void initBitlash(unsigned long baud) {
#if defined(TINY_BUILD)
beginSerial(9600);
#else
beginSerial(baud);
#endif
#if defined(ARM_BUILD)
eeinit();
#endif
initTaskList();
vinit();
displayBanner();
#if !defined(TINY_BUILD)
// Run the script named "startup" if there is one
strncpy_P(lbuf, getmsg(M_startup), STRVALLEN); // get the name "startup" in our cmd buf
//if (findKey(lbuf) >= 0) doCommand(lbuf); // look it up. exists? call it.
if (findscript(lbuf)) doCommand(lbuf); // look it up. exists? call it.
#endif
initlbuf();
}
/////////
//
// Parse and interpret a stream, and return its value
//
// This is used in doCommand to execute a passed-in or collected text command,
// in domacrocommand() when a macro/function is called from within a parse stream,
// and in runBackgroundTasks to kick off the background run.
//
//
numvar execscript(byte scripttype, numvar scriptaddress, char *scriptname) {
// save parse context
parsepoint fetchmark;
markparsepoint(&fetchmark);
byte thesym = sym;
vpush(symval);
// if this is the first stream context in this invocation,
// set up our error recovery point and init the value stack
// otherwise we skip this to allow nested execution calls
// to properly return to top
//
if (fetchtype == SCRIPT_NONE) {
// Exceptions come here via longjmp; see bitlash-error.c
switch(setjmp(env)) {
case 0: break;
case X_EXIT: {
// POLICY: Stop all background tasks on any error
//
// It is not possible to be certain that continuing here will work.
// Not all errors leave the interpreter in a working state. Though most do.
// The conservative/deterministic choice is to stop all background tasks
// and drop the user back to the command prompt.
//
// On the other hand, you may find this inconvenient in your application,
// and may be happy taking the risk of continuing.
//
// In which case, comment out this line and proceed with caution.
//
// TODO: if the macro "onerror" exists, call it here instead. Let it "stop *".
//
// -br
//
initTaskList(); // stop all pending tasks
#ifdef SOFTWARE_SERIAL_TX
resetOutput(); // clean up print module
#endif
// Other cleanups here
vinit(); // initialize the expression stack
fetchtype = SCRIPT_NONE; // reset parse context
fetchptr = 0L; // reset parse location
// sd_up = 0; // TODO: reset file system
return (numvar) -1;
} // X_EXIT case
} // switch
}
initparsepoint(scripttype, scriptaddress, scriptname);
getsym();
// interpret the function text and collect its result
numvar ret = getstatementlist();
returntoparsepoint(&fetchmark, 1); // now where were we?
sym = thesym;
symval = vpop();
return ret;
}
void nukeeeprom(void) {
initTaskList(); // stop any currently running background tasks
int addr = STARTDB;
while (addr <= ENDDB) {
if (eeread(addr) != EMPTY) eewrite(addr, EMPTY);
addr++;
}
}
/*
* Handle the received message and implement the action.
*
* receivedMsgType the msgType, extracted from the
* received mesage.
* pReceivedMsgBody pointer to the body part of the
* received message.
* pSendMsg pointer to a message that we
* can fill in with the response.
*
* @return SERVER_SUCCESS_KEEP_RUNNING unless
* exitting in which case SERVER_EXIT_NORMALLY.
*/
static ServerReturnCode doAction (TaskHandlerMsgType receivedMsgType, UInt8 * pReceivedMsgBody, Msg *pSendMsg)
{
ServerReturnCode returnCode = SERVER_SUCCESS_KEEP_RUNNING;
Bool success = false;
ASSERT_PARAM (pReceivedMsgBody != PNULL, (unsigned long) pReceivedMsgBody);
ASSERT_PARAM (pSendMsg != PNULL, (unsigned long) pSendMsg);
/* We always respond with the same message type */
pSendMsg->msgType = (MsgType) receivedMsgType;
/* Fill in the length so far */
pSendMsg->msgLength += sizeof (pSendMsg->msgType);
/* Now handle each message specifically */
switch (receivedMsgType)
{
/*
* Messages to do with the server itself
*/
case TASK_HANDLER_SERVER_START:
{
success = initTaskList();
}
break;
case TASK_HANDLER_SERVER_STOP:
{
success = clearTaskList();
returnCode = SERVER_EXIT_NORMALLY;
}
break;
/*
* Messages to do with tasks
*/
case TASK_HANDLER_NEW_TASK:
{
success = handleNewTaskReq ((RoboOneTaskReq *) pReceivedMsgBody);
}
break;
case TASK_HANDLER_TICK:
{
success = tickTaskHandler();
}
break;
default:
{
ASSERT_ALWAYS_PARAM (receivedMsgType);
}
break;
}
/* Note: the following code assumes packing of 1 and that the start of a Cnf message contains the Bool 'success' */
pSendMsg->msgBody[0] = success;
pSendMsg->msgLength += sizeof (Bool);
return returnCode;
}
void nukeeeprom(void) {
initTaskList(); // stop any currently running background tasks
int addr;
for (addr = STARTDB; addr < ENDDB; addr++) {
if (eeread(addr) != EMPTY) {
eewrite(addr, EMPTY);
}
}
}
///////////////////////
// handle a character from the input stream
// may execute the command, etc.
