From: Mart Lubbers <mart@martlubbers.net>
Date: Tue, 10 Jan 2017 17:18:01 +0000 (+0100)
Subject: transfer to cpp arduino
X-Git-Url: https://git.martlubbers.net/?a=commitdiff_plain;h=34e31d383f1c2315dee254e82c8a8ec482f210c3;p=mTask.git

transfer to cpp arduino
---

diff --git a/Makefile b/Makefile
index 4510a04..915f396 100644
--- a/Makefile
+++ b/Makefile
@@ -1,6 +1,6 @@
 CLEAN_HOME?=/opt/clean
 CLM:=clm
-override CLMFLAGS+=-dynamics -h 200M -nt
+override CLMFLAGS+=-dynamics -h 200M -nt -l -no-pie
 CLMLIBS:=\
 	-I $(CLEAN_HOME)/lib/iTasks-SDK/Patches/Dynamics\
 	-I $(CLEAN_HOME)/lib/iTasks-SDK/Patches/Generics\
diff --git a/int/.gitignore b/int/.gitignore
index 87e54c2..11d6560 100644
--- a/int/.gitignore
+++ b/int/.gitignore
@@ -1,2 +1,3 @@
 main
 *.o
+build-uno
diff --git a/int/Makefile b/int/Makefile
index fb845f0..b311ea5 100644
--- a/int/Makefile
+++ b/int/Makefile
@@ -1,11 +1,14 @@
-CFLAGS:=-g -Wall -Wextra -Werror -std=c99
+CPPFLAGS:=-g -Wall -Wextra -Werror -DDEBUG
 PROG:=main
-OBJS:=interpret.o sds.o task.o
+OBJS:=interpret.o sds.o task.o main.o
 
 all: mTaskSymbols.h $(PROG)
 
-$(PROG): $(PROG).c $(OBJS) misc.h
-	$(LINK.c) $(LDLIBS) $^ $(OUTPUT_OPTION)
+%.o: %.cpp
+	g++ $(CPPFLAGS) -c $< -o $@
+
+$(PROG): $(OBJS) misc.h
+	g++ $(LDFLAGS) -o $@ $(OBJS)
 
 mTaskSymbols.h:
 	CLMFLAGS=-nr make -BC .. mTaskInterpret
diff --git a/int/Makefile.arduino b/int/Makefile.arduino
new file mode 100644
index 0000000..be29f33
--- /dev/null
+++ b/int/Makefile.arduino
@@ -0,0 +1,6 @@
+BOARD_TAG    = uno
+ARDUINO_LIBS = LiquidCrystal
+CPPFLAGS += -std=gnu11
+
+include /usr/share/arduino/Arduino.mk
+
diff --git a/int/interpret.c b/int/interpret.cpp
similarity index 94%
rename from int/interpret.c
rename to int/interpret.cpp
index bf437ae..4238f44 100644
--- a/int/interpret.c
+++ b/int/interpret.cpp
@@ -7,7 +7,13 @@
 #include "task.h"
 #include "sds.h"
 
-void run_task(struct task *t, int fd)
+#ifdef ARDUINO
+#define trace(op, ...) ;
+#else
+#define trace(op, ...) printf("pc: %d, sp: %d, op: " op, pc, sp, ##__VA_ARGS__);
+#endif
+
+void run_task(struct task *t)
 {
 	uint8_t *program = t->bc;
 	int plen = t->tlen;
@@ -41,7 +47,7 @@ void run_task(struct task *t, int fd)
 			stack[sp++] = sds_fetch(program[pc++]);
 			break;
 		case BCSDSPUBLISH: trace("sds publish %d\n", program[pc]);
-			sds_publish(program[pc++], fd);
+			sds_publish(program[pc++]);
 			break;
 		case BCNOT: trace("not\n");
 			stack[sp] = stack[sp] > 0 ? 0 : 1;
diff --git a/int/interpret.h b/int/interpret.h
index 98a257b..d2effe7 100644
--- a/int/interpret.h
+++ b/int/interpret.h
@@ -8,6 +8,6 @@
 
 #include "task.h"
 
