diff options
Diffstat (limited to 'src/command.h')
| -rw-r--r-- | src/command.h | 81 |
1 files changed, 81 insertions, 0 deletions
diff --git a/src/command.h b/src/command.h new file mode 100644 index 000000000..2bbe37f82 --- /dev/null +++ b/src/command.h @@ -0,0 +1,81 @@ +#ifndef __COMMAND_H +#define __COMMAND_H + +#include <stdarg.h> // va_list +#include <stddef.h> // size_t +#include <stdint.h> // uint8_t +#include "compiler.h" // __section + +// Declare a function to run when the specified command is received +#define DECL_COMMAND(FUNC, MSG) \ + _DECL_COMMAND(FUNC, 0, MSG) +#define DECL_COMMAND_FLAGS(FUNC, FLAGS, MSG) \ + _DECL_COMMAND(FUNC, FLAGS, MSG) + +// Flags for command handler declarations. +#define HF_IN_SHUTDOWN 0x01 // Handler can run even when in emergency stop + +// Send an output message (and declare a static message type for it) +#define output(FMT, args...) \ + _sendf(_DECL_OUTPUT(FMT) , ##args ) + +// Declare a message type and transmit it. +#define sendf(FMT, args...) \ + _sendf(_DECL_PARSER(FMT) , ##args) + +// Shut down the machine (also declares a static string to transmit) +#define shutdown(msg) \ + sched_shutdown(_DECL_STATIC_STR(msg)) +#define try_shutdown(msg) \ + sched_try_shutdown(_DECL_STATIC_STR(msg)) + +// command.c +void _sendf(uint8_t parserid, ...); + +// out/compile_time_request.c (auto generated file) +struct command_encoder { + uint8_t msg_id, max_size, num_params; + const uint8_t *param_types; +}; +struct command_parser { + uint8_t msg_id, num_args, flags, num_params; + const uint8_t *param_types; + void (*func)(uint32_t *args); +}; +enum { + PT_uint32, PT_int32, PT_uint16, PT_int16, PT_byte, + PT_string, PT_progmem_buffer, PT_buffer, +}; +extern const struct command_encoder command_encoders[]; +extern const struct command_parser * const command_index[]; +extern const uint8_t command_index_size; +extern const uint8_t command_identify_data[]; +extern const uint32_t command_identify_size; + +// Compiler glue for DECL_COMMAND macros above. +#define _DECL_COMMAND(FUNC, FLAGS, MSG) \ + char __PASTE(_DECLS_ ## FUNC ## _, __LINE__) [] \ + __visible __section(".compile_time_request") \ + = "_DECL_COMMAND " __stringify(FUNC) " " __stringify(FLAGS) " " MSG; \ + void __visible FUNC(uint32_t*) + +// Create a compile time request and return a unique (incrementing id) +// for that request. +#define _DECL_REQUEST_ID(REQUEST, ID_SECTION) ({ \ + static char __PASTE(_DECLS_, __LINE__)[] \ + __section(".compile_time_request") = REQUEST; \ + asm volatile("" : : "m"(__PASTE(_DECLS_, __LINE__))); \ + static char __PASTE(_DECLI_, __LINE__) \ + __section(".compile_time_request." ID_SECTION); \ + (size_t)&__PASTE(_DECLI_, __LINE__); }) + +#define _DECL_PARSER(FMT) \ + _DECL_REQUEST_ID("_DECL_PARSER " FMT, "parsers") + +#define _DECL_OUTPUT(FMT) \ + _DECL_REQUEST_ID("_DECL_OUTPUT " FMT, "parsers") + +#define _DECL_STATIC_STR(FMT) \ + _DECL_REQUEST_ID("_DECL_STATIC_STR " FMT, "static_strings") + +#endif // command.h |