444 lines
16 KiB
C
444 lines
16 KiB
C
/* Includes ----------------------------------------------------------------- */
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#include "device/mrobot.h"
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#include "component/freertos_cli.h"
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#include "bsp/uart.h"
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#include <string.h>
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#include <stdio.h>
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#include <FreeRTOS.h>
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#include <task.h>
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/* Private variables -------------------------------------------------------- */
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static MRobot_Device_t devices[MROBOT_MAX_DEVICES];
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static uint8_t device_count = 0;
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static char current_path[64] = "/";
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static char output_buffer[MROBOT_MAX_OUTPUT_LEN];
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/* UART 相关变量 */
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static uint8_t uart_rx_char;
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static uint8_t cmd_buffer[128];
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static volatile uint8_t cmd_index = 0;
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static volatile bool cmd_ready = false;
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static volatile bool htop_mode = false;
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static volatile bool htop_exit = false;
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static volatile bool tx_complete = true;
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/* Private function prototypes ---------------------------------------------- */
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static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
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static BaseType_t cmd_htop(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
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static BaseType_t cmd_cd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
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static BaseType_t cmd_ls(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
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static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
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static BaseType_t cmd_pwd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
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/* CLI 命令定义 */
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static const CLI_Command_Definition_t cmd_def_help = {
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"help",
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"help: 显示所有可用命令\r\n",
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cmd_help,
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0
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};
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static const CLI_Command_Definition_t cmd_def_htop = {
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"htop",
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"htop: 动态显示 FreeRTOS 任务状态 (按 'q' 退出)\r\n",
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cmd_htop,
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0
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};
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static const CLI_Command_Definition_t cmd_def_cd = {
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"cd",
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"cd <path>: 切换目录\r\n",
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cmd_cd,
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1
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};
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static const CLI_Command_Definition_t cmd_def_ls = {
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"ls",
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"ls: 列出当前目录内容\r\n",
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cmd_ls,
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0
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};
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static const CLI_Command_Definition_t cmd_def_show = {
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"show",
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"show [device]: 显示设备信息\r\n",
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cmd_show,
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-1 /* 可变参数 */
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};
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static const CLI_Command_Definition_t cmd_def_pwd = {
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"pwd",
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"pwd: 显示当前目录\r\n",
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cmd_pwd,
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0
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};
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/* Private functions -------------------------------------------------------- */
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/* help 命令实现 */
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static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
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(void)pcCommandString;
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snprintf(pcWriteBuffer, xWriteBufferLen,
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"MRobot CLI v1.0\r\n"
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"可用命令:\r\n"
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" help - 显示帮助信息\r\n"
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" htop - 动态显示任务状态 (按 'q' 退出)\r\n"
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" cd - 切换目录\r\n"
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" ls - 列出目录内容\r\n"
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" pwd - 显示当前路径\r\n"
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" show - 显示设备信息\r\n"
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"\r\n");
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return pdFALSE;
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}
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/* htop 命令实现 - 由 cli.c 处理动态显示 */
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static BaseType_t cmd_htop(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
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(void)pcCommandString;
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(void)pcWriteBuffer;
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(void)xWriteBufferLen;
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/* htop 命令在 cli.c 中被特殊处理，这里返回空 */
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return pdFALSE;
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}
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/* pwd 命令实现 */
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static BaseType_t cmd_pwd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
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(void)pcCommandString;
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snprintf(pcWriteBuffer, xWriteBufferLen, "%s\r\n", current_path);
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return pdFALSE;
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}
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/* cd 命令实现 */
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static BaseType_t cmd_cd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
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const char *param;
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BaseType_t param_len;
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param = FreeRTOS_CLIGetParameter(pcCommandString, 1, ¶m_len);
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if (param != NULL) {
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char path[64];
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strncpy(path, param, param_len);
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path[param_len] = '\0';
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if (strcmp(path, "/") == 0 || strcmp(path, "..") == 0) {
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strcpy(current_path, "/");
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} else if (strcmp(path, "dev") == 0 || strcmp(path, "/dev") == 0) {
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strcpy(current_path, "/dev");
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} else if (strcmp(path, "modules") == 0 || strcmp(path, "/modules") == 0) {
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strcpy(current_path, "/modules");
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} else {
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snprintf(pcWriteBuffer, xWriteBufferLen, "错误: 目录不存在\r\n");
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return pdFALSE;
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}