//
void doCharacter(char c) {
if (lbufptr >= &lbuf[LBUFLEN-1]) overflow(M_line);
if ((c == '\r') || (c == '\n') || (c == '`')) {
speol();
*lbufptr = 0;
doCommand(lbuf);
initlbuf();
}
else if (c == 3) { // ^C break/stop
msgpl(M_ctrlc);
initTaskList();
initlbuf();
}
else if (c == 2) { // ^B suspend Background macros
suspendBackground = !suspendBackground;
}
else if ((c == 8) || (c == 0x7f)) {
if (lbufptr == lbuf) spb(7); // bell
else {
spb(8); spb(' '); spb(8);
*(--lbufptr) = 0;
}
}
#ifdef PARSER_TRACE
else if (c == 20) { // ^T toggle trace
trace = !trace;
spb(7);
}
#endif
else if (c == 21) { // ^U to get last line
msgpl(M_ctrlu);
prompt();
sp(lbuf);
lbufptr = lbuf + strlen(lbuf);
}
else {
spb(c);
*lbufptr++ = c;
}
}
// Get a statement
void getstatement(void) {
#if !defined(TINY85)
chkbreak();
#endif
if (sym == s_while) {
// at this point sym is pointing at s_while, before the conditional expression
// save fetchptr so we can restart parsing from here as the while iterates
char *fetchmark = fetchptr;
for (;;) {
fetchptr = fetchmark; // restore to mark
primec(); // set up for mr. getsym()
getsym(); // fetch the start of the conditional
if (!getnum()) {
//longjmp(env, X_EXIT); // get the conditional; exit on false
sym = s_eof; // we're finished here. move along.
return;
}
if (sym != s_colon) expectedchar(':');
getsym(); // eat :
getstatementlist();
}
}
else if (sym == s_if) {
getsym(); // fetch the start of the conditional
if (!getnum()) {
//longjmp(env, X_EXIT); // get the conditional; exit on false
sym = s_eof;
return;
}
if (sym != s_colon) expectedchar(':');
getsym(); // eat :
getstatementlist();
}
#if SKETCH
// The switch statement: call one of N macros based on a selector value
// switch <numval>: macroid1, macroid2,.., macroidN
// numval < 0: numval = 0
// numval > N: numval = N
else if (sym == s_switch) {
getsym(); // eat "switch"
numvar selector = getnum(); // evaluate the switch value
if (selector < 0) selector = 0;
if (sym != s_colon) expectedchar(':');
// we sit before the first macroid
// scan and discard the <selector>'s worth of macro ids
// that sit before the one we want
for (;;) {
getsym(); // get an id, sets symval to its eeprom addr as a side effect
if (sym != s_macro) expected (6); // TODO: define M_macro instead of 6
getsym(); // eat id, get separator; assume symval is untouched
if ((sym == s_semi) || (sym == s_eof)) break; // last case is default so we exit always
if (sym != s_comma) expectedchar(',');
if (!selector) break; // ok, this is the one we want to execute
selector--; // one down...
