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_shell.h

 * @brief   Shell macros and structures.

 *

 * @addtogroup aos_shell

 * @{

 */

#ifndef AMIROOS_SHELL_H

#define AMIROOS_SHELL_H

#include <amiroos.h>

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

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

/* CONSTANTS                                                                  */

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

/**

 * @brief   Shell event flag that is emitted when the thread starts.

 */

#define AOS_SHELL_EVTFLAG_START                 ((eventflags_t)(1 << 0))

/**

 * @brief   Shell event flag that is emitted when a command is executed.

 */

#define AOS_SHELL_EVTFLAG_EXECUTE               ((eventflags_t)(1 << 1))

/**

 * @brief   Shell event flag that is emitted when a command execution finished.

 */

#define AOS_SHELL_EVTFLAG_DONE                  ((eventflags_t)(1 << 2))

/**

 * @brief   Shell event flag that is emitted when the shread stops.

 */

#define AOS_SHELL_EVTFLAG_EXIT                  ((eventflags_t)(1 << 3))

/**

 * @brief   Shell event flag that is emitted when an I/O error occurred.

 */

#define AOS_SHELL_EVTFLAG_IOERROR               ((eventflags_t)(1 << 4))

/**

 * @brief   Shell input configuration for replacing content by user input.

 */

#define AOS_SHELL_CONFIG_INPUT_OVERWRITE        (1 << 0)

/**

 * @brief   Shell prompt configuration print a minimalistic prompt.

 */

#define AOS_SHELL_CONFIG_PROMPT_MINIMAL         (1 << 1)

/**

 * @brief   Shell prompt configuration to additionally print the system uptime with the prompt.

 */

#define AOS_SHELL_CONFIG_PROMPT_UPTIME          (1 << 2)

/**

 * @brief   Shell prompt configuration to additionally print the date and time with the prompt.

 */

#define AOS_SHELL_CONFIG_PROMPT_DATETIME        (2 << 2)

/**

 * @brief   Shell prompt configuration to additionally print the system uptime with the prompt.

 */

#define AOS_SHELL_CONFIG_MATCH_CASE             (1 << 4)

/**

 * @brief   Shell I/O channel flag whether the channel is attached to a list.

 */

#define AOS_SHELLCHANNEL_ATTACHED               (1 << 0)

/**

 * @brief   Shell I/O channel flag whether the channel is enabled as input.

 */

#define AOS_SHELLCHANNEL_INPUT_ENABLED          (1 << 1)

/**

 * @brief   Shell I/O channel flag whether the channel is enabled as output.

 */

#define AOS_SHELLCHANNEL_OUTPUT_ENABLED         (1 << 2)

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

/* SETTINGS                                                                   */

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

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

/* CHECKS                                                                     */

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

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

/* DATA STRUCTURES AND TYPES                                                  */

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

/**

 * @brief   AosShellChannel specific methods.

 */

#define _aos_shell_channel_methods                                          \

  _base_asynchronous_channel_methods

/**

 * @brief   AosShellChannel specific data.

 */

#define _aos_shell_channel_data                                             \

  /* pointer to a BaseAsynchronousChannel object */                         \

  BaseAsynchronousChannel* asyncchannel;                                    \

  /* event listener for the associated BaseAsynchronousChannel */           \

  event_listener_t listener;                                                \

  /* pointer to the next chennal in a AosShellStream */                     \

  struct aos_shellchannel* next;                                            \

  /* flags related to the channel */                                        \

  uint8_t flags;

/**

 * @extends BaseAsynchronousChannelVMT

 *

 * @brief   AosShellChannel virtual methods table.

 */

struct AosShellChannelVMT {

  _aos_shell_channel_methods

};

/**

 * @extends BaseAsynchronousChannel

 *

 * @brief   Shell channel class.

 * @details This class implements an asynchronous I/O channel.

 */

typedef struct aos_shellchannel {

  /** @brief Virtual Methods Table. */

  const struct AosShellChannelVMT* vmt;

  _aos_shell_channel_data

} AosShellChannel;

/**

 * @brief   AosShellStream methods.

 */

#define _aos_shellstream_methods                                            \

  _base_sequential_stream_methods

/**

 * @brief   AosShellStream data.

 */

#define _aos_shellstream_data                                               \

  /* Pointer to the first channel in a list. */                             \

  AosShellChannel* channel;

/**

 * @extends BaseSequentialStream

 *

 * @brief   AosShellStream virtual methods table.

 */

struct AosShellStreamVMT {

  _aos_shellstream_methods

};

/**

 * @extends BaseSequentialStream

 *

 * @brief   Shell Stream class.

 * @details This class implements an base sequential stream.

 * @todo    So far only output but no input is supported.

