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px4-firmware/apps/examples/nxconsole/nxcon_main.c

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/****************************************************************************
* examples/nxconsole/nxcon_main.c
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <string.h>
#include <errno.h>
#include <debug.h>
#ifdef CONFIG_NX_LCDDRIVER
# include <nuttx/lcd/lcd.h>
#else
# include <nuttx/fb.h>
#endif
#include <nuttx/arch.h>
#include <nuttx/nx/nx.h>
#include <nuttx/nx/nxglib.h>
#include <nuttx/nx/nxfonts.h>
#include <nuttx/nx/nxconsole.h>
#include "nxcon_internal.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define NCON_MSG_NLINES 24
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
#ifdef CONFIG_NX_KBD
static const uint8_t g_pumsg[] = "Pop-Up!";
static const char *g_nxcon_msg[NCON_MSG_NLINES] =
{
"\nJULIET\n", /* Line 1 */
"Wilt thou be gone?\n", /* Line 2 */
" It is not yet near day:\n", /* Line 3 */
"It was the nightingale,\n", /* Line 4 */
" and not the lark,\n", /* Line 5 */
"That pierced the fearful hollow\n", /* Line 6 */
" of thine ear;\n", /* Line 7 */
"Nightly she sings\n", /* Line 8 */
" on yon pomegranate-tree:\n", /* Line 9 */
"Believe me, love,\n", /* Line 10 */
" it was the nightingale.\n", /* Line 11 */
"\nROMEO\n", /* Line 12 */
"It was the lark,\n", /* Line 13 */
" the herald of the morn,\n", /* Line 14 */
"No nightingale:\n", /* Line 15 */
" look, love, what envious streaks\n", /* Line 16 */
"Do lace the severing clouds\n", /* Line 17 */
" in yonder east:\n", /* Line 18 */
"Night's candles are burnt out,\n", /* Line 19 */
" and jocund day\n", /* Line 20 */
"Stands tiptoe\n", /* Line 21 */
" on the misty mountain tops.\n", /* Line 22 */
"I must be gone and live,\n", /* Line 23 */
" or stay and die.\n" /* Line 24 */
};
#endif
/****************************************************************************
* Public Data
****************************************************************************/
/* All example global variables are retained in a structure to minimize
* the chance of name collisions.
*/
struct nxcon_state_s g_nxcon_vars;
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: nxcon_suinitialize
****************************************************************************/
#ifndef CONFIG_NX_MULTIUSER
static inline int nxcon_suinitialize(void)
{
FAR NX_DRIVERTYPE *dev;
#if defined(CONFIG_EXAMPLES_NXCON_EXTERNINIT)
/* Use external graphics driver initialization */
message("nxcon_initialize: Initializing external graphics device\n");
dev = up_nxdrvinit(CONFIG_EXAMPLES_NXCON_DEVNO);
if (!dev)
{
message("nxcon_initialize: up_nxdrvinit failed, devno=%d\n", CONFIG_EXAMPLES_NXCON_DEVNO);
return ERROR;
}
#elif defined(CONFIG_NX_LCDDRIVER)
int ret;
/* Initialize the LCD device */
message("nxcon_initialize: Initializing LCD\n");
ret = up_lcdinitialize();
if (ret < 0)
{
message("nxcon_initialize: up_lcdinitialize failed: %d\n", -ret);
return ERROR;
}
/* Get the device instance */
dev = up_lcdgetdev(CONFIG_EXAMPLES_NXCON_DEVNO);
if (!dev)
{
message("nxcon_initialize: up_lcdgetdev failed, devno=%d\n",
CONFIG_EXAMPLES_NXCON_DEVNO);
return ERROR;
}
/* Turn the LCD on at 75% power */
(void)dev->setpower(dev, ((3*CONFIG_LCD_MAXPOWER + 3)/4));
#else
int ret;
/* Initialize the frame buffer device */
message("nxcon_initialize: Initializing framebuffer\n");
ret = up_fbinitialize();
if (ret < 0)
{
message("nxcon_initialize: up_fbinitialize failed: %d\n", -ret);
return ERROR;
}
dev = up_fbgetvplane(CONFIG_EXAMPLES_NXCON_VPLANE);
if (!dev)
{
message("nxcon_initialize: up_fbgetvplane failed, vplane=%d\n", CONFIG_EXAMPLES_NXCON_VPLANE);
return ERROR;
}
#endif
/* Then open NX */
message("nxcon_initialize: Open NX\n");
g_nxcon_vars.hnx = nx_open(dev);
if (!g_nxcon_vars.hnx)
{
message("nxcon_initialize: nx_open failed: %d\n", errno);
return ERROR;
}
return OK;
}
#endif
/****************************************************************************
* Name: nxcon_initialize
****************************************************************************/
#ifdef CONFIG_NX_MULTIUSER
static inline int nxcon_muinitialize(void)
{
struct sched_param param;
pthread_t thread;
pid_t servrid;
int ret;
/* Set the client task priority */
param.sched_priority = CONFIG_EXAMPLES_NXCON_CLIENTPRIO;
ret = sched_setparam(0, &param);
if (ret < 0)
{
message("nxcon_initialize: sched_setparam failed: %d\n" , ret);
return ERROR;
}
/* Start the server task */
message("nxcon_initialize: Starting nxcon_server task\n");
servrid = task_create("NX Server", CONFIG_EXAMPLES_NXCON_SERVERPRIO,
CONFIG_EXAMPLES_NXCON_STACKSIZE, nxcon_server, NULL);
if (servrid < 0)
{
message("nxcon_initialize: Failed to create nxcon_server task: %d\n", errno);
return ERROR;
}
/* Wait a bit to let the server get started */
sleep(1);
/* Connect to the server */
g_nxcon_vars.hnx = nx_connect();
if (g_nxcon_vars.hnx)
{
pthread_attr_t attr;
/* Start a separate thread to listen for server events. This is probably
* the least efficient way to do this, but it makes this example flow more
* smoothly.