}
// call the macro whose addr is squirreled in symval all this time
// on return, the parser is ready to pick up where we left off
doMacroCall(symval);
// scan past the rest of the unused switch options, if any
// TODO: syntax checking for non-chosen options could be made much tighter at the cost of some space
while ((sym != s_semi) && (sym != s_eof)) getsym(); // scan to end of statement without executing
}
#endif
else if ((sym == s_macro) || (sym == s_undef)) { // macro def or ref
getsym(); // scan past macro name to next symbol: ; or :=
if (sym == s_define) { // macro definition: macroid := strvalue
// to define the macro, we need to copy the id somewhere on the stack
// to avoid having this local buffer in every getstatement stack frame,
// we break out defineMacro here to a separate function that only eats that
// stack in the case that a macro is being defined
#ifdef TINY85
unexpected(M_defmacro);
#else
defineMacro();
#endif
}
else if ((sym == s_semi) || (sym == s_eof)) { // valid macro reference: let's call it
#if SKETCH
doMacroCall(symval); // parseid stashes the macro address in symval
#else
char op = sym; // save sym for restore
expval = findKey(idbuf); // assumes id in idbuf isn't clobbered since getsym() above
if (expval >= 0) {
char *fetchmark = fetchptr; // save the current parse pointer
// call the macro
calleeprommacro(findend(expval)); // register the macro into the parser stream
getsym();
getstatementlist(); // parse and execute the macro code here
if (sym != s_eof) expected(M_eof);
// restore parsing context so we can resume cleanly
fetchptr = fetchmark; // restore pointer
primec(); // and inchar
sym = op; // restore saved sym: s_semi or s_eof
} else unexpected(M_id);
#endif
}
else expectedchar(';');
//else getexpression(); // assume it was macro1+32+macro2...
}
else if (sym == s_run) { // run macroname
getsym();
if (sym != s_macro) unexpected(M_id);
#if 0
// address of macroid is in symval via parseid
startTask(kludge(symval));
getsym();
#else
// address of macroid is in symval via parseid
// check for [,snoozeintervalms]
getsym(); // eat macroid to check for comma; symval untouched
if (sym == s_comma) {
vpush(symval);
getsym(); // eat the comma
getnum(); // get a number or else
startTask(kludge(vpop()), expval);
}
else startTask(kludge(symval), 0);
#endif
}
else if (sym == s_stop) {
getsym();
if (sym == s_mul) { // stop * stops all tasks
initTaskList();
getsym();
}
else if ((sym == s_semi) || (sym == s_eof)) {
if (background) stopTask(curtask); // stop with no args stops the current task IF we're in back
else initTaskList(); // in foreground, stop all
}
else stopTask(getnum());
}
else if (sym == s_boot) reboot();
#if !defined(TINY85)
else if (sym == s_rm) { // rm "sym" or rm *
getsym();
if (sym == s_macro) {
eraseentry(idbuf);
}
else if (sym == s_mul) nukeeeprom();
else expected(M_id);
getsym();
}
else if (sym == s_ps) showTaskList();
else if (sym == s_peep) { getsym(); cmd_peep(); }
else if (sym == s_ls) { getsym(); cmd_ls(); }
else if (sym == s_help) { getsym(); cmd_help(); }
else if (sym == s_print) { getsym(); cmd_print(); }
#endif
#ifdef HEX_UPLOAD
// a line beginning with a colon is treated as a hex record
// containing data to upload to eeprom
//
// TODO: verify checksum
//
else if (sym == s_colon) {
// fetchptr points at the byte count
byte byteCount = gethex(2); // 2 bytes byte count
int addr = gethex(4); // 4 bytes address
byte recordType = gethex(2); // 2 bytes record type; now fetchptr -> data
if (recordType == 1) reboot(); // reboot on EOF record (01)
if (recordType != 0) return; // we only handle the data record (00)
if (addr == 0) nukeeeprom(); // auto-clear eeprom on write to 0000
while (byteCount--) eewrite(addr++, gethex(2)); // update the eeprom
gethex(2); // discard the checksum
getsym(); // and re-prime the parser
}
#endif
else {
getexpression();
}
}
// Get a statement
numvar getstatement(void) {
numvar retval = 0;
//char *fetchmark;
numvar fetchmark;
chkbreak();
if (sym == s_while) {
// at this point sym is pointing at s_while, before the conditional expression
// save fetchptr so we can restart parsing from here as the while iterates
//fetchmark = fetchptr;
fetchmark = markparsepoint();
for (;;) {
//fetchptr = fetchmark; // restore to mark
//primec(); // set up for mr. getsym()
returntoparsepoint(fetchmark, 0);
getsym(); // fetch the start of the conditional
if (getnum()) {
retval = getstatement();
if (sym == s_returning) break; // exit if we caught a return
}
else {
skipstatement();
break;
}
}
}
else if (sym == s_if) {
getsym(); // eat "if"
if (getnum()) {
retval = getstatement();
if (sym == s_else) {
