shell.c

MANTIS是由科罗拉多大学开发的传感器网络嵌入式操作系统。 这是mantis的0.9.5版本的源码。

//  This file is part of MANTIS OS, Operating System
//  See http://mantis.cs.colorado.edu/
//
//  Copyright (C) 2003-2005 University of Colorado, Boulder
//
//  This program is free software; you can redistribute it and/or
//  modify it under the terms of the mos license (see file LICENSE)

#define _GNU_SOURCE

#include <stdio.h>

#include <stdbool.h>

#include <stdlib.h>

#include <inttypes.h>
#include <ctype.h>
#include <string.h>
#include "shell_serial.h"
#include "serial.h"
#include "flash.h"
#include "load.h"
#include "mcc.h"
#include "mcs.h"
#include "run.h"
#include "shell.h"
/* following added for command server */
#include "com.h"

int go = 0;
int program = 0;
int clear_cb =0;
char *srec = NULL;

static char *stripwhite (char *line)
{
   char *p = line;
   while (isspace (*p)) {
      p++;
   }
   return p;
}

void shell_send_to_node(char * string){
   comBuf packet;
   char *cursor=string;
   packet.size=0;
   /* copy the string into a packet */
   while (*cursor && packet.size < COM_DATA_SIZE - 1){
      if(*cursor == '\n') //make sure we don't sent newline
	 *cursor++;
      else if(*cursor == ' '){ //break each packet up by spaces
	 packet.data[packet.size++]='\0'; //null terminate
	 com_send(IFACE_SERIAL, &packet);
	 packet.size=0;
	 *cursor++;
      }
      else
	 packet.data[packet.size++] = *cursor++; //add char, inc size
   }
   packet.data[packet.size++]='\0'; //null terminate string
   com_send(IFACE_SERIAL, &packet); // send it over the uart
}      

void shell_send_byte(uint8_t byte)
{
   comBuf send_packet;
   send_packet.size=1;
   send_packet.data[0]=byte;
   com_send(IFACE_SERIAL, &send_packet);
}

int shell_find_node (find_node_callback find_callback_func)
{
   comBuf *recv_pkt, send_pkt;
   uint8_t retry_max = 50;
   uint8_t retries = 0;
   bool  error_flag = false;
   com_mode (IFACE_SERIAL, IF_LISTEN);

   //send_pkt.data[0] = SHELL_PRESENT;
   //send_pkt.data[1] = '\0';
   //send_pkt.size=2;
   //com_send(IFACE_SERIAL, &send_pkt);
/*
   if (clear_cb) {
      printf ("Sending cb 0\n");
      send_pkt.data[0] = CLEAR_CB;
      send_pkt.data[1] = '\0';
      send_pkt.size = 2;
      com_send(IFACE_SERIAL, &send_pkt);

      check_recv (CLEAR_CB_PONG);
   } else {
      send_pkt.data[0] = SHELL_PRESENT;
      send_pkt.data[1] = '\0';
      send_pkt.size=2;
      com_send(IFACE_SERIAL, &send_pkt);
   }
*/
   while(retries++ < retry_max) {
      if(find_callback_func != NULL)
	 find_callback_func(retries);
      else {
	 if(retries > 1)
	    fprintf(stderr,"Retry [%d]...", retries);
      }

      if (clear_cb) {
	 printf ("Sending cb 1\n");
	 send_pkt.data[0] = CLEAR_CB;
	 send_pkt.data[1] = '\0';
	 send_pkt.size = 2;
	 com_send (IFACE_SERIAL, &send_pkt);
      } else {
	 send_pkt.data[0] = SHELL_PRESENT;
	 send_pkt.data[1] = '\0';
	 send_pkt.size=2;
	 com_send (IFACE_SERIAL, &send_pkt);	 
      }

      recv_pkt = com_recv(IFACE_SERIAL);
      //usleep (10000);
      switch (recv_pkt->data[0]) {
      case CLEAR_CB_PONG:
	 printf ("Cleared boot control block\n");
	 clear_cb = 0;
	 //com_free_buf (recv_pkt);
	 //return(BOOTLOADER_MODE);
	 break;
      case LOADER_PRESENT:
	 send_pkt.data[0] = SHELL_PRESENT;
	 send_pkt.data[1] = '\0';
	 send_pkt.size = 2;
	 com_send(IFACE_SERIAL, &send_pkt); //send a ping
	 break;
      case LOADER_PRESENT_PONG:
	 com_free_buf(recv_pkt);
	 return(BOOTLOADER_MODE);
	 break;
      case APP_PRESENT:
	 com_free_buf(recv_pkt);
	 recv_pkt = com_recv(IFACE_SERIAL);
	 com_free_buf(recv_pkt); //throw away the command prompt
	 return(APP_MODE);
	 break;
      default:
	 if(!error_flag){
	    fprintf(stderr, "Unexpected serial input from node: %d.\n",
	       recv_pkt->data[0]);
	    error_flag = true;
	 }
	 break;
      }
      com_free_buf (recv_pkt);
	    