-void run_task(struct task *task, int fd);
+void run_task(struct task *task);
 
 #endif
diff --git a/int/main.c b/int/main.cpp
similarity index 62%
rename from int/main.c
rename to int/main.cpp
index 02852ef..491cc3b 100644
--- a/int/main.c
+++ b/int/main.cpp
@@ -1,16 +1,22 @@
-#define _BSD_SOURCE
+#define _DEFAULT_SOURCE
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+
+#ifdef ARDUINO
+#include <Arduino.h>
+#include <HardwareSerial.h>
+#else
+#include <stdbool.h>
 #include <netdb.h>
 #include <netinet/in.h>
 #include <signal.h>
-#include <stdbool.h>
-#include <stdint.h>
 #include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
 #include <sys/socket.h>
-#include <sys/types.h>
 #include <sys/time.h>
+#include <sys/types.h>
 #include <unistd.h>
+#endif
 
 #include "interpret.h"
 #include "mTaskSymbols.h"
@@ -25,18 +31,28 @@
 #define MSG_SDS_SPEC 's'
 #define MSG_SDS_UPD 'u'
 
+//Globals
+#ifndef ARDUINO
 struct timeval tv1;
 int sock_fd = -1;
 int fd = -1;
-int port = 8123;
+int *argc;
+char **argv;
+char bt;
+#endif
 
-void killHandler(int i)
-{
-	printf("%i caught, Bye...\n", i);
-	exit(1);
+#ifndef ARDUINO
+long millis() {
+	if (gettimeofday(&tv1, NULL) == -1)
+		pdie("gettimeofday");
+	return tv1.tv_sec*1000 + tv1.tv_usec/1000;
 }
+#endif
 
-bool input_available(int fd){
+bool input_available(){
+#ifdef ARDUINO
+	return Serial.available();
+#else
 	struct timeval tv;
 	fd_set fds;
 	tv.tv_sec = 0;
@@ -46,38 +62,67 @@ bool input_available(int fd){
 	if (select(fd+1, &fds, NULL, NULL, &tv) == -1)
 		pdie("select");
 	return FD_ISSET(fd, &fds);
+#endif
 }
 
-long millis() {
-	if (gettimeofday(&tv1, NULL) == -1)
-		pdie("gettimeofday");
-	return tv1.tv_sec*1000 + tv1.tv_usec/1000;
+uint8_t read_byte()
+{
+#ifdef ARDUINO
+	return Serial.read();
+#else
+	read(fd, &bt, 1);
+	return bt;
+#endif
 }
 
-void read_message(int fd_in, int fd_out)
+void write_byte(uint8_t b)
 {
-	uint8_t c;
-	//Find next task
+#ifdef ARDUINO
+	Serial.write(b);
+#else
+	write(fd, &b, 1);
+#endif
+}
+
+void sleep(int ms)
+{
+#ifdef ARDUINO
+	delay(ms);
+#else
+	usleep(ms*1000);
+#endif
+}
+
+#ifndef ARDUINO
+void killHandler(int i)
+{
+	printf("%i caught, Bye...\n", i);
+	exit(1);
+}
+#endif
 
-	read(fd_in, &c, 1);
+void read_message()
+{
+	//Find next task
+	uint8_t c = read_byte();
 	debug("Receiving input: %c\n", c);
 	switch(c){
 	case MSG_SDS_SPEC:
 		debug("Receiving an sds\n");
-		sds_register(fd_in);
+		sds_register();
 		break;
 	case MSG_SDS_UPD:
 		debug("Receiving an sds\n");
 		//TODO do something with the return value
-		sds_update(fd_in);
+		sds_update();
 		break;
 	case MSG_DEL_TASK:
 		debug("Receiving a delete task request\n");
-		task_delete(fd);
+		task_delete();
 		break;
 	case MSG_GET_TASK:
 		debug("Receiving a task\n");
-		c = task_register(fd_in);
+		c = task_register();
 //		write(fd_out, &c, 1);
 //		write(fd_out, 
 		break;
@@ -89,29 +134,10 @@ void read_message(int fd_in, int fd_out)
 	default:
 		debug("Unknown message: %X\n", c);
 	}
-	(void) fd_out;
 }
 