getsym(); // eat "else"
skipstatement();
}
} else {
skipstatement();
if (sym == s_else) {
getsym(); // eat "else"
retval = getstatement();
}
}
}
else if (sym == s_lcurly) {
getsym(); // eat "{"
while ((sym != s_eof) && (sym != s_returning) && (sym != s_rcurly)) retval = getstatement();
if (sym == s_rcurly) getsym(); // eat "}"
}
else if (sym == s_return) {
getsym(); // eat "return"
if ((sym != s_eof) && (sym != s_semi)) retval = getnum();
sym = s_returning; // signal we're returning up the line
}
else if (sym == s_switch) retval = getswitchstatement();
else if (sym == s_function) cmd_function();
else if (sym == s_run) { // run macroname
getsym();
if ((sym != s_script_eeprom) && (sym != s_script_progmem) &&
(sym != s_script_file)) unexpected(M_id);
// address of macroid is in symval via parseid
// check for [,snoozeintervalms]
getsym(); // eat macroid to check for comma; symval untouched
if (sym == s_comma) {
vpush(symval);
getsym(); // eat the comma
getnum(); // get a number or else
startTask(vpop(), expval);
}
else startTask(symval, 0);
}
else if (sym == s_stop) {
getsym();
if (sym == s_mul) { // stop * stops all tasks
initTaskList();
getsym();
}
else if ((sym == s_semi) || (sym == s_eof)) {
if (background) stopTask(curtask); // stop with no args stops the current task IF we're in back
else initTaskList(); // in foreground, stop all
}
else stopTask(getnum());
}
else if (sym == s_boot) reboot();
else if (sym == s_rm) { // rm "sym" or rm *
getsym();
if (sym == s_script_eeprom) {
eraseentry(idbuf);
}
else if (sym == s_mul) nukeeeprom();
else if (sym != s_undef) expected(M_id);
getsym();
}
else if (sym == s_ps) { getsym(); showTaskList(); }
else if (sym == s_peep) { getsym(); cmd_peep(); }
else if (sym == s_ls) { getsym(); cmd_ls(); }
else if (sym == s_help) { getsym(); cmd_help(); }
else if (sym == s_print) { getsym(); cmd_print(); }
else if (sym == s_semi) { ; } // ;)
#ifdef HEX_UPLOAD
// a line beginning with a colon is treated as a hex record
// containing data to upload to eeprom
//
// TODO: verify checksum
//
else if (sym == s_colon) {
// fetchptr points at the byte count
byte byteCount = gethex(2); // 2 bytes byte count
int addr = gethex(4); // 4 bytes address
byte recordType = gethex(2); // 2 bytes record type; now fetchptr -> data
if (recordType == 1) reboot(); // reboot on EOF record (01)
if (recordType != 0) return; // we only handle the data record (00)
if (addr == 0) nukeeeprom(); // auto-clear eeprom on write to 0000
while (byteCount--) eewrite(addr++, gethex(2)); // update the eeprom
gethex(2); // discard the checksum
getsym(); // and re-prime the parser
}
#endif
else getexpression();
if (sym == s_semi) getsym(); // eat trailing ';'
return retval;
}
int initSignal(signal_t *p_signal)
{
return initTaskList(&(p_signal->queue));
}
// Get a statement
numvar getstatement(void) {
numvar retval = 0;
char *fetchmark;
chkbreak();
//#define LINEMODE
#ifdef LINEMODE
if (sym == s_while) {
// at this point sym is pointing at s_while, before the conditional expression
// save fetchptr so we can restart parsing from here as the while iterates
char *fetchmark = fetchptr;
for (;;) {
fetchptr = fetchmark; // restore to mark
primec(); // set up for mr. getsym()
getsym(); // fetch the start of the conditional
if (!getnum()) {
//longjmp(env, X_EXIT); // get the conditional; exit on false
sym = s_eof; // we're finished here. move along.
return;
}
if (sym != s_colon) expectedchar(':');
getsym(); // eat :
getstatementlist();
}
}
else if (sym == s_if) {
getsym(); // fetch the start of the conditional
if (!getnum()) {
//longjmp(env, X_EXIT); // get the conditional; exit on false
sym = s_eof;
return;
}
if (sym != s_colon) expectedchar(':');
getsym(); // eat :
getstatementlist();
}
// The switch statement: call one of N macros based on a selector value
// switch <numval>: macroid1, macroid2,.., macroidN
// numval < 0: numval = 0
// numval > N: numval = N
else if (sym == s_switch) {
getsym(); // eat "switch"
numvar selector = getnum(); // evaluate the switch value
if (selector < 0) selector = 0;
if (sym != s_colon) expectedchar(':');
// we sit before the first macroid
// scan and discard the <selector>'s worth of macro ids
// that sit before the one we want
for (;;) {
getsym(); // get an id, sets symval to its eeprom addr as a side effect
if (sym != s_macro) expected (6); // TODO: define M_macro instead of 6
getsym(); // eat id, get separator; assume symval is untouched
if ((sym == s_semi) || (sym == s_eof)) break; // last case is default so we exit always
if (sym != s_comma) expectedchar(',');
if (!selector) break; // ok, this is the one we want to execute
selector--; // one down...
