112 lines
4.1 KiB
C
112 lines
4.1 KiB
C
#ifndef __COMMAND_H
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#define __COMMAND_H
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#include <stdarg.h> // va_list
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#include <stddef.h>
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#include <stdint.h> // uint8_t
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#include "ctr.h" // DECL_CTR
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// Declare a function to run when the specified command is received
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#define DECL_COMMAND_FLAGS(FUNC, FLAGS, MSG) \
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DECL_CTR("DECL_COMMAND_FLAGS " __stringify(FUNC) " " \
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__stringify(FLAGS) " " MSG)
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#define DECL_COMMAND(FUNC, MSG) \
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DECL_COMMAND_FLAGS(FUNC, 0, MSG)
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// Flags for command handler declarations.
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#define HF_IN_SHUTDOWN 0x01 // Handler can run even when in emergency stop
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// Declare a constant exported to the host
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#define DECL_CONSTANT(NAME, VALUE) \
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DECL_CTR_INT("DECL_CONSTANT " NAME, 1, CTR_INT(VALUE))
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#define DECL_CONSTANT_STR(NAME, VALUE) \
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DECL_CTR("DECL_CONSTANT_STR " NAME " " VALUE)
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// Declare an enumeration
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#define DECL_ENUMERATION(ENUM, NAME, VALUE) \
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DECL_CTR_INT("DECL_ENUMERATION " ENUM " " NAME, 1, CTR_INT(VALUE))
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#define DECL_ENUMERATION_RANGE(ENUM, NAME, VALUE, COUNT) \
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DECL_CTR_INT("DECL_ENUMERATION_RANGE " ENUM " " NAME, \
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2, CTR_INT(VALUE), CTR_INT(COUNT))
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// Send an output message (and declare a static message type for it)
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#define output(FMT, args...) \
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command_sendf(_DECL_OUTPUT(FMT) , ##args )
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// Declare a message type and transmit it.
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#define sendf(FMT, args...) \
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command_sendf(_DECL_ENCODER(FMT) , ##args )
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// Shut down the machine (also declares a static string to transmit)
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#define shutdown(msg) \
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sched_shutdown(_DECL_STATIC_STR(msg))
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#define try_shutdown(msg) \
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sched_try_shutdown(_DECL_STATIC_STR(msg))
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#define MESSAGE_MIN 5
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#define MESSAGE_MAX 64
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#define MESSAGE_HEADER_SIZE 2
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#define MESSAGE_TRAILER_SIZE 3
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#define MESSAGE_POS_LEN 0
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#define MESSAGE_POS_SEQ 1
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#define MESSAGE_TRAILER_CRC 3
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#define MESSAGE_TRAILER_SYNC 1
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#define MESSAGE_PAYLOAD_MAX (MESSAGE_MAX - MESSAGE_MIN)
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#define MESSAGE_SEQ_MASK 0x0f
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#define MESSAGE_DEST 0x10
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#define MESSAGE_SYNC 0x7E
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struct command_encoder {
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uint8_t msg_id, max_size, num_params;
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const uint8_t *param_types;
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};
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struct command_parser {
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uint8_t msg_id, num_args, flags, num_params;
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const uint8_t *param_types;
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void (*func)(uint32_t *args);
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};
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enum {
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PT_uint32, PT_int32, PT_uint16, PT_int16, PT_byte,
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PT_string, PT_progmem_buffer, PT_buffer,
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};
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// command.c
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void *command_decode_ptr(uint32_t v);
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uint8_t *command_parsef(uint8_t *p, uint8_t *maxend
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, const struct command_parser *cp, uint32_t *args);
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uint_fast8_t command_encodef(uint8_t *buf, const struct command_encoder *ce
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, va_list args);
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void command_add_frame(uint8_t *buf, uint_fast8_t msglen);
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uint_fast8_t command_encode_and_frame(
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uint8_t *buf, const struct command_encoder *ce, va_list args);
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void command_sendf(const struct command_encoder *ce, ...);
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int_fast8_t command_find_block(uint8_t *buf, uint_fast8_t buf_len
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, uint_fast8_t *pop_count);
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void command_dispatch(uint8_t *buf, uint_fast8_t msglen);
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void command_send_ack(void);
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int_fast8_t command_find_and_dispatch(uint8_t *buf, uint_fast8_t buf_len
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, uint_fast8_t *pop_count);
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// out/compile_time_request.c (auto generated file)
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extern const struct command_parser command_index[];
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extern const uint8_t command_index_size;
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extern const uint8_t command_identify_data[];
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extern const uint32_t command_identify_size;
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const struct command_encoder *ctr_lookup_encoder(const char *str);
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const struct command_encoder *ctr_lookup_output(const char *str);
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uint8_t ctr_lookup_static_string(const char *str);
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#define _DECL_ENCODER(FMT) ({ \
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DECL_CTR("_DECL_ENCODER " FMT); \
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ctr_lookup_encoder(FMT); })
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#define _DECL_OUTPUT(FMT) ({ \
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DECL_CTR("_DECL_OUTPUT " FMT); \
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ctr_lookup_output(FMT); })
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#define _DECL_STATIC_STR(MSG) ({ \
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DECL_CTR("_DECL_STATIC_STR " MSG); \
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ctr_lookup_static_string(MSG); })
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#endif // command.h
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