 void open_filedescriptors()
 {
-	struct sockaddr_in sa;
-
-	memset(&sa, 0, sizeof(sa));
-	sa.sin_family = AF_INET;
-	sa.sin_addr.s_addr = INADDR_ANY;
-	sa.sin_port = htons(port);
-
-	if((sock_fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
-		pdie("socket");
-	if(bind(sock_fd, (struct sockaddr*)&sa, sizeof(sa)) == -1)
-		pdie("bind");
-	if(listen(sock_fd, 10) == -1)
-		pdie("listen");
-
-	printf("Listening on %d\n", port);
-	fflush(stdout);
-	if((fd = accept(sock_fd, (struct sockaddr*)NULL, NULL)) == -1)
-		pdie("accept");
 }
 
 void usage(FILE *o, char *arg0){
@@ -123,10 +149,12 @@ void usage(FILE *o, char *arg0){
 		, arg0);
 }
 
-int main(int argc, char *argv[])
+void setup()
 {
-	int ct;
-
+#ifdef ARDUINO
+	Serial.begin(9600);
+#else
+	int port = 8123, opti = 1;
 	//Register signal handler
 	if(signal(SIGINT, killHandler) == SIG_ERR){
 		die("Couldn't register signal handler...\n");
@@ -134,14 +162,12 @@ int main(int argc, char *argv[])
 	if(signal(SIGTERM, killHandler) == SIG_ERR){
 		die("Couldn't register signal handler...\n");
 	}
-
 	//Command line arguments
-	int opti = 1;
-	while(opti < argc){
-		if(strcmp(argv[opti], "-h") == 0){
+	while(opti < *argc){
+		if(strcmp((*argv)+opti, "-h") == 0){
 			usage(stdout, argv[0]);
 			exit(EXIT_SUCCESS);
-		} else if(strcmp(argv[opti], "-p") == 0 && opti+1<argc){
+		} else if(strcmp(argv[opti], "-p") == 0 && opti+1<*argc){
 			port = atoi(argv[++opti]);
 			if(port < 1)
 				die("Port numbers are > 1\n");
@@ -152,43 +178,76 @@ int main(int argc, char *argv[])
 		opti++;
 	}
 
+	//Open file descriptors
+	struct sockaddr_in sa;
+
+	memset(&sa, 0, sizeof(sa));
+	sa.sin_family = AF_INET;
+	sa.sin_addr.s_addr = INADDR_ANY;
+	sa.sin_port = htons(port);
+
+	if((sock_fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
+		pdie("socket");
+	if(bind(sock_fd, (struct sockaddr*)&sa, sizeof(sa)) == -1)
+		pdie("bind");
+	if(listen(sock_fd, 10) == -1)
+		pdie("listen");
+
+	printf("Listening on %d\n", port);
+	fflush(stdout);
+	if((fd = accept(sock_fd, (struct sockaddr*)NULL, NULL)) == -1)
+		pdie("accept");
+#endif
+
 	//Initialize systems
 	sds_init();
 	task_init();
+}
 