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snprintf(pcWriteBuffer, xWriteBufferLen, "切换到: %s\r\n", current_path);
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} else {
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snprintf(pcWriteBuffer, xWriteBufferLen, "错误: 缺少路径参数\r\n");
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}
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return pdFALSE;
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}
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/* ls 命令实现 */
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static BaseType_t cmd_ls(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
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(void)pcCommandString;
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int offset = 0;
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if (strcmp(current_path, "/") == 0) {
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offset = snprintf(pcWriteBuffer, xWriteBufferLen, "dev/\r\nmodules/\r\n");
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} else if (strcmp(current_path, "/dev") == 0) {
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offset = snprintf(pcWriteBuffer, xWriteBufferLen, "设备列表:\r\n");
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for (uint8_t i = 0; i < device_count && offset < (int)xWriteBufferLen; i++) {
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offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
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" %s\r\n", devices[i].name);
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}
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if (device_count == 0) {
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offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
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" (无设备)\r\n");
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}
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} else if (strcmp(current_path, "/modules") == 0) {
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offset = snprintf(pcWriteBuffer, xWriteBufferLen, "(模块功能暂未实现)\r\n");
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}
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return pdFALSE;
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}
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/* show 命令实现 */
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static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
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const char *param;
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BaseType_t param_len;
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param = FreeRTOS_CLIGetParameter(pcCommandString, 1, ¶m_len);
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if (strcmp(current_path, "/dev") != 0) {
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snprintf(pcWriteBuffer, xWriteBufferLen, "错误: show 命令仅在 /dev 目录下可用\r\n");
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return pdFALSE;
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}
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if (param == NULL) {
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/* 显示所有设备 */
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int offset = snprintf(pcWriteBuffer, xWriteBufferLen, "所有设备信息:\r\n");
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for (uint8_t i = 0; i < device_count && offset < (int)xWriteBufferLen; i++) {
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offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
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"\r\n=== %s ===\r\n", devices[i].name);
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if (devices[i].print_callback != NULL) {
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devices[i].print_callback(devices[i].data,
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pcWriteBuffer + offset,
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xWriteBufferLen - offset);
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offset = strlen(pcWriteBuffer);
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}
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}
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} else {
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/* 显示特定设备 */
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char device_name[32];
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strncpy(device_name, param, param_len);
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device_name[param_len] = '\0';
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bool found = false;
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for (uint8_t i = 0; i < device_count; i++) {
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if (strcmp(devices[i].name, device_name) == 0) {
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found = true;
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int offset = snprintf(pcWriteBuffer, xWriteBufferLen,
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"=== %s ===\r\n", devices[i].name);
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if (devices[i].print_callback != NULL) {
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devices[i].print_callback(devices[i].data,
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pcWriteBuffer + offset,
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xWriteBufferLen - offset);
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} else {
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snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
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"无打印函数\r\n");
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}
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break;
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}
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}
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if (!found) {
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snprintf(pcWriteBuffer, xWriteBufferLen, "错误: 设备 '%s' 未找到\r\n", device_name);
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}
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}
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return pdFALSE;
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}
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/* UART 发送完成回调 */
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static void mrobot_uart_tx_callback(void) {
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tx_complete = true;
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}
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/* UART 接收中断回调 */
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static void mrobot_uart_rx_callback(void) {
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uint8_t ch = uart_rx_char;
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/* 如果在 htop 模式，检查退出键 */
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if (htop_mode) {
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if (ch == 'q' || ch == 'Q' || ch == 27) { /* q 或 ESC */
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htop_exit = true;
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}
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/* 重新启动接收 */
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BSP_UART_Receive(BSP_UART_VOFA, &uart_rx_char, 1, false);
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return;
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}
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if (ch == '\r' || ch == '\n') {
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if (cmd_index > 0) {
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cmd_buffer[cmd_index] = '\0';
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cmd_ready = true;
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/* 换行使用中断方式发送（数据量小） */
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BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)"\r\n", 2, false);
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}
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} else if (ch == 127 || ch == 8) { /* 退格键 */
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if (cmd_index > 0) {
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cmd_index--;
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/* 回显退格（中断方式） */
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const char *backspace = "\b \b";
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BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)backspace, 3, false);
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}
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} else if (ch >= 32 && ch < 127 && cmd_index < sizeof(cmd_buffer) - 1) {
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/* 只接受可打印字符 */
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cmd_buffer[cmd_index++] = ch;
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/* 回显字符（中断方式） */
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BSP_UART_Transmit(BSP_UART_VOFA, &ch, 1, false);
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}
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/* 重新启动接收 */
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BSP_UART_Receive(BSP_UART_VOFA, &uart_rