forked from test34/can_wizard
252 lines
8.4 KiB
C
252 lines
8.4 KiB
C
// ReSharper disable CppDFAUnreachableCode
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#include "console.h"
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#include "sdkconfig.h"
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#include <fcntl.h>
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#include "esp_err.h"
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#include "esp_log.h"
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#include "esp_system.h"
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#include "esp_console.h"
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#include "esp_vfs_dev.h"
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#include <stdio.h>
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#include <string.h>
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#include "freertos/portmacro.h"
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#include "freertos/projdefs.h"
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#include "linenoise/linenoise.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "cmd_system.h"
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#include "cmd_can.h"
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#include "cmd_utils.h"
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#include "can.h"
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#include "fs.h"
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#include "xvprintf.h"
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#if CONFIG_IDF_TARGET_ESP32C3
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#include <driver/usb_serial_jtag_vfs.h>
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#include "driver/usb_serial_jtag.h"
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#else
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#include <driver/uart_vfs.h>
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#include "driver/uart.h"
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#endif
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#if CONFIG_LOG_COLORS
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static const bool use_colors = true;
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#else
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static const bool use_colors = true;
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#endif
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static const char* TAG = "console task";
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char prompt_buf[60];
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esp_console_config_t console_config;
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struct linenoiseState ls;
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SemaphoreHandle_t console_taken_sem;
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static void update_prompt() {
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char text[45];
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static char* prompt_color;
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text[0] = '\0';
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switch (curr_can_state.state) {
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case CAN_NOT_INSTALLED:
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strcat(text, "not installed");
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prompt_color = LOG_COLOR(LOG_COLOR_RED);
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break;
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case CAN_STOPPED:
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strcat(text, "stopped");
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prompt_color = LOG_COLOR(LOG_COLOR_RED);
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break;
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case CAN_ERROR_ACTIVE:
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strcat(text, "error active");
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prompt_color = LOG_COLOR(LOG_COLOR_GREEN);
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break;
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case CAN_ERROR_PASSIVE:
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strcat(text, "error passive");
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prompt_color = LOG_COLOR(LOG_COLOR_BROWN);
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break;
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case CAN_BUF_OFF:
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strcat(text, "bus off");
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prompt_color = LOG_COLOR(LOG_COLOR_RED);
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break;
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case CAN_RECOVERING:
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strcat(text, "recovering");
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prompt_color = LOG_COLOR(LOG_COLOR_RED);
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break;
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}
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if (curr_can_state.state != CAN_NOT_INSTALLED) {
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char tec_rec[25];
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snprintf(tec_rec, 24, " [TEC: %" PRIu32 "][REC: %" PRIu32 "]", curr_can_state.tx_error_counter, curr_can_state.rx_error_counter);
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strcat(text, tec_rec);
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}
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strcat(text, " > ");
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prompt_buf[0] = '\0';
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if (use_colors) {
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strcat(prompt_buf, prompt_color);
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strcat(prompt_buf, text);
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strcat(prompt_buf, LOG_RESET_COLOR);
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} else {
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strcat(prompt_buf, text);
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}
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const int text_len = strlen(text);
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ls.prompt = prompt_buf;
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ls.plen = text_len;
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}
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void console_task_tx(void* arg) {
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static const TickType_t prompt_timeout = pdMS_TO_TICKS(200);
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const int fd = fileno(stdout);
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size_t msg_to_print_size;
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// ReSharper disable once CppDFAEndlessLoop
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while (1) {
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char* msg_to_print = xRingbufferReceive(uart_tx_ringbuf, &msg_to_print_size, prompt_timeout);
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update_prompt();
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xSemaphoreTake(console_taken_sem, portMAX_DELAY);
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xSemaphoreTake(stdout_taken_sem, portMAX_DELAY);
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linenoiseHide(&ls);
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if (msg_to_print != NULL) {
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// if zero-length string - just refresh prompt. used for updating prompt
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if (msg_to_print[0] != '\0') {
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write(fd, msg_to_print, msg_to_print_size);
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flushWrite();
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}
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vRingbufferReturnItem(uart_tx_ringbuf, (void*) msg_to_print);
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}
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linenoiseShow(&ls);
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xSemaphoreGive(stdout_taken_sem);
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xSemaphoreGive(console_taken_sem);
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}
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}
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void console_task_interactive(void* arg) {
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console_taken_sem = xSemaphoreCreateMutex();
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stdout_taken_sem = xSemaphoreCreateMutex();
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char* buf = calloc(1, console_config.max_cmdline_length);
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/* Figure out if the terminal supports escape sequences */
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printf("Testing your console...\n");
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const int probe_status = linenoiseProbe();
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// int probe_status = 1;
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if (probe_status) { /* zero indicates success */