 */

typedef struct aos_shellstream {

  const struct AosShellStreamVMT* vmt;

  _aos_shellstream_data

} AosShellStream;

/**

 * @brief   Shell command calback type.

 *

 * @param[in] stream  Stream to print to.

 * @param[in] argc    Number of arguments.

 * @param[in] argv    List of arguments.

 */

typedef int (*aos_shellcmdcb_t)(BaseSequentialStream* stream, int argc, char* argv[]);

/**

 * @brief   Shell command structure.

 */

typedef struct aos_shellcommand {

  /**

   * @brief   Command name.

   */

  const char* name;

  /**

   * @brief   Callback function.

   */

  aos_shellcmdcb_t callback;

  /**

   * @brief   Pointer to next command in a singly linked list.

   */

  struct aos_shellcommand* next;

} aos_shellcommand_t;

/**

 * @brief   Execution status of a shell command.

 */

typedef struct aos_shellexecstatus {

  /**

   * @brief   Pointer to the command that was executed.

   */

  aos_shellcommand_t* command;

  /**

   * @brief   Return value of the executed command.

   */

  int retval;

} aos_shellexecstatus_t;

/**

 * @brief   Shell structure.

 */

typedef struct aos_shell {

  /**

   * @brief   Pointer to the thread object.

   */

  thread_t* thread;

#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)

  /**

   * @brief   Name of the shell and the associated thread.

   */

  const char* name;

#endif /* (CH_CFG_USE_REGISTRY == TRUE) */

  /**

   * @brief   Event source.

   */

  event_source_t eventSource;

  /**

   * @brief   Listener for OS related events.

   */

  event_listener_t osEventListener;

  /**

     * @brief   Pointer to the first I/O channel.

     */

  AosShellStream stream;

  /**

   * @brief   String to printed as prompt.

   */

  const char* prompt;

  /**

   * @brief   Pointer to the first element of the singly linked list of commands.

   * @details Commands are ordered alphabetically in the list.

   */

  aos_shellcommand_t* commands;

  /**

   * @brief   Execution status of the most recent command.

   */

  aos_shellexecstatus_t execstatus;

  /**

   * @brief   Structure containing all input data.

   */

  struct {

    /**

     * @brief   Input buffer.

     * @details This buffer is interpreted as two dimensional array.

     *          It contains @p nentries elements of @p linewidth size each.

     */

    char* buffer;

    /**

     * @brief   Number of entries in the buffer.

     * @note    Must be >0.

     */

    size_t nentries;

    /**

     * @brief   Width of each input line.

     * @brief   Must be >0.

     */

    size_t linewidth;

    /**

     * @brief   Size of the argument buffer.

     * @note    Must be >0.

     */

    size_t nargs;

  } input;

  /**

   * @brief   Configuration flags.

   */

  uint8_t config;

} aos_shell_t;

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

/* MACROS                                                                     */

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

/**

 * @brief   Initializes a shell command object.

 *

 * @param[in] var       Name of the object variable to be initialized.

 * @param[in] name      Shell command name.

 * @param[in] callback  Pointer to the callback function.

 */

#define AOS_SHELL_COMMAND(var, name, callback) aos_shellcommand_t var = {     \

  /* name     */ name,                                                        \

  /* callback */ callback,                                                    \

  /* next     */ NULL,                                                        \

}

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

/* EXTERN DECLARATIONS                                                        */

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

#if defined(__cplusplus)

extern "C" {

#endif /* defined(__cplusplus) */

  void aosShellInit(aos_shell_t* shell, const char* name, const char* prompt, char inbuf[], size_t entries, size_t linewidth, size_t numargs);

  void aosShellStreamInit(AosShellStream* stream);

  void aosShellChannelInit(AosShellChannel* channel, BaseAsynchronousChannel* asyncchannel);

  aos_status_t aosShellAddCommand(aos_shell_t* shell, aos_shellcommand_t* cmd);

  aos_status_t aosShellRemoveCommand(aos_shell_t* shell, char* cmd, aos_shellcommand_t** removed);

  unsigned int aosShellCountCommands(aos_shell_t* shell);

  void aosShellStreamAddChannel(AosShellStream* stream, AosShellChannel* channel);

  aos_status_t aosShellStreamRemoveChannel(AosShellStream* stream, AosShellChannel* channel);

  void aosShellChannelInputEnable(AosShellChannel* channel);

  void aosShellChannelInputDisable( AosShellChannel* channel);

  void aosShellChannelOutputEnable(AosShellChannel* channel);

  void aosShellChannelOutputDisable(AosShellChannel* channel);

  THD_FUNCTION(aosShellThread, shell);

#if defined(__cplusplus)

}

#endif /* defined(__cplusplus) */

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

/* INLINE FUNCTIONS                                                           */

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

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

#endif /* AMIROOS_SHELL_H */

/** @} */