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/*
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 "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 cputs(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);
cputs("Init: shell on SD1 terminated");
chSysLock();
chOQResetI(&SD1.oqueue);
chSysUnlock();
}
if (shelltp2 && chThdTerminated(shelltp2)) {
chThdWait(shelltp2);
shelltp2 = NULL;
chThdSleepMilliseconds(10);
cputs("Init: shell on SD2 terminated");
chSysLock();
chOQResetI(&SD2.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)) {
cputs("Init: connection on SD1");
shelltp1 = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO + 1);
}
if (flags & SD_DISCONNECTED) {
cputs("Init: disconnection on SD1");
chSysLock();
chIQResetI(&SD1.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)) {
cputs("Init: connection on SD2");
shelltp2 = shellCreate(&shell_cfg2, SHELL_WA_SIZE, NORMALPRIO + 10);
}
if (flags & SD_DISCONNECTED) {
cputs("Init: disconnection on SD2");
chSysLock();
chIQResetI(&SD2.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.
*/
cputs("Shell service started on SD1, SD2");
cputs(" - Listening for connections on SD1");
(void) sdGetAndClearFlags(&SD1);
chEvtRegister(&SD1.sevent, &sd1fel, 1);
cputs(" - Listening for connections on SD2");
(void) sdGetAndClearFlags(&SD2);
chEvtRegister(&SD2.sevent, &sd2fel, 2);
/*
* Events servicing loop.
*/
while (!chThdShouldTerminate())
chEvtDispatch(fhandlers, chEvtWaitOne(ALL_EVENTS));
/*
* Clean simulator exit.
*/
chEvtUnregister(&SD1.sevent, &sd1fel);
chEvtUnregister(&SD2.sevent, &sd2fel);
return 0;
}
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