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printf("\n"
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"Your terminal application does not support escape sequences.\n"
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"Line editing and history features are disabled.\n"
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"On Windows, try using Putty instead.\n"
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"Your terminal is in Dumb Mode from now! \n");
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linenoiseSetDumbMode(1);
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}
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printf("\n"
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"Type 'help' to get the list of commands.\n"
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"Use UP/DOWN arrows to navigate through command history.\n"
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"Press TAB when typing command name to auto-complete.\n"
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"Ctrl+C will terminate the console environment.\n");
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ls.buflen = console_config.max_cmdline_length;
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ls.buf = buf;
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update_prompt();
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linenoiseEditStart(&ls);
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xTaskCreate(console_task_tx, "console tsk tx", 5000, NULL, CONFIG_CONSOLE_TX_PRIORITY, NULL);
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esp_log_set_vprintf(&vxprintf);
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while (true) {
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char* line = linenoiseEditFeed(&ls);
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if (line == linenoiseEditMore) continue;
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xSemaphoreTake(console_taken_sem, portMAX_DELAY);
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linenoiseEditStop(&ls);
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if (line == NULL) { /* Break on EOF or error */
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ESP_LOGE(TAG, "Ctrl+C???");
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break;
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}
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/* Add the command to the history if not empty*/
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if ((strlen(line) > 0) && (line[0] != '^')) {
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linenoiseHistoryAdd(line);
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/* Save command history to filesystem */
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linenoiseHistorySave(HISTORY_PATH);
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}
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int ret;
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const esp_err_t err = esp_console_run(line, &ret);
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if (err == ESP_ERR_NOT_FOUND) {
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printf("Unrecognized command\n");
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} else if (err == ESP_ERR_INVALID_ARG) {
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// command was empty
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} else if (err == ESP_OK && ret != ESP_OK) {
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printf("Command returned non-zero error code: 0x%x (%s)\n", ret, esp_err_to_name(ret));
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} else if (err != ESP_OK) {
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printf("Internal error: %s\n", esp_err_to_name(err));
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}
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/* linenoise allocates line buffer on the heap, so need to free it */
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linenoiseFree(line);
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linenoiseEditStart(&ls);
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xSemaphoreGive(console_taken_sem);
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}
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ESP_LOGE(TAG, "Restarting...");
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esp_console_deinit();
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esp_restart();
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while (1) {
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vTaskDelay(100);
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}
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}
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void initialize_console(void) {
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/* Disable buffering on stdin */
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setvbuf(stdin, NULL, _IONBF, 0);
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#if CONFIG_IDF_TARGET_ESP32C3
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/* Minicom, screen, idf_monitor send CR when ENTER key is pressed */
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usb_serial_jtag_vfs_set_rx_line_endings(ESP_LINE_ENDINGS_CR);
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/* Move the caret to the beginning of the next line on '\n' */
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usb_serial_jtag_vfs_set_tx_line_endings(ESP_LINE_ENDINGS_CRLF);
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usb_serial_jtag_driver_config_t usb_serial_jtag_config = USB_SERIAL_JTAG_DRIVER_CONFIG_DEFAULT();
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/* Install USB-SERIAL-JTAG driver for interrupt-driven reads and writes */
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ESP_ERROR_CHECK(usb_serial_jtag_driver_install(&usb_serial_jtag_config));
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/* Asign vfs to JTAG */
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usb_serial_jtag_vfs_use_driver();
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#else
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/* Set up UART for the console */
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const uart_config_t uart_config = {
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.baud_rate = 115200,
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.data_bits = UART_DATA_8_BITS,
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.parity = UART_PARITY_DISABLE,
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.stop_bits = UART_STOP_BITS_1,
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.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
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};
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/* Install the UART driver */
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uart_driver_install(UART_NUM_0, 256, 0, 0, NULL, 0);
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uart_param_config(UART_NUM_0, &uart_config);
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/* Asign VFS to UART */
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// uart_vfs_dev_use_driver(UART_NUM_0);
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uart_vfs_dev_use_driver(UART_NUM_0);
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#endif
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/* Enable non-blocking mode on stdin and stdout */
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fcntl(fileno(stdout), F_SETFL, 0);
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fcntl(fileno(stdin), F_SETFL, 0);
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/* Configure the console */
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console_config.max_cmdline_args = CONFIG_CONSOLE_MAX_CMDLINE_ARGS;
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console_config.max_cmdline_length = CONFIG_CONSOLE_MAX_CMDLINE_LENGTH;
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if (use_colors) console_config.hint_color = atoi(LOG_COLOR_CYAN);
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/* Initializing */
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ESP_ERROR_CHECK(esp_console_init(&console_config));
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/* Config library linenoise */
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linenoiseSetMultiLine(1);
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linenoiseSetCompletionCallback(&esp_console_get_completion);
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linenoiseSetHintsCallback((linenoiseHintsCallback*) &esp_console_get_hint);
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linenoiseHistorySetMaxLen(30);
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linenoiseSetMaxLineLen(console_config.max_cmdline_length);
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linenoiseHistoryLoad(HISTORY_PATH);
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/* Record commands */
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esp_console_register_help_command();
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register_system();
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register_can_commands();
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register_utils_commands();
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}
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