client/main.c

   1 #include <stdbool.h>
   2 #include <stdint.h>
   3 #include <stdlib.h>
   4 #include <string.h>
   5
   6 #ifdef STM
   7 #else
   8 #include <stdio.h>
   9 #endif
  10
  11 #include "interpret.h"
  12 #include "mTaskSymbols.h"
  13 #include "sds.h"
  14 #include "task.h"
  15 #include "interface.h"
  16
  17 #define MSG_GET_TASK 't'
  18 #define MSG_DEL_TASK 'd'
  19 #define MSG_SDS_SPEC 's'
  20 #define MSG_SDS_UPD 'u'
  21
  22 void read_message(void)
  23 {
  24         //Find next task
  25         if(input_available()){
  26                 uint8_t c = read_byte();
  27                 uint8_t ct;
  28                 debug("Receiving input: %c %02x\n", c, c);
  29                 switch(c){
  30                 case MSG_SDS_SPEC:
  31                         debug("Receiving an sds");
  32                         sds_register();
  33                         break;
  34                 case MSG_SDS_UPD:
  35                         debug("Receiving an sds update");
  36                         //TODO do something with the return value
  37                         sds_update();
  38                         break;
  39                 case MSG_DEL_TASK:
  40                         debug("Receiving a delete task request");
  41                         task_delete();
  42                         break;
  43                 case MSG_GET_TASK:
  44                         debug("Receiving a task");
  45                         ct = task_register();
  46                         write_byte('t');
  47                         write16(ct);
  48                         write_byte('\n');
  49                         break;
  50                 case '\0':
  51                         break;
  52                 case '\n':
  53                         break;
  54                 default:
  55                         debug("Unknown message: %X", c);
  56                 }
  57         }
  58 }
  59
  60 void loop(void)
  61 {
  62         int ct;
  63         long cyclestart;
  64         struct task *curtask;
  65
  66         read_message();
  67
  68         //Run tasks
  69         cyclestart = millis();
  70         for(ct = 0; ct<MAXTASKS; ct++){
  71                 //See whether the task is even in use
  72                 if((curtask = task_get(ct)) == NULL){
  73 //                      debug("Task %d not implemented\n", ct);
  74                         continue;
  75                 }
  76                 //See whether the task interval has passed
  77                 if(cyclestart-curtask->lastrun < curtask->interval){
  78 //                      debug("Task %d not scheduled\n", ct);
  79                         continue;
  80                 }
  81                 debug("Current task to run: %d", ct);
  82                 run_task(curtask);
  83                 curtask->lastrun = cyclestart;
  84                 if(curtask->interval == 0){
  85                         curtask->used = false;
  86                         write_byte('m');
  87                         write_byte('d');
  88                         write_byte('\n');
  89                 }
  90                 write_byte('\n');
  91         }
  92 }
  93
  94 #ifdef STM
  95 int main(void){
  96 #else
  97 int main(int argc, char *argv[]){
  98         gargc = argc;
  99         gargv = argv;
 100 #endif
 101
 102         //Initialize systems
 103         setup();
 104         sds_init();
 105         task_init();
 106         //debug("booting up");
 107         while(true){
 108                 //Check for newetasks
 109 //              debug("loop");
 110                 loop();
 111                 delay(50);
 112         }
 113         return 0;
 114 }