int main(int argc, char *argv[]) {
char *word, *pEnd;
int word_count, i, nread;
uint32_t cmd_addr, flag;
char *gap = " \n";
char buff[BUFFSIZE];
ENTRY definition, *wp;
pthread_t receive_t;
if (setupIO(argc, argv)) {
return EXIT_FAILURE;
}
// if not given, use default filename
if (namelen == 0) {
strcpy(filename, "prufh");
namelen = 5;
}
strcat(filename, ".defs");
// open list of forth word addresses
FILE *file = fopen(filename, "r");
if (file == NULL) {
fprintf(stderr, "Unable to open definitions file, %s\n", filename);
return EXIT_FAILURE;
}
// get number of definitions from begining of file
fgets (buff, BUFFSIZE, file );
word_count = atoi(buff);
// create hash for definition table
hcreate(word_count);
// fill hash with name-address pairs
for (i=0; i<word_count;) {
fgets(buff, BUFFSIZE, file);
word = strtok(buff, gap);
if (word != NULL) {
definition.key = strdup(word);
definition.data = (void*)strtol(strtok(NULL, gap), NULL, 0);
wp = hsearch(definition, ENTER);
if (wp == NULL) {
fprintf(stderr, "Dictionary entry failed on \"%s\"\n", word);
return EXIT_FAILURE;
} else {
if (!quiet_mode)
printf("Saved %9.9s as %p\n", wp->key, wp->data);
}
i++;
}
}
fclose(file);
if (pruInit(pru_num) == EXIT_SUCCESS) {
// start seperate thread to handle forth output
if (pthread_create(&receive_t, NULL, receive, (void*) &outpipe)) {
}
// main loop, relay input to pru
for(;;) {
nread = read(0, buff, BUFFSIZE); // wait here for input on stdin
if (nread > 1) {
word = strtok(buff, gap);
// exit program on "bye" command
if (strncmp(word, "bye", 3) == 0) break;
// find address of word corresponding to input
definition.key = word;
wp = hsearch(definition, FIND);
if (wp == NULL) {
// if input not defined, see if it is a number
cmd_addr = strtoul(word, &pEnd, 0);
if (pEnd == word) {
fprintf(stderr, "Unknown word, \"%s\"\n", word);
continue;
} else {
// if a number was input, signal forth to push it
flag = LIT_FLAG;
if (!quiet_mode)
printf("Pushing %d\n", cmd_addr);
}
} else {
// signal that a command address is being sent
flag = CMD_FLAG;
// retrieve the address
cmd_addr = (uint16_t)(intptr_t)(wp->data);
if (!quiet_mode)
printf("Executing %9.9s %x\n", word, cmd_addr);
}
// send message to pruss
if (exec(cmd_addr, flag)) {
fprintf(stderr, "Unable to issue command, \"%s\"\n", word);
}
}
}
}
hdestroy();
pthread_cancel(receive_t);
pthread_join(receive_t, NULL);
/* shutdown pru */
prussdrv_pru_disable(pru_num);
prussdrv_exit();
if (outpipe != 1) {
close(outpipe);
}
if (inpipe != 0) {
close(inpipe);
}
return EXIT_SUCCESS;
}
PRU::PRU()
{
pthread_t thread;
pruInit();
pthread_create(&thread, NULL, resetWatchdogPRU, (void*)1000);
}
