void main() {
stdout = &mystdio;
stderr = &mystdio;
stdin = &mystdio;
analog_init();
serial_init();
timer_init();
sei();
printf_P(PSTR("start\n"));
for (;;) {
// read serial
if (serial_rxchars())
serial_getline();
// read SDCARD
if (state_flags & STATE_READ_SD) {
if (file.fs == &fatfs) {
UINT i;
do {
if (f_read(&file, &c, 1, &i) == FR_OK) {
if (i)
gcode_parse_char(c);
}
else
i = 0;
} while ((i != 0) && (c >= 32));
}
}
loopstuff();
};
}
int main(int argc, char* argv[])
{
/* Number of outstanding acknowledgements */
unsigned int ack_outstanding = 0;
ssize_t bytes_r, bytes_w;
size_t line_gcode_len = 0;
/* Buffer for reading from serial port */
char line_feedback[SERIAL_LINE_LEN];
/* User options */
int baudrate = DEFAULT_BAUDRATE;
int serial_timeout = DEFAULT_TIMEOUT;
unsigned int ack_count = DEFAULT_ACKCOUNT;
#ifdef SETUID
uid_t ruid = getuid();
uid_t euid = geteuid();
if (setuid(0) == -1) {
perror("Error: setuid");
leave(EXIT_FAILURE);
}
euid = geteuid();
if (euid != 0) {
perror("Error: setuid");
leave(EXIT_FAILURE);
}
if (nice(-10) == -1) {
perror("Error: setuid");
leave(EXIT_FAILURE);
}
if (ruid != euid && setuid(ruid) == -1) {
perror("Error: setuid");
leave(EXIT_FAILURE);
}
#endif
/* Bind to SIGINT for cleanup */
signal(SIGINT, leave);
/* Read environmental variables */
filename = getenv("AG_DUMP");
serial_port = getenv("AG_SERIALPORT");
/* Allow special NULL string to disable serial port for testing. */
if (serial_port) {
if (strcmp(serial_port, "NULL") == 0)
serial_port = NULL;
}
if (getenv("AG_BAUDRATE"))
baudrate = strtol(getenv("AG_BAUDRATE"), NULL, 10);
if (getenv("AG_ACKCOUNT"))
ack_count = strtol(getenv("AG_ACKCOUNT"), NULL, 10);
if (getenv("AG_VERBOSE"))
verbose = strtol(getenv("AG_VERBOSE"), NULL, 10);
if (verbose > 0)
fprintf(stderr, "verbose mode\n");
/* Initalise serial port if required */
if (serial_port) {
if (verbose > 0)
fprintf(stderr, "opening serial port %s\n",
serial_port);
serial = serial_init(serial_port, baudrate);
if (serial == -1) {
perror("Error: unable to open serial port");
return EXIT_FAILURE;
}
usleep(SERIAL_INIT_PAUSE);
tcflush(serial, TCIOFLUSH);
usleep(SERIAL_INIT_PAUSE);
/* Read initialisation message */
bytes_r = serial_getline(serial, line_feedback, serial_timeout);
if (bytes_r == -1) {
perror("Error: serial port timeout");
return EXIT_FAILURE;
}
printf("%s\n", line_feedback);
usleep(SERIAL_INIT_PAUSE);
tcflush(serial, TCIOFLUSH);
usleep(SERIAL_INIT_PAUSE);
}
/* Open output file if required */
if (filename) {
output_file = fopen(filename, "a");
if (output_file == NULL) {
perror("Error: unable to open output file");
close(serial);
return EXIT_FAILURE;
}
if (verbose > 0)
fprintf(stderr, "output to %s\n", filename);
}
if (verbose > 0)
fprintf(stderr, "ready\n");
/* Start of main communications loop */
while (1) {
/*
* Keep sending lines until we reach the maximum outstanding
* acknoledgements.
*/
while (ack_outstanding < ack_count || ack_count == 0) {
/* Block until we have a complete line from stdin */
bytes_r = getline(&line_gcode, &line_gcode_len, stdin);
/* Check if stream is closed */
if (bytes_r == -1)
leave(EXIT_SUCCESS);
/* Handle internal austerusG control commands */
if (strncmp(line_gcode, MSG_CMD, MSG_CMD_LEN) == 0) {
process_command(line_gcode);
continue;
}
if (output_file) {
fprintf(output_file, "%s", line_gcode);
fflush(output_file);
}
if (serial_port) {
/* Don't send empty lines */
if (bytes_r <= 1)
continue;
/* Write the line to the serial port */
bytes_w = write(serial, line_gcode, bytes_r);
if (bytes_w != bytes_r) {
perror("Error: write error");
leave(EXIT_FAILURE);
}
}
ack_outstanding++;
}
/*
* We must wait for at least one acknowledgement before we
* can send any more lines.
*/
while (ack_outstanding >= ack_count && ack_count > 0) {
/*
* Block until we have read an entire line from
* serial or we timeout.
*/
bytes_r = serial_getline(serial, line_feedback, serial_timeout);
if (bytes_r == -1) {
perror("Error: serial timeout, clearing serial buffer");
tcflush(serial, TCIOFLUSH);
ack_outstanding = 0;
} else if (strncmp(line_feedback, MSG_ACK, MSG_ACK_LEN) == 0 ||
strncmp(line_feedback, MSG_DUD, MSG_DUD_LEN) == 0) {
/*
* If the line is an ACK (either ok or error)
* then decrement count and send to stdout.
*/
ack_outstanding--;
printf("%s\n", line_feedback);
fflush(stdout);
} else {
/*
* If the line is not an ACK then just send
* to stdout.
*/
printf("%s\n", line_feedback);
fflush(stdout);
}
}
}
}
