1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
|
/*
ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT 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.
ChibiOS/RT 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/>.
*/
#include <stdio.h>
#include "ch.h"
#include "hal.h"
#include "test.h"
#include "shell.h"
#define SHELL_WA_SIZE THD_WA_SIZE(4096)
#define CONSOLE_WA_SIZE THD_WA_SIZE(4096)
#define TEST_WA_SIZE THD_WA_SIZE(4096)
#define cprint(msg) chMsgSend(cdtp, (msg_t)msg)
static Thread *cdtp;
static Thread *shelltp1;
static Thread *shelltp2;
void cmd_test(BaseChannel *chp, int argc, char *argv[]) {
Thread *tp;
(void)argv;
if (argc > 0) {
shellPrintLine(chp, "Usage: test");
return;
}
tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriority(),
TestThread, chp);
if (tp == NULL) {
shellPrintLine(chp, "out of memory");
return;
}
chThdWait(tp);
}
static const ShellCommand commands[] = {
{"test", cmd_test},
{NULL, NULL}
};
static const ShellConfig shell_cfg1 = {
(BaseChannel *)&SD1,
commands
};
static const ShellConfig shell_cfg2 = {
(BaseChannel *)&SD2,
commands
};
/*
* Console print server done using synchronous messages. This makes the access
* to the C printf() thread safe and the print operation atomic among threads.
* In this example the message is the zero termitated string itself.
*/
static msg_t console_thread(void *arg) {
(void)arg;
while (!chThdShouldTerminate()) {
puts((char *)chMsgWait());
fflush(stdout);
chMsgRelease(RDY_OK);
}
return 0;
}
/**
* @brief Shell termination handler.
*
* @param[in] id event id.
*/
static void termination_handler(eventid_t id) {
(void)id;
if (shelltp1 && chThdTerminated(shelltp1)) {
chThdWait(shelltp1);
shelltp1 = NULL;
chThdSleepMilliseconds(10);
cprint("Init: shell on SD1 terminated\n");
chSysLock();
chOQResetI(&SD1.d2.oqueue);
chSysUnlock();
}
if (shelltp2 && chThdTerminated(shelltp2)) {
chThdWait(shelltp2);
shelltp2 = NULL;
chThdSleepMilliseconds(10);
cprint("Init: shell on SD2 terminated\n");
chSysLock();
chOQResetI(&SD2.d2.oqueue);
chSysUnlock();
}
}
/**
* @brief SD1 status change handler.
*
* @param[in] id event id.
*/
static void sd1_handler(eventid_t id) {
sdflags_t flags;
(void)id;
flags = sdGetAndClearFlags(&SD1);
if ((flags & SD_CONNECTED) && (shelltp1 == NULL)) {
cprint("Init: connection on SD1\n");
shelltp1 = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO + 1);
}
if (flags & SD_DISCONNECTED) {
cprint("Init: disconnection on SD1\n");
chSysLock();
chIQResetI(&SD1.d2.iqueue);
chSysUnlock();
}
}
/**
* @brief SD2 status change handler.
*
* @param[in] id event id.
*/
static void sd2_handler(eventid_t id) {
sdflags_t flags;
(void)id;
flags = sdGetAndClearFlags(&SD2);
if ((flags & SD_CONNECTED) && (shelltp2 == NULL)) {
cprint("Init: connection on SD2\n");
shelltp2 = shellCreate(&shell_cfg2, SHELL_WA_SIZE, NORMALPRIO + 10);
}
if (flags & SD_DISCONNECTED) {
cprint("Init: disconnection on SD2\n");
chSysLock();
chIQResetI(&SD2.d2.iqueue);
chSysUnlock();
}
}
static evhandler_t fhandlers[] = {
termination_handler,
sd1_handler,
sd2_handler
};
/*------------------------------------------------------------------------*
* Simulator main. *
*------------------------------------------------------------------------*/
int main(void) {
EventListener sd1fel, sd2fel, tel;
/*
* HAL initialization.
*/
halInit();
/*
* ChibiOS/RT initialization.
*/
chSysInit();
/*
* Serial ports (simulated) initialization.
*/
sdStart(&SD1, NULL);
sdStart(&SD2, NULL);
/*
* Shell manager initialization.
*/
shellInit();
chEvtRegister(&shell_terminated, &tel, 0);
/*
* Console thread started.
*/
cdtp = chThdCreateFromHeap(NULL, CONSOLE_WA_SIZE, NORMALPRIO + 1,
console_thread, NULL);
/*
* Initializing connection/disconnection events.
*/
cprint("Shell service started on SD1, SD2\n");
cprint(" - Listening for connections on SD1\n");
(void) sdGetAndClearFlags(&SD1);
chEvtRegister(&SD1.d2.sevent, &sd1fel, 1);
cprint(" - Listening for connections on SD2\n");
(void) sdGetAndClearFlags(&SD2);
chEvtRegister(&SD2.d2.sevent, &sd2fel, 2);
/*
* Events servicing loop.
*/
while (!chThdShouldTerminate())
chEvtDispatch(fhandlers, chEvtWaitOne(ALL_EVENTS));
/*
* Clean simulator exit.
*/
chEvtUnregister(&SD1.d2.sevent, &sd1fel);
chEvtUnregister(&SD2.d2.sevent, &sd2fel);
return 0;
}
|