// Waits for the next byte and returns it. Runs play_check to keep
// the music playing and calls pid_check() to keep following the line.
char read_next_byte()
{
while(serial_get_received_bytes() == read_index)
{
play_check();
// pid_check takes some time; only run it if we don't have more bytes to process
if(serial_get_received_bytes() == read_index)
pid_check();
}
char ret = buffer[read_index];
read_index ++;
if(read_index >= 100)
read_index = 0;
return ret;
}
void check_for_new_bytes_received( )
{
while(serial_get_received_bytes(USB_COMM) != receive_buffer_position)
{
// Remember the byte that was received, ignore if user pushed too many bytes
if ( bytes_received > sizeof(my_received_buffer) )
{
bytes_received = 0;
memset( my_received_buffer, 0, sizeof(my_received_buffer) );
serial_print( "Buffer Exceeded, try again!" );
}
else
{
if ( receive_buffer[receive_buffer_position] == 0x8 || receive_buffer[receive_buffer_position] == 0x7F )
{
// treat this as a backspace
bytes_received = (bytes_received > 0) ? bytes_received - 1 : bytes_received;
my_received_buffer[bytes_received] = '\0';
}
else
{
my_received_buffer[bytes_received] = receive_buffer[receive_buffer_position];
bytes_received++;
}
// echo what was typed on the serial console back to the serial console
serial_print_char( receive_buffer[receive_buffer_position] );
}
// Increment receive_buffer_position, but wrap around when it gets to
// the end of the buffer.
if (receive_buffer_position == sizeof(receive_buffer)-1)
{
receive_buffer_position = 0;
}
else
{
receive_buffer_position++;
}
}
if ( bytes_received && (my_received_buffer[bytes_received-1] == '\r' || my_received_buffer[bytes_received-1] == '\n') )
{
// echo string to serial console
serial_print( "%s", my_received_buffer );
// check makes sure we have atleast 3 bytes of data from user interface
if ( bytes_received > 1)
{
strip( my_received_buffer, sizeof(my_received_buffer) );
process_received_bytes( my_received_buffer );
}
memset( my_received_buffer, 0, sizeof(my_received_buffer) );
bytes_received = 0;
}
}
unsigned char rob_serial_get_received_bytes_usb_comm (void)
{
unsigned char numBytes;
vTaskSuspendAll();
{
numBytes = serial_get_received_bytes (USB_COMM);
}
xTaskResumeAll();
return numBytes;
}
int s_read(char* buf, int want, int msecTimeout)
{
static int ringNext = -1; // -1 means uninitialized
static char ringBuffer[kBufSize]; // size must fit in unsigned char
if (want <= 0 || buf == 0)
return 0;
int maxRead = kBufSize - 1;
if (want > maxRead)
want = maxRead;
if (ringNext < 0)
{
serial_receive_ring(USB_COMM, ringBuffer, kBufSize);
ringNext = 0;
}
int avail = 0;
int done = 0;
while (!done)
{
serial_check();
int nbytes = serial_get_received_bytes(USB_COMM);
avail = (nbytes - ringNext) & kSizeMask;
if (avail > 0 || msecTimeout <= 0)
done = 1;
else
{
delay_ms(1);
--msecTimeout;
}
}
if (want > avail)
want = avail;
int got = 0;
while (got < want)
{
buf[got++] = ringBuffer[ringNext++];
ringNext &= kSizeMask;
}
return got;
}
void check_for_new_bytes_received()
{
while(serial_get_received_bytes(USB_COMM) != receive_buffer_position)
{
// Process the new byte that has just been received.
process_received_byte(receive_buffer[receive_buffer_position]);
// Increment receive_buffer_position, but wrap around when it gets to
// the end of the buffer.
if (receive_buffer_position == sizeof(receive_buffer)-1)
{
receive_buffer_position = 0;
}
else
{
receive_buffer_position++;
}
}
}
//---------------------------------------------------------------------------------------
// If there are received bytes to process, this function loops through the receive_buffer
// accumulating new bytes (keystrokes) in another buffer for processing.
void check_for_new_bytes_received()
{
/*
The receive_buffer is a ring buffer. The call to serial_check() (you should call prior to this function) fills the buffer.
serial_get_received_bytes is an array index that marks where in the buffer the most current received character resides.
receive_buffer_position is an array index that marks where in the buffer the most current PROCESSED character resides.
Both of these are incremented % (size-of-buffer) to move through the buffer, and once the end is reached, to start back at the beginning.
This process and data structures are from the Pololu library. See examples/serial2/test.c and src/OrangutanSerial/ *
A carriage return from your comm window initiates the transfer of your keystrokes.