-	//Open communication
-	open_filedescriptors();
-	write(fd, "\n", 1);
-
+void loop()
+{
+	int ct;
 	long cyclestart;
 	struct task *curtask;
-	while(true){
-		//Check for new tasks
-		if(input_available(fd))
-			read_message(fd, fd);
-		//Run tasks
-		cyclestart = millis();
-		for(ct = 0; ct<MAXTASKS; ct++){
-			//See whether the task is even in use
-			if((curtask = task_get(ct)) == NULL){
-//				debug("Task %d not implemented\n", ct);
-				continue;
-			}
-			//See whether the task interval has passed
-			if(cyclestart-curtask->lastrun < curtask->interval){
-//				debug("Task %d not scheduled\n", ct);
-				continue;
-			}
+	if(input_available())
+		read_message();
+	//Run tasks
+	cyclestart = millis();
+	for(ct = 0; ct<MAXTASKS; ct++){
+		//See whether the task is even in use
+		if((curtask = task_get(ct)) == NULL){
+//			debug("Task %d not implemented\n", ct);
+			continue;
+		}
+		//See whether the task interval has passed
+		if(cyclestart-curtask->lastrun < curtask->interval){
+//			debug("Task %d not scheduled\n", ct);
+			continue;
+		}
 #ifdef DEBUG
-			printf("Current task to run: %d\n", ct);
-			getchar();
+		printf("Current task to run: %d\n", ct);
+		getchar();
 #endif
-			run_task(curtask, fd);
-		}
-		debug("Waiting for 500ms\n");
-		usleep(500000);
-		debug("done waiting\n");
-		write(fd, "\n", 1);
+		run_task(curtask);
+	}
+	debug("Waiting for 500ms\n");
+	sleep(500);
+	debug("done waiting\n");
+	write_byte('\n');
+}
+
+int main(int ac, char *av[])
+{
+#ifndef ARDUINO
+	argc = &ac;
+	argv = av;
+#endif
+	setup();
+
+	write_byte('\n');
+
+	while(true){
+		//Check for new tasks
 	}
 	return 0;
 }
diff --git a/int/main.h b/int/main.h
new file mode 100644
index 0000000..02c9b26
--- /dev/null
+++ b/int/main.h
@@ -0,0 +1,8 @@
+#ifndef MAIN_H
+#define MAIN_H
+
+#include <stdint.h>
+
+uint8_t read_byte();
+void write_byte(uint8_t b);
+#endif
diff --git a/int/misc.h b/int/misc.h
index 0c6bec9..3d5236e 100644
--- a/int/misc.h
+++ b/int/misc.h
@@ -1,24 +1,22 @@
 #ifndef MISC_H
 #define MISC_H
+#include "main.h"
 
-#define DEBUG
+#define read16() 256*read_byte() + read_byte()
+#ifdef ARDUINO
+#define debug(s, ...) ;
+#define pdie(s) ;
+#define die(s, ...) ;
+#else
 
 #ifdef DEBUG
 #define debug(s, ...) printf(s, ##__VA_ARGS__);
-#define trace(op, ...) printf("pc: %d, sp: %d, op: " op, pc, sp, ##__VA_ARGS__);
 #else
 #define debug(s, ...) ;
-#define trace(pc-1, sp, op) ;
 #endif
 
 #define pdie(s) {perror(s); exit(1);}
 #define die(s, ...) {fprintf(stderr, s, ##__VA_ARGS__); exit(1);}
-
-#define read16(fd, c, i) {\
-		read(fd, &c, 1); \
-		i = 256*c;       \
-		read(fd, &c, 1); \
-		i += c;          \
-	}
+#endif
 
 #endif
diff --git a/int/sds.c b/int/sds.cpp
similarity index 78%
rename from int/sds.c
rename to int/sds.cpp
index 19ebadb..6ac2d19 100644
--- a/int/sds.c
+++ b/int/sds.cpp
@@ -1,9 +1,12 @@
-#include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
+
+#ifndef ARDUINO
 #include <unistd.h>
+#include <stdio.h>
+#endif
 
-#include "mTaskSymbols.h"
+#include "main.h"
 #include "interpret.h"
 #include "misc.h"
 #include "sds.h"
@@ -16,7 +19,7 @@ void sds_init()
 	memset(&sdss, 0, sizeof(struct sds)*MAXSDSS);
 }
 
-void sds_register(int fd)
+void sds_register()
 {
 	uint8_t cs;
 	for(cs = 0; cs<MAXSDSS; cs++)
@@ -28,45 +31,43 @@ void sds_register(int fd)
 
 	memset(&sdss[cs], 0, sizeof(struct sds));
 	//Read identifier
-	read16(fd, c, sdss[cs].id);
+	sdss[cs].id = read16();
 	//Read value
-	read16(fd, c, sdss[cs].value);
+	sdss[cs].value = read16();
 
 	debug("\nReceived sds %d: %d\n", sdss[cs].id, sdss[cs].value);
 	sdss[cs].used = true;
 }
 
