forked from Archive/PX4-Autopilot
434 lines
14 KiB
C
434 lines
14 KiB
C
/****************************************************************************
|
|
* 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_initialize
|
|
****************************************************************************/
|
|
|
|
static int nxcon_initialize(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, ¶m);
|
|
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, ¶m);
|
|
(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;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* 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;
|
|
#if 0 /* Don't re-direct... too hard to debug */
|
|
int fd;
|
|
#else
|
|
FILE *outstream;
|
|
#endif
|
|
nxgl_mxpixel_t color;
|
|
int ndx;
|
|
int ret;
|
|
|
|
/* 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 */
|
|
|
|
#if 0 /* Don't re-direct... too hard to debug */
|
|
fd = open(CONFIG_EXAMPLES_NXCON_DEVNAME, O_WRONLY);
|
|
if (fd < 0)
|
|
{
|
|
message(MAIN_NAME_STRING ": open %s 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.
|
|
* If debug is enabled, then perform the test using only stderr so that we
|
|
* can still get debug output on stdout.
|
|
*/
|
|
|
|
(void)dup2(fd, 1);
|
|
(void)dup2(fd, 2);
|
|
|
|
/* And we can close our original driver fd */
|
|
|
|
close(fd);
|
|
#else
|
|
/* Open the Console driver as a write-only stream */
|
|
|
|
outstream = fopen(CONFIG_EXAMPLES_NXCON_DEVNAME, "w");
|
|
if (!outstream)
|
|
{
|
|
message(MAIN_NAME_STRING ": fopen %s read-only failed: %d\n",
|
|
CONFIG_EXAMPLES_NXCON_DEVNAME, errno);
|
|
goto errout_with_driver;
|
|
}
|
|
#endif
|
|
|
|
/* 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.*/
|
|
|
|
#if 0 /* Don't re-direct... too hard to debug */
|
|
printf(g_nxcon_msg[ndx]);
|
|
fflush(stdout);
|
|
#else
|
|
fprintf(outstream, g_nxcon_msg[ndx]);
|
|
fflush(outstream);
|
|
#endif
|
|
if (++ndx >= NCON_MSG_NLINES)
|
|
{
|
|
#ifdef CONFIG_NSH_BUILTIN_APPS
|
|
/* If this is an NSH built-in app, 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 ***********************************************/
|
|
|
|
#if 1 /* Don't re-direct... too hard to debug */
|
|
fclose(outstream);
|
|
#endif
|
|
|
|
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:
|
|
/* Disconnect from the server */
|
|
|
|
message(MAIN_NAME_STRING ": Disconnect from the server\n");
|
|
nx_disconnect(g_nxcon_vars.hnx);
|
|
errout:
|
|
return exitcode;
|
|
}
|