*/
(void)pthread_attr_init(&attr);
param.sched_priority = CONFIG_EXAMPLES_NXCON_LISTENERPRIO;
(void)pthread_attr_setschedparam(&attr, &param);
(void)pthread_attr_setstacksize(&attr, CONFIG_EXAMPLES_NXCON_STACKSIZE);
ret = pthread_create(&thread, &attr, nxcon_listener, NULL);
if (ret != 0)
{
printf("nxcon_initialize: pthread_create failed: %d\n", ret);
return ERROR;
}
/* Don't return until we are connected to the server */
while (!g_nxcon_vars.connected)
{
/* Wait for the listener thread to wake us up when we really
* are connected.
*/
(void)sem_wait(&g_nxcon_vars.eventsem);
}
}
else
{
message("nxcon_initialize: nx_connect failed: %d\n", errno);
return ERROR;
}
return OK;
}
#endif
/****************************************************************************
* Name: nxcon_initialize
****************************************************************************/
static int nxcon_initialize(void)
{
#ifdef CONFIG_NX_MULTIUSER
return nxcon_muinitialize();
#else
return nxcon_suinitialize();
#endif
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: user_start/nxcon_main
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
# define MAIN_NAME nxcon_main
# define MAIN_NAME_STRING "nxcon_main"
#else
# define MAIN_NAME user_start
# define MAIN_NAME_STRING "user_start"
#endif
int MAIN_NAME(int argc, char **argv)
{
int exitcode = EXIT_FAILURE;
nxgl_mxpixel_t color;
int ndx;
int ret;
int fd;
/* Reset all global data */
memset(&g_nxcon_vars, 0, sizeof(struct nxcon_state_s));
/* NX Initialization ******************************************************/
/* Initialize NX */
ret = nxcon_initialize();
message(MAIN_NAME_STRING ": NX handle=%p\n", g_nxcon_vars.hnx);
if (!g_nxcon_vars.hnx || ret < 0)
{
message(MAIN_NAME_STRING ": Failed to get NX handle: %d\n", errno);
goto errout;
}
/* Set the background to the configured background color */
message(MAIN_NAME_STRING ": Set background color=%d\n", CONFIG_EXAMPLES_NXCON_BGCOLOR);
color = CONFIG_EXAMPLES_NXCON_BGCOLOR;
ret = nx_setbgcolor(g_nxcon_vars.hnx, &color);
if (ret < 0)
{
message(MAIN_NAME_STRING ": nx_setbgcolor failed: %d\n", errno);
goto errout_with_nx;
}
/* Window Configuration ***************************************************/
/* Create a window */
message(MAIN_NAME_STRING ": Create window\n");
g_nxcon_vars.hwnd = nxtk_openwindow(&g_nxcon_vars.hnx, &g_nxconcb, NULL);
if (!g_nxcon_vars.hwnd)
{
message(MAIN_NAME_STRING ": nxtk_openwindow failed: %d\n", errno);
goto errout_with_nx;
}
message(MAIN_NAME_STRING ": hwnd=%p\n", g_nxcon_vars.hwnd);
/* Wait until we have the screen resolution. We'll have this immediately
* unless we are dealing with the NX server.
