// internals
void * DashelInterface::run(void *param) {
DashelInterface * instance = ((DashelInterface*)param);
while (1) {
try {
instance->dashelConnect();
printf("Connected to target: %s\n", instance->dashelParams);
instance->isConnected = true;
GetDescription getDescription;
getDescription.serialize(instance->stream);
instance->stream->flush();
break;
}
catch (Dashel::DashelException e) {
fprintf(stderr, "Cannot connect to target: %s\n", instance->dashelParams);
instance->isConnected = false;
sleep(1000000L); // 1s
}
}
while (instance->isRunning)
instance->dashelRun();
return NULL;
}
RangerAsebaBridge::RangerAsebaBridge(const char* target):
targetStream(connect(target))
{
// request a description of the target
GetDescription getDescription;
getDescription.serialize(targetStream);
targetStream->flush();
// emit event to enable feedback and encoders
vector<int> arg;
arg.push_back(1);
emit(ENABLE_ENCODERS, arg);
emit(ENABLE_FEEDBACK, arg);
}
//! Process a command, return the number of arguments eaten (not counting the command itself)
int processCommand(Stream* stream, int argc, char *argv[])
{
const char *cmd = argv[0];
int argEaten = 0;
if (strcmp(cmd, "presence") == 0)
{
GetDescription message;
message.serialize(stream);
stream->flush();
}
else if (strcmp(cmd, "usermsg") == 0)
{
// first arg is type, second is length
if (argc < 2)
errorMissingArgument(argv[0]);
argEaten = argc;
uint16 type = atoi(argv[1]);
uint16 length = argc-2;
UserMessage::DataVector data(length);
for (size_t i = 0; i < length; i++)
data[i] = atoi(argv[i+2]);
UserMessage message(type, data);
message.serialize(stream);
stream->flush();
}
else if (strcmp(cmd, "rdpage") == 0)
{
// first arg is dest, second is page number
if (argc < 3)
errorMissingArgument(argv[0]);
argEaten = 2;
CmdBootloaderInterface bootloader(stream, atoi(argv[1]));
vector<uint8> data(bootloader.getPageSize());
if (bootloader.readPage(atoi(argv[2]), &data[0]))
{
ofstream file("page.bin");
if (file.good())
copy(data.begin(), data.end(), ostream_iterator<uint8>(file));
else
errorOpenFile("page.bin");
}
else
errorReadPage(atoi(argv[2]));
}
else if(strcmp(cmd, "rdpageusb") == 0)
{
if (argc < 3)
errorMissingArgument(argv[0]);
argEaten = 2;
CmdBootloaderInterface bootloader(stream, atoi(argv[1]));
vector <uint8> data(2048);
cout << "Page: " << atoi(argv[2]) << endl;
if(bootloader.readPageSimple(atoi(argv[2]), &data[0])) {
ofstream file("page.bin");
if(file.good())
copy(data.begin(),data.end(),ostream_iterator<uint8>(file));
else
errorOpenFile("page.bin");
}
else
errorReadPage(atoi(argv[2]));
}
else if (strcmp(cmd, "whex") == 0)
{
bool reset = 0;
// first arg is dest, second is file name
if (argc < 3)
errorMissingArgument(argv[0]);
argEaten = 2;
if (argc > 3 && !strcmp(argv[3], "reset"))
{
reset = 1;
argEaten = 3;
}
// try to write hex file
try
{
CmdBootloaderInterface bootloader(stream, atoi(argv[1]));
bootloader.writeHex(argv[2], reset, false);
}
catch (HexFile::Error &e)
{
errorHexFile(e.toString());
}
}
else if (strcmp(cmd,"wusb") == 0)
{
bool reset = 0;
if (argc < 3)
errorMissingArgument(argv[0]);
argEaten = 2;
if(argc > 3 && !strcmp(argv[3], "reset"))
{
reset = 1;
argEaten = 3;
}
try
{
CmdBootloaderInterface bootloader(stream, atoi(argv[1]));
bootloader.writeHex(argv[2], reset, true);
}
catch (HexFile::Error &e)
{
errorHexFile(e.toString());
}
}
else if (strcmp(cmd, "rhex") == 0)
{
// first arg is source, second is file name
if (argc < 3)
errorMissingArgument(argv[0]);
argEaten = 2;
// try to read hex file
try
{
CmdBootloaderInterface bootloader(stream, atoi(argv[1]));
bootloader.readHex(argv[2]);
}
catch (HexFile::Error &e)
{
errorHexFile(e.toString());
}
}
else if (strcmp(cmd, "eb") == 0)
{
uint16 dest;
if(argc < 2)
errorMissingArgument(argv[0]);
argEaten = 1;
dest = atoi(argv[1]);
BootloaderReset msg(dest);
msg.serialize(stream);
stream->flush();
// Wait ack from bootloader (mean we got out of it)
// Or bootloader description (mean we just entered it)
// WRONG; FIXME
while (true)
{
Message *message = Message::receive(stream);
// handle ack
BootloaderAck *ackMessage = dynamic_cast<BootloaderAck *>(message);
if (ackMessage && (ackMessage->source == dest))
{
cout << "Device is now in user-code" << endl;
delete message;
break;
}
//BootloaderDescription * bMessage = dynamic_cast<BootloaderDescription *>(message);
delete message;
}
}
else if (strcmp(cmd, "sb") == 0)
{
uint16 dest;
if(argc < 2)
errorMissingArgument(argv[0]);
argEaten = 1;
dest = atoi(argv[1]);
Reboot msg(dest);
msg.serialize(stream);
stream->flush();
}
else if (strcmp(cmd, "sleep") == 0)
{
uint16 dest;
if(argc < 2)
errorMissingArgument(argv[0]);
argEaten = 1;
dest = atoi(argv[1]);
Sleep msg(dest);
msg.serialize(stream);
stream->flush();
} else
errorUnknownCommand(cmd);
return argEaten;
}