}
// call the macro whose addr is squirreled in symval all this time
// on return, the parser is ready to pick up where we left off
domacrocall(symval);
// scan past the rest of the unused switch options, if any
// TODO: syntax checking for non-chosen options could be made much tighter at the cost of some space
while ((sym != s_semi) && (sym != s_eof)) getsym(); // scan to end of statement without executing
}
#else
// new statement handling
if (sym == s_while) {
// at this point sym is pointing at s_while, before the conditional expression
// save fetchptr so we can restart parsing from here as the while iterates
fetchmark = fetchptr;
for (;;) {
fetchptr = fetchmark; // restore to mark
primec(); // set up for mr. getsym()
getsym(); // fetch the start of the conditional
if (getnum()) {
retval = getstatement();
if (sym == s_returning) break; // exit if we caught a return
}
else {
skipstatement();
break;
}
}
}
else if (sym == s_if) {
getsym(); // eat "if"
if (getnum()) {
retval = getstatement();
if (sym == s_else) {
getsym(); // eat "else"
skipstatement();
}
} else {
skipstatement();
if (sym == s_else) {
getsym(); // eat "else"
retval = getstatement();
}
}
}
else if (sym == s_lcurly) {
getsym(); // eat "{"
while ((sym != s_eof) && (sym != s_returning) && (sym != s_rcurly)) retval = getstatement();
if (sym == s_rcurly) getsym(); // eat "}"
}
else if (sym == s_return) {
getsym(); // eat "return"
if ((sym != s_eof) && (sym != s_semi)) retval = getnum();
sym = s_returning; // signal we're returning up the line
}
else if (sym == s_switch) retval = getswitchstatement();
else if (sym == s_function) cmd_function();
#endif
else if (sym == s_run) { // run macroname
getsym();
if (sym != s_macro) unexpected(M_id);
// address of macroid is in symval via parseid
// check for [,snoozeintervalms]
getsym(); // eat macroid to check for comma; symval untouched
if (sym == s_comma) {
vpush(symval);
getsym(); // eat the comma
getnum(); // get a number or else
startTask(kludge(vpop()), expval);
}
else startTask(kludge(symval), 0);
}
else if (sym == s_stop) {
getsym();
if (sym == s_mul) { // stop * stops all tasks
initTaskList();
getsym();
}
else if ((sym == s_semi) || (sym == s_eof)) {
if (background) stopTask(curtask); // stop with no args stops the current task IF we're in back
else initTaskList(); // in foreground, stop all
}
else stopTask(getnum());
}
else if (sym == s_boot) reboot();
#if !defined(TINY85)
else if (sym == s_rm) { // rm "sym" or rm *
getsym();
if (sym == s_macro) {
eraseentry(idbuf);
}
else if (sym == s_mul) nukeeeprom();
else if (sym != s_undef) expected(M_id);
getsym();
}
else if (sym == s_ps) { getsym(); showTaskList(); }
else if (sym == s_peep) { getsym(); cmd_peep(); }
else if (sym == s_ls) { getsym(); cmd_ls(); }
else if (sym == s_help) { getsym(); cmd_help(); }
else if (sym == s_print) { getsym(); cmd_print(); }
else if (sym == s_semi) { ; } // ;)
#endif
#ifdef HEX_UPLOAD
// a line beginning with a colon is treated as a hex record
// containing data to upload to eeprom
//
// TODO: verify checksum
//
else if (sym == s_colon) {
// fetchptr points at the byte count
byte byteCount = gethex(2); // 2 bytes byte count
int addr = gethex(4); // 4 bytes address
byte recordType = gethex(2); // 2 bytes record type; now fetchptr -> data
if (recordType == 1) reboot(); // reboot on EOF record (01)
if (recordType != 0) return; // we only handle the data record (00)
if (addr == 0) nukeeeprom(); // auto-clear eeprom on write to 0000
while (byteCount--) eewrite(addr++, gethex(2)); // update the eeprom
gethex(2); // discard the checksum
getsym(); // and re-prime the parser
}
#endif
else getexpression();
if (sym == s_semi) getsym(); // eat trailing ';'
return retval;
}