*/
while (!g_nxcon_vars.haveres)
{
(void)sem_wait(&g_nxcon_vars.eventsem);
}
message(MAIN_NAME_STRING ": Screen resolution (%d,%d)\n", g_nxcon_vars.xres, g_nxcon_vars.yres);
/* Determine the size and position of the window */
g_nxcon_vars.wndo.wsize.w = g_nxcon_vars.xres / 2 + g_nxcon_vars.xres / 4;
g_nxcon_vars.wndo.wsize.h = g_nxcon_vars.yres / 2 + g_nxcon_vars.yres / 4;
g_nxcon_vars.wpos.x = g_nxcon_vars.xres / 8;
g_nxcon_vars.wpos.y = g_nxcon_vars.yres / 8;
/* Set the window position */
message(MAIN_NAME_STRING ": Set window position to (%d,%d)\n",
g_nxcon_vars.wpos.x, g_nxcon_vars.wpos.y);
ret = nxtk_setposition(g_nxcon_vars.hwnd, &g_nxcon_vars.wpos);
if (ret < 0)
{
message(MAIN_NAME_STRING ": nxtk_setposition failed: %d\n", errno);
goto errout_with_hwnd;
}
/* Set the window size */
message(MAIN_NAME_STRING ": Set window size to (%d,%d)\n",
g_nxcon_vars.wndo.wsize.w, g_nxcon_vars.wndo.wsize.h);
ret = nxtk_setsize(g_nxcon_vars.hwnd, &g_nxcon_vars.wndo.wsize);
if (ret < 0)
{
message(MAIN_NAME_STRING ": nxtk_setsize failed: %d\n", errno);
goto errout_with_hwnd;
}
/* Open the toolbar */
message(MAIN_NAME_STRING ": Add toolbar to window\n");
ret = nxtk_opentoolbar(g_nxcon_vars.hwnd, CONFIG_EXAMPLES_NXCON_TOOLBAR_HEIGHT, &g_nxtoolcb, NULL);
if (ret < 0)
{
message(MAIN_NAME_STRING ": nxtk_opentoolbar failed: %d\n", errno);
goto errout_with_hwnd;
}
/* NxConsole Configuration ************************************************/
/* Use the window to create an NX console */
g_nxcon_vars.wndo.wcolor[0] = CONFIG_EXAMPLES_NXCON_WCOLOR;
g_nxcon_vars.wndo.fcolor[0] = CONFIG_EXAMPLES_NXCON_FONTCOLOR;
g_nxcon_vars.wndo.fontid = CONFIG_EXAMPLES_NXCON_FONTID;
g_nxcon_vars.hdrvr = nxtk_register(g_nxcon_vars.hwnd, &g_nxcon_vars.wndo, CONFIG_EXAMPLES_NXCON_MINOR);
if (!g_nxcon_vars.hdrvr)
{
message(MAIN_NAME_STRING ": nxtk_register failed: %d\n", errno);
goto errout_with_hwnd;
}
/* Open the driver */
fd = open(CONFIG_EXAMPLES_NXCON_DEVNAME, O_RDONLY);
if (fd < 0)
{
message(MAIN_NAME_STRING ": open %d read-only failed: %d\n",
CONFIG_EXAMPLES_NXCON_DEVNAME, errno);
goto errout_with_driver;
}
/* Now re-direct stdout and stderr so that they use the NX console driver */
(void)dup2(fd, 1);
(void)dup2(fd, 2);
/* And we can close our original driver fd */
close(fd);
/* Test Loop **************************************************************/
/* Now loop, adding text to the NX console */
ndx = 0;
for (;;)
{
/* Sleep for one second */
sleep(1);
/* Give another line of text to the NX console.*/
printf(g_nxcon_msg[ndx]);
if (++ndx >= NCON_MSG_NLINES)
{
#ifdef CONFIG_NSH_BUILTIN_APPS
/* If this is an NSH built-in apps, then just return after all
* of the lines have been presented.
*/
break;
#else
/* Otherwise, just reset the index to the first line and continue */
ndx = 0;
#endif
}
}
exitcode = EXIT_SUCCESS;
/* Clean-up and Error Exits ***********************************************/
errout_with_driver:
message(MAIN_NAME_STRING ": Unregister the NX console device\n");
(void)nxcon_unregister(g_nxcon_vars.hdrvr);
errout_with_hwnd:
message(MAIN_NAME_STRING ": Close the window\n");
(void)nxtk_closewindow(g_nxcon_vars.hwnd);
errout_with_nx:
#ifdef CONFIG_NX_MULTIUSER
/* Disconnect from the server */
message(MAIN_NAME_STRING ": Disconnect from the server\n");
nx_disconnect(g_nxcon_vars.hnx);
#else
/* Close the server */
message(MAIN_NAME_STRING ": Close NX\n");
nx_close(g_nxcon_vars.hnx);
#endif
errout:
return exitcode;
}
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