      //usleep(10000);
   }
   return NODE_NOT_FOUND;
}

int shell_find_loader(find_node_callback find_callback_func)
{
   int ret_val;
   fprintf(stderr,"Searching for a sensor node...");
   fflush (stdout);
   while((ret_val = shell_find_node (find_callback_func)) != BOOTLOADER_MODE){
      if(ret_val == APP_MODE){
	 fprintf(stderr,"Application Mode, Sending reboot...\n");
	 shell_send_to_node("MR"); //restart the app...
      }
      if(ret_val == NODE_NOT_FOUND) {
	 fprintf(stderr,"Node not found!\n");
	 return ret_val;
      }
      fprintf(stderr,"Searching for a sensor node...");
      ret_val = shell_find_node(find_callback_func);
   }
   fprintf (stderr,"bootloader mode.\n");
   return true;
}

int8_t shell_load_image(char *arg, update_callback callback_func)
{
   char *name, *s;
   char *image = (char *)malloc (CODE_MAX_SIZE);
   int val;
   int8_t ret;

   // Only use file completion for this line, and then revert back
   if (arg == NULL) {
      //set_file_completion();
      fprintf(stderr,"Enter name of S-Record file: ");
      ret = scanf("%s", name);
      //set_command_completion();
   } else {
      name = arg;
   }
   
   s = stripwhite(name); // Strip the whitespace so fopen works
   
   // Read the srecord into memory
   val = srec_read(s, image);
   
   if(val == -1) {
      fprintf(stderr,"Did not load file...\n");
      free (image);
      return SREC_READ_ERROR;
   }

   ret = write_image(image, val, callback_func);

   free (image);
   return ret;
}

/* send a command that restarts the node */
void shell_send_restart()
{
   shell_send_to_node("MR"); //restart the app
}

/* Send command to start program execution. */
int8_t shell_start_execution(char *arg)
{
   comBuf startex_packet;
   startex_packet.size = 1;
   startex_packet.data[0] = START;
   uint8_t ret_val;
   
   com_send(IFACE_SERIAL, &startex_packet);
   while(1) {
      ret_val = check_recv(START);
      if(ret_val == NODE_RESTARTED) { //node restarted so...
	 fprintf(stderr,"oops... node restarted, sending again.\n");
	 usleep (10000);
	 com_send(IFACE_SERIAL, &startex_packet); //try again
      }
      else 
	 return SUCCESS;
   }
}

void shell_load_bootloader()
{
   char *write_fuse = "uisp -dprog=mib510 -dserial=/dev/ttyS0 -dpart=ATmega128 --wr_fuse_h=0x10 -v=0";
   char *erase_mem = "uisp -dprog=mib510 -dserial=/dev/ttyS0 -dpart=ATmega128 --erase -v=0";
   char *load_srec = "uisp -dprog=mib510 -dserial=/dev/ttyS0 -dpart=ATmega128 --upload if=/usr/local/share/mos/boot.srec -v=0";
   char *verify = "uisp -dprog=mib510 -dserial=/dev/ttyS0 -dpart=ATmega128 --verify if=/usr/local/share/mos/boot.srec -v=0";


   serial_block();

   if(file_exists("/usr/local/share/mos/boot.srec") == false){
      fprintf(stderr, "ERROR: /usr/local/share/mos/boot.srec not found.\n");
      return;
   } else {
      fprintf(stderr, "boot file found!\n");
   }

   fprintf(stderr, "\nWriting the fuse high byte...\n");
   fprintf(stderr, "%s\n",write_fuse);
   if(!run_command(write_fuse)){
	 printf("Writing fuse high byte failed.\n");
	 return;
   }
   
   fprintf(stderr, "\nErasing program memory...\n");
   fprintf(stderr, "%s\n",erase_mem);
   if(!run_command(erase_mem)){
      printf("Erasing memory failed.\n");
      return;
   }

   fprintf(stderr, "\nLoading the bootloader program...\n");
   fprintf(stderr, "%s\n",load_srec);
   if(!run_command(load_srec)){
      printf("loading failed.\n");
      return;
   }

   fprintf(stderr, "\nVerifying the new image...\n");
   fprintf(stderr, "%s\n",verify);
   if(!run_command(verify)){
      printf("verify failed.\n");
      return;
   }

   fprintf(stderr, "Done.\n");
   serial_unblock();

}