-bool sds_update(int fd)
+bool sds_update()
 {
 	uint8_t cs, id;
 	//Read identifier
-	read(fd, &id, 1);
+	id = read_byte();
 
 	for(cs = 0; cs<MAXSDSS; cs++){
 		if(!sdss[cs].used)
 			continue;
 		if(sdss[cs].id == id){
 			//Read value
-			read16(fd, c, sdss[cs].value);
+			sdss[cs].value = read16();
 			return true;
 		}
 	}
 	return false;
 }
 
-void sds_publish(int id, int fd)
+void sds_publish(int id)
 {
 	uint8_t cs;
-	char msg[6];
 	for(cs = 0; cs<MAXSDSS; cs++){
 		if(sdss[cs].used && sdss[cs].id == id){
 			debug("Publish %d=%d\n", sdss[cs].id, sdss[cs].value);
-			sprintf(msg, "u%c%c%c%c\n",
-				0,
-				sdss[cs].id,
-				sdss[cs].value/265,
-				sdss[cs].value%265);
-			write(fd, msg, 6);
+			write_byte('u');
+			write_byte(0);
+			write_byte(sdss[cs].id);
+			write_byte(sdss[cs].value/265);
+			write_byte(sdss[cs].value%265);
 			return;
 		}
 	}
diff --git a/int/sds.h b/int/sds.h
index 5e9644b..38365ce 100644
--- a/int/sds.h
+++ b/int/sds.h
@@ -12,9 +12,9 @@ struct sds {
 };
 
 void sds_init();
-void sds_register(int fd);
-bool sds_update(int fd);
-void sds_publish(int id, int fd);
+void sds_register();
+bool sds_update();
+void sds_publish(int id);
 int sds_fetch(int id);
 void sds_store(int id, int val);
 
diff --git a/int/task.c b/int/task.cpp
similarity index 74%
rename from int/task.c
rename to int/task.cpp
index 47c5bd1..bd6c36d 100644
--- a/int/task.c
+++ b/int/task.cpp
@@ -1,20 +1,25 @@
-#include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
+
+#ifdef ARDUINO
+#include <Arduino.h>
+#include <HardwareSerial.h>
+#else
 #include <unistd.h>
+#include <stdio.h>
+#endif
 
 #include "misc.h"
 #include "task.h"
 
 struct task tasks[MAXTASKS];
-uint8_t c;
 
 void task_init()
 {
 	memset(&tasks, 0, sizeof(struct task)*MAXTASKS);
 }
 
-int task_register(int fd)
+int task_register()
 {
 	uint8_t ct;
 
@@ -26,15 +31,15 @@ int task_register(int fd)
 
 	memset(&tasks[ct], 0, sizeof(struct task));
 	//Read interval
-	read16(fd, c, tasks[ct].interval);
+	tasks[ct].interval = read16();
 	//Read tasklength
-	read16(fd, c, tasks[ct].tlen);
+	tasks[ct].tlen = read16();
 
 	if(tasks[ct].tlen > MAXTASKSIZE)
 		die("Task is too long: %d\n", tasks[ct].tlen);
 	//Read task bytecode
-	for(int i = 0; i<tasks[ct].tlen; i++){
-		read(fd, tasks[ct].bc+i, 1);
+	for(unsigned int i = 0; i<tasks[ct].tlen; i++){
+		tasks[ct].bc[i] = read_byte();
 		debug("t[][%i]: 0x%02x %d\n", i,
 			tasks[ct].bc[i], tasks[ct].bc[i]);
 	}
@@ -44,10 +49,9 @@ int task_register(int fd)
 	return ct;
 }
 
-void task_delete(int fd)
+void task_delete()
 {
-	read(fd, &c, 1);
-	tasks[c].used = false;
+	tasks[read_byte()].used = false;
 }
 
 struct task *task_get(int num)
diff --git a/int/task.h b/int/task.h
index 22a615c..464d2f0 100644
--- a/int/task.h
+++ b/int/task.h
@@ -16,8 +16,8 @@ struct task {
 };
 
 void task_init();
-int task_register(int fd);
-void task_delete(int fd);
+int task_register();
+void task_delete();
 struct task *task_get(int num);
 
 #endif