AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2020  Thomas Schöpping et al.

This program 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

(at your option) any later version.

This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file    aos_system.c

 * @brief   System code.

 * @details Contains system initialization and shutdown routines

 *          and system shell commands.

 *

 * @addtogroup aos_system

 * @{

 */

#include <amiroos.h>

#include <stdarg.h>

#include <string.h>

#include <stdlib.h>

#if (AMIROOS_CFG_TESTS_ENABLE == true)

#include <ch_test.h>

#include <rt_test_root.h>

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */

/******************************************************************************/

/* LOCAL DEFINITIONS                                                          */

/******************************************************************************/

/**

 * @brief   Period of the system timer.

 */

#define SYSTIMER_PERIOD               (TIME_MAX_SYSTIME - CH_CFG_ST_TIMEDELTA)

/**

 * @brief   Width of the printable system info text.

 */

#define SYSTEM_INFO_WIDTH             80

/**

 * @brief   Width of the name column of the system info table.

 */

#define SYSTEM_INFO_NAMEWIDTH         20

#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   Number of entries in the system shell input buffer.

 */

#define SYSTEM_SHELL_BUFFERENTRIES    (1 + AMIROOS_CFG_SHELL_HISTLENGTH)

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */

/******************************************************************************/

/* EXPORTED VARIABLES                                                         */

/******************************************************************************/

/**

 * @brief   Global system object.

 */

aos_system_t aos;

/******************************************************************************/

/* LOCAL TYPES                                                                */

/******************************************************************************/

/******************************************************************************/

/* LOCAL VARIABLES                                                            */

/******************************************************************************/

/*

 * forward declarations

 */

#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)

static int _shellcmd_configcb(BaseSequentialStream* stream, int argc, char* argv[]);

static int _shellcmd_infocb(BaseSequentialStream* stream, int argc, char* argv[]);

static int _shellcmd_shutdowncb(BaseSequentialStream* stream, int argc, char* argv[]);

#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

static int _shellcmd_kerneltestcb(BaseSequentialStream* stream, int argc, char* argv[]);

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */

/**

 * @brief   Timer to accumulate system uptime.

 */

static virtual_timer_t _systimer;

/**

 * @brief   Accumulated system uptime.

 */

static aos_timestamp_t _uptime;

/**

 * @brief   Timer register value of last accumulation.

 */

static systime_t _synctime;

#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   Shell thread working area.

 */

static THD_WORKING_AREA(_shell_wa, AMIROOS_CFG_SHELL_STACKSIZE);

/**

 * @brief   Shell input buffer.

 */

static char _shell_buffer[SYSTEM_SHELL_BUFFERENTRIES * AMIROOS_CFG_SHELL_LINEWIDTH];

/**

 * @brief   Shell command to retrieve system information.

 */

static AOS_SHELL_COMMAND(_shellcmd_info, "module:info", _shellcmd_infocb);

/**

 * @brief   Shell command to set or retrieve system configuration.

 */

static AOS_SHELL_COMMAND(_shellcmd_config, "module:config", _shellcmd_configcb);

/**

 * @brief   Shell command to shutdown the system.

 */

#if (AMIROOS_CFG_SSSP_ENABLE == true) || defined(__DOXYGEN__)

static AOS_SHELL_COMMAND(_shellcmd_shutdown, "system:shutdown", _shellcmd_shutdowncb);

#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */

static AOS_SHELL_COMMAND(_shellcmd_shutdown, "module:shutdown", _shellcmd_shutdowncb);

#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */

#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   Shell kommand to run a test of the ChibiOS/RT kernel.

 */

static AOS_SHELL_COMMAND(_shellcmd_kerneltest, "kernel:test", _shellcmd_kerneltestcb);

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */

#endif /* (AMIROOS_CFG_SHELL_ENABLE == true) */

/******************************************************************************/

/* LOCAL FUNCTIONS                                                            */

/******************************************************************************/

/**

 * @brief   Print a separator line.

 *

 * @param[in] stream    Stream to print to or NULL to print to all system streams.

 * @param[in] c         Character to use.

 * @param[in] n         Length of the separator line.

 *

 * @return  Number of characters printed.

 */

static unsigned int _printSystemInfoSeparator(BaseSequentialStream* stream, const char c, const unsigned int n)

{

  aosDbgCheck(stream != NULL);

  // print the specified character n times

  for (unsigned int i = 0; i < n; ++i) {

    streamPut(stream, (uint8_t)c);

  }

  streamPut(stream, '\n');

  return n+1;

}

/**

 * @brief   Print a system information line.

 * @details Prints a system information line with the following format:

 *            "<name>[spaces]fmt"

 *          The combined width of "<name>[spaces]" can be specified in order to align <fmt> on multiple lines.

 *          Note that there is not trailing newline added implicitely.

 *

 * @param[in] stream      Stream to print to or NULL to print to all system streams.

 * @param[in] name        Name of the entry/line.

 * @param[in] namewidth   Minimum width of the name column.

 * @param[in] fmt         Formatted string of information content.

 *

 * @return  Number of characters printed.

 */

static unsigned int _printSystemInfoLine(BaseSequentialStream* stream, const char* name, const unsigned int namewidth, const char* fmt, ...)

{

  aosDbgCheck(stream != NULL);

  aosDbgCheck(name != NULL);

  unsigned int n = 0;

  va_list ap;

  va_start(ap, fmt);

  n += (unsigned int)chprintf(stream, name);

  // print at least a single space character