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-rw-r--r--digital/avr/modules/proto/proto.c206
1 files changed, 206 insertions, 0 deletions
diff --git a/digital/avr/modules/proto/proto.c b/digital/avr/modules/proto/proto.c
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+/* proto.c */
+/* avr.proto - Protocol AVR module. {{{
+ *
+ * Copyright (C) 2005 Nicolas Schodet
+ *
+ * Robot APB Team/Efrei 2006.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "common.h"
+#include "proto.h"
+
+#include <ctype.h>
+
+/* +AutoDec */
+
+/** Accept a digit to be used for args. */
+static void
+proto_accept_digit (uint8_t c);
+
+#if AC_PROTO_QUOTE == 1
+/** Accept a quoted char to be used for args. */
+static void
+proto_accept_char (uint8_t c);
+#endif
+
+/* Send a hex digit. */
+inline static void
+proto_hex (uint8_t h);
+
+/* -AutoDec */
+
+static uint8_t cmd;
+static uint8_t size;
+static uint8_t args[AC_PROTO_ARGS_MAX_SIZE];
+
+/** Step of decoding:
+ * - 0: nothing received.
+ * - 1: bang received.
+ * - 2: command received.
+ * - 3: command received, and processing a number.
+ * - 4: quote received.
+ * - 5: double quote received. */
+static uint8_t step;
+
+/** Accept a new character. */
+void
+proto_accept (uint8_t c)
+{
+ if (c == '!')
+ step = 1;
+ else
+ {
+ switch (step)
+ {
+ case 0:
+ /* Nothing received yet. */
+ break;
+ case 1:
+ /* Bang received yet. */
+ if (isalpha (c))
+ {
+ cmd = c;
+ size = 0;
+ step = 2;
+ }
+ else
+ {
+ AC_PROTO_CALLBACK ('?', 0, 0);
+ step = 0;
+ }
+ break;
+ case 2:
+ /* Command received yet. */
+ if (c == '\r')
+ {
+ AC_PROTO_CALLBACK (cmd, size, args);
+ step = 0;
+ }
+#if AC_PROTO_QUOTE == 1
+ else if (c == '\'')
+ step = 4;
+ else if (c == '"')
+ step = 5;
+#endif
+ else
+ {
+ step = 3;
+ proto_accept_digit (c);
+ }
+ break;
+ case 3:
+ step--;
+ proto_accept_digit (c);
+ break;
+#if AC_PROTO_QUOTE == 1
+ case 4:
+ step = 2;
+ proto_accept_char (c);
+ break;
+ case 5:
+ if (c == '\r')
+ {
+ AC_PROTO_CALLBACK (cmd, size, args);
+ step = 0;
+ }
+ else
+ {
+ proto_accept_char (c);
+ }
+ break;
+#endif
+ }
+ }
+}
+
+/** Accept a digit to be used for args. */
+static void
+proto_accept_digit (uint8_t c)
+{
+ /* Test for argument list overflow. */
+ if (size >= AC_PROTO_ARGS_MAX_SIZE)
+ {
+ AC_PROTO_CALLBACK ('?', 0, 0);
+ step = 0;
+ return;
+ }
+ /* Convert from hexa. */
+ if ('0' <= c && c <= '9')
+ c -= '0';
+ else if ('a' <= c && c <= 'f')
+ c -= 'a' - 10;
+ else if ('A' <= c && c <= 'F')
+ c -= 'A' - 10;
+ else
+ {
+ AC_PROTO_CALLBACK ('?', 0, 0);
+ step = 0;
+ return;
+ }
+ /* Add digit. */
+ args[size] <<= 4;
+ args[size] |= c;
+ if (step == 2)
+ size++;
+}
+
+#if AC_PROTO_QUOTE == 1
+/** Accept a quoted char to be used for args. */
+static void
+proto_accept_char (uint8_t c)
+{
+ /* Test for argument list overflow or unwanted char. */
+ if (size >= AC_PROTO_ARGS_MAX_SIZE || !isprint (c))
+ {
+ AC_PROTO_CALLBACK ('?', 0, 0);
+ step = 0;
+ return;
+ }
+ /* Add char. */
+ args[size] = c;
+ size++;
+}
+#endif
+
+/* Send a hex digit. */
+inline static void
+proto_hex (uint8_t h)
+{
+ AC_PROTO_PUTC (h >= 10 ? h - 10 + 'a' : h + '0');
+}
+
+/* Send a argument byte. */
+void
+proto_arg (uint8_t a)
+{
+ proto_hex ((a >> 4) & 0xf);
+ proto_hex ((a >> 0) & 0xf);
+}
+
+/** Send a command, generic function. */
+void
+proto_send (uint8_t cmd, uint8_t size, uint8_t *args)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ while (size--)
+ proto_arg (*args++);
+ AC_PROTO_PUTC ('\r');
+}
+