All key strokes prior to the carriage return will be processed with a single call to this function (with multiple passes through this loop).
On the next function call, the carriage return is processes with a single pass through the loop.
The menuBuffer is used to hold all keystrokes prior to the carriage return. The "received" variable, which indexes menuBuffer, is reset to 0
after each carriage return.
*/
char menuBuffer[32];
static int received = 0;
int evaluate = 0;
// while there are unprocessed keystrokes in the receive_buffer, grab them and buffer
// them into the menuBuffer
while(serial_get_received_bytes(USB_COMM) != receive_buffer_position)
{
// place in a buffer for processing
menuBuffer[received] = receive_buffer[receive_buffer_position];
print_usb_char( menuBuffer[received] );
#ifdef ECHO2LCD
lcd_goto_xy(0,0);
print("RX: (");
print_long(menuBuffer[received]);
print_character(')');
for (int i=0; i<received; i++)
{
print_character(menuBuffer[i]);
}
#endif
if ( menuBuffer[received] == '\r' )
{
print_usb( "\n" );
evaluate = 1;
}
++received;
// Increment receive_buffer_position, but wrap around when it gets to
// the end of the buffer.
if ( receive_buffer_position == sizeof(receive_buffer) - 1 )
{
receive_buffer_position = 0;
}
else
{
receive_buffer_position++;
}
}
#ifdef ECHO2LCD
lcd_goto_xy(0,1);
print("RX: (");
print_long(received);
print_character(')');
for (int i=0; i<received; i++)
{
print_character(menuBuffer[i]);
}
#endif
// If there were keystrokes processed, check if a menu command
if ( evaluate ) {/*
// if only 1 received, it was MOST LIKELY a carriage return.
// Even if it was a single keystroke, it is not a menu command, so ignore it.
if ( 1 == received ) {
received = 0;
return;
}*/
// Process buffer: terminate string, process, reset index to beginning of array to receive another command
menuBuffer[received] = '\0';
#ifdef ECHO2LCD
lcd_goto_xy(0,1);
print("RX: (");
print_long(received);
print_character(')');
for (int i=0; i<received; i++)
{
print_character(menuBuffer[i]);
}
#endif
process_received_string(menuBuffer);
received = 0;
}
}
// Parse user-input and implement commands
int cli_service(void)
{
int received_bytes = 0;
char c;
bool buffers_updated = false;
// process received bytes from the ring buffer and move them into the
// command buffer
while ((received_bytes = serial_get_received_bytes(USB_COMM)) != g_receive_buffer.ring_buffer_position) {
// add the current byte to the command buffer
buffers_updated = true;
c = g_receive_buffer.ring_buffer[g_receive_buffer.ring_buffer_position];
LOG("%c", c);
if (c == '\b') {
if (g_receive_buffer.command_buffer_length) {
LOG(" \b"); /* erase previous character from screen */
g_receive_buffer.command_buffer_length--; /* backspace */
} else {
LOG(" "); /* fill back space */
}
} else {
g_receive_buffer.command_buffer[g_receive_buffer.command_buffer_length++] = c;
}
if (g_receive_buffer.ring_buffer_position == sizeof(g_receive_buffer.ring_buffer)) {
g_receive_buffer.ring_buffer_position = 0;
} else {
g_receive_buffer.ring_buffer_position++;
}
}
// Scan for a "line" (that is words followed by \r\n or \r\r\n. If found,
// record that we have a match and null terminate the string
if (buffers_updated) {
char *loc;
int idx;
int end_of_command = false;
bool command_waiting = false;
if ((loc = strstr(g_receive_buffer.command_buffer, "\r\n")) != NULL) {
LOG("\r\n");
idx = loc - g_receive_buffer.command_buffer;
command_waiting = true;
end_of_command = idx + 1;
g_receive_buffer.command_buffer[idx] = '\0';
g_receive_buffer.command_buffer[idx + 1] = '\0';
} else if ((loc = strchr(g_receive_buffer.command_buffer, '\r')) != NULL) {
LOG("\r\n");
idx = loc - g_receive_buffer.command_buffer;
command_waiting = true;
end_of_command = idx;
g_receive_buffer.command_buffer[idx] = '\0';
}
if (command_waiting) {
// now, process the command and move any modify the contents of the
// command_buffer to be in a valid state again
cli_process_command(g_receive_buffer.command_buffer);
LOG("#> ");
memcpy(g_receive_buffer.command_buffer,
&g_receive_buffer.command_buffer[end_of_command + 1],
sizeof(g_receive_buffer.command_buffer) - end_of_command);
g_receive_buffer.command_buffer_length -= (end_of_command + 1);
}
}
return 0;
} // end menu()