dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity
px4-firmware/apps/examples/usbterm/usbterm_main.c

359 lines
10 KiB
C
Raw Blame History

/****************************************************************************
* examples/usbterm/usbterm_main.c
*
* Copyright (C) 2011 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 <sys/stat.h>
#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include <pthread.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <apps/readline.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbdev_trace.h>
#ifdef CONFIG_CDCACM
# include <nuttx/usb/cdcacm.h>
#endif
#include "usbterm.h"
/****************************************************************************
* Definitions
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/* USB terminal state data */
struct usbterm_globals_s g_usbterm;
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: trace_callback
*
* Description:
* Callback from USB trace instrumentation.
*
****************************************************************************/
#ifdef CONFIG_USBDEV_TRACE
static int trace_callback(struct usbtrace_s *trace, void *arg)
{
usbtrace_trprintf((trprintf_t)trmessage, trace->event, trace->value);
return 0;
}
#endif
/****************************************************************************
* Name: dumptrace
*
* Description:
* Dump collected trace data.
*
****************************************************************************/
#ifdef CONFIG_USBDEV_TRACE
static void dumptrace(void)
{
(void)usbtrace_enumerate(trace_callback, NULL);
}
#else
# define dumptrace()
#endif
/****************************************************************************
* Name: dumptrace
*
* Description:
* Entry point for the listener thread.
*
****************************************************************************/
FAR void *usbterm_listener(FAR void *parameter)
{
message("usbterm_listener: Waiting for remote input\n");
for (;;)
{
/* Display the prompt string on the remote USB serial connection */
fputs("\rusbterm> ", g_usbterm.outstream);
fflush(g_usbterm.outstream);
/* Get the next line of input from the remote USB serial connection */
if (fgets(g_usbterm.inbuffer, CONFIG_EXAMPLES_USBTERM_BUFLEN, g_usbterm.instream))
{
/* Echo the line on the local stdout */
fputs(g_usbterm.inbuffer, stdout);
/* Display the prompt string on stdout */
fputs("usbterm> ", stdout);
fflush(stdout);
}
/* If USB tracing is enabled, then dump all collected trace data to stdout */
dumptrace();
}
/* Won't get here */
return NULL;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: term_main/user_start
*
* Description:
* Main entry point for the USB serial terminal example.
*
****************************************************************************/
#ifdef CONFIG_EXAMPLES_USBTERM_BUILTIN
# define MAIN_NAME usbterm_main
# define MAIN_STRING "usbterm_main: "
#else
# define MAIN_NAME user_start
# define MAIN_STRING "user_start: "
#endif
int MAIN_NAME(int argc, char *argv[])
{
pthread_attr_t attr;
int ret;
/* Initialization of the USB hardware may be performed by logic external to
* this test.
*/
#ifdef CONFIG_EXAMPLES_USBTERM_DEVINIT
message(MAIN_STRING "Performing external device initialization\n");
ret = usbterm_devinit();
if (ret != OK)
{
message(MAIN_STRING "usbterm_devinit failed: %d\n", ret);
goto errout;
}
#endif
/* Initialize the USB serial driver */
message(MAIN_STRING "Registering USB serial driver\n");
#ifdef CONFIG_CDCACM
ret = cdcacm_initialize(0);
#else
ret = usbdev_serialinitialize(0);
#endif
if (ret < 0)
{
message(MAIN_STRING "ERROR: Failed to create the USB serial device: %d\n", -ret);
goto errout_with_devinit;
}
message(MAIN_STRING "Successfully registered the serial driver\n");
#if CONFIG_USBDEV_TRACE && CONFIG_USBDEV_TRACE_INITIALIDSET != 0
/* If USB tracing is enabled and tracing of initial USB events is specified,
* then dump all collected trace data to stdout
*/
sleep(5);
dumptrace();
#endif
/* Then, in any event, configure trace data collection as configured */
usbtrace_enable(TRACE_BITSET);
/* Open the USB serial device for writing */
do
{
message(MAIN_STRING "Opening USB serial driver\n");
g_usbterm.outstream = fopen("/dev/ttyUSB0", "w");
if (g_usbterm.outstream == NULL)
{
int errcode = errno;
message(MAIN_STRING "ERROR: Failed to open /dev/ttyUSB0 for writing: %d\n",
errcode);
/* ENOTCONN means that the USB device is not yet connected */
if (errcode == ENOTCONN)
{
message(MAIN_STRING " Not connected. Wait and try again.\n");
sleep(5);
}
else
{
/* Give up on other errors */
goto errout_with_devinit;
}
}
/* If USB tracing is enabled, then dump all collected trace data to stdout */
dumptrace();
}
while (g_usbterm.outstream == NULL);
/* Open the USB serial device for reading. Since we are already connected, this
* should not fail.
*/
g_usbterm.instream = fopen("/dev/ttyUSB0", "r");
if (g_usbterm.instream == NULL)
{
message(MAIN_STRING "ERROR: Failed to open /dev/ttyUSB0 for reading: %d\n", errno);
goto errout_with_outstream;
}
message(MAIN_STRING "Successfully opened the serial driver\n");
/* Start the USB term listener thread */
message(MAIN_STRING "Starting the listener thread\n");
ret = pthread_attr_init(&attr);
if (ret != OK)
{
message(MAIN_STRING "pthread_attr_init failed: %d\n", ret);
goto errout_with_streams;
}
ret = pthread_create(&g_usbterm.listener, &attr,
usbterm_listener, (pthread_addr_t)0);
if (ret != 0)
{
message(MAIN_STRING "Error in thread creation: %d\n", ret);
goto errout_with_streams;
}
/* Send messages and get responses -- forever */
message(MAIN_STRING "Waiting for local input\n");
for (;;)
{
/* Display the prompt string on stdout */
fputs("usbterm> ", stdout);
fflush(stdout);
/* Get the next line of input */
#ifdef CONFIG_EXAMPLES_USBTERM_FGETS
/* fgets returns NULL on end-of-file or any I/O error */
if (fgets(g_usbterm.outbuffer, CONFIG_EXAMPLES_USBTERM_BUFLEN, stdin) == NULL)
{
printf("ERROR: fgets failed: %d\n", errno);
return 1;
}
#else
ret = readline(g_usbterm.outbuffer, CONFIG_EXAMPLES_USBTERM_BUFLEN, stdin, stdout);
/* Readline normally returns the number of characters read,
* but will return 0 on end of file or a negative value
* if an error occurs. Either will cause the session to
* terminate.
*/
if (ret <= 0)
{
printf("ERROR: readline failed: %d\n", ret);
return 1;
}
#endif
else
{
/* Send the line of input via USB */
fputs(g_usbterm.outbuffer, g_usbterm.outstream);
/* Display the prompt string on the remote USB serial connection */
fputs("\rusbterm> ", g_usbterm.outstream);
fflush(g_usbterm.outstream);
}
/* If USB tracing is enabled, then dump all collected trace data to stdout */
dumptrace();
}
/* Error exits */
errout_with_streams:
fclose(g_usbterm.instream);
errout_with_outstream:
fclose(g_usbterm.outstream);
errout_with_devinit:
#ifdef CONFIG_EXAMPLES_USBTERM_DEVINIT
usbterm_devuninit();
errout:
#endif
message(MAIN_STRING " Aborting\n");
return 1;
}
View Git Blame Copy Permalink