mirror of https://github.com/ArduPilot/ardupilot
143 lines
2.9 KiB
C++
143 lines
2.9 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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implementation of NSH shell as a stream, for use in nsh over MAVLink
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See GCS_serial_control.cpp for usage
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*/
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include <stdio.h>
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#include <stdarg.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <apps/nsh.h>
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#include <fcntl.h>
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#include <sys/ioctl.h>
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#include "Scheduler.h"
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extern const AP_HAL::HAL& hal;
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#include "Util.h"
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using namespace PX4;
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void NSHShellStream::shell_thread(void)
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{
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close(0);
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close(1);
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close(2);
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dup2(child.in, 0);
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dup2(child.out, 1);
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dup2(child.out, 2);
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nsh_consolemain(0, NULL);
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shell_stdin = -1;
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shell_stdout = -1;
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child.in = -1;
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child.out = -1;
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}
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void NSHShellStream::start_shell(void)
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{
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if (hal.util->available_memory() < 8192) {
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if (!showed_memory_warning) {
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showed_memory_warning = true;
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hal.console->printf("Not enough memory for shell\n");
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}
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return;
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}
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if (hal.util->get_soft_armed()) {
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if (!showed_armed_warning) {
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showed_armed_warning = true;
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hal.console->printf("Disarm to start nsh shell\n");
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}
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// don't allow shell start when armed
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return;
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}
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int p1[2], p2[2];
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if (pipe(p1) != 0) {
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return;
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}
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if (pipe(p2) != 0) {
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return;
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}
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shell_stdin = p1[0];
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shell_stdout = p2[1];
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child.in = p2[0];
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child.out = p1[1];
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pthread_attr_t thread_attr;
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struct sched_param param;
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pthread_attr_init(&thread_attr);
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pthread_attr_setstacksize(&thread_attr, 2048);
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param.sched_priority = APM_SHELL_PRIORITY;
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(void)pthread_attr_setschedparam(&thread_attr, ¶m);
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pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
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pthread_create(&shell_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::NSHShellStream::shell_thread, this);
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}
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size_t NSHShellStream::write(uint8_t b)
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{
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if (shell_stdout == -1) {
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start_shell();
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}
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if (shell_stdout != -1) {
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return ::write(shell_stdout, &b, 1);
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}
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return 0;
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}
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size_t NSHShellStream::write(const uint8_t *buffer, size_t size)
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{
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size_t ret = 0;
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while (size > 0) {
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if (write(*buffer++) != 1) {
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break;
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}
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ret++;
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size--;
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}
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return ret;
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}
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int16_t NSHShellStream::read()
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{
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if (shell_stdin == -1) {
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start_shell();
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}
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if (shell_stdin != -1) {
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uint8_t b;
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if (::read(shell_stdin, &b, 1) == 1) {
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return b;
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}
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}
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return -1;
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}
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int16_t NSHShellStream::available()
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{
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int ret = 0;
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if (ioctl(shell_stdin, FIONREAD, (unsigned long)&ret) == OK) {
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return ret;
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}
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return 0;
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}
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int16_t NSHShellStream::txspace()
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{
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int ret = 0;
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if (ioctl(shell_stdout, FIONWRITE, (unsigned long)&ret) == OK) {
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return ret;
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}
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return 0;
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}
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#endif // CONFIG_HAL_BOARD
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