARATIONS */
|
| 336 |
/******************************************************************************/
|
| 337 |
|
| 338 |
#if defined(__cplusplus)
|
| 339 |
extern "C" { |
| 340 |
#endif /* defined(__cplusplus) */ |
| 341 |
void aosShellInit(aos_shell_t* shell, const char* prompt, char inbuf[], size_t entries, size_t linewidth, size_t numargs); |
| 342 |
void aosShellStreamInit(AosShellStream* stream);
|
| 343 |
void aosShellChannelInit(AosShellChannel* channel, BaseAsynchronousChannel* asyncchannel);
|
| 344 |
aos_status_t aosShellAddCommand(aos_shell_t* shell, aos_shellcommand_t* cmd); |
| 345 |
aos_status_t aosShellRemoveCommand(aos_shell_t* shell, char* cmd, aos_shellcommand_t** removed);
|
| 346 |
unsigned int aosShellCountCommands(aos_shell_t* shell); |
| 347 |
void aosShellStreamAddChannel(AosShellStream* stream, AosShellChannel* channel);
|
| 348 |
aos_status_t aosShellStreamRemoveChannel(AosShellStream* stream, AosShellChannel* channel); |
| 349 |
void aosShellChannelInputEnable(AosShellChannel* channel);
|
| 350 |
void aosShellChannelInputDisable( AosShellChannel* channel);
|
| 351 |
void aosShellChannelOutputEnable(AosShellChannel* channel);
|
| 352 |
void aosShellChannelOutputDisable(AosShellChannel* channel);
|
| 353 |
THD_FUNCTION(aosShellThread, shell); |
| 354 |
#if defined(__cplusplus)
|
| 355 |
} |
| 356 |
#endif /* defined(__cplusplus) */ |
| 357 |
|
| 358 |
/******************************************************************************/
|
| 359 |
/* INLINE FUNCTIONS */
|
| 360 |
/******************************************************************************/
|
| 361 |
|
| 362 |
#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */ |
| 363 |
|
| 364 |
#endif /* AMIROOS_SHELL_H */ |
| 365 |
|
| 366 |
/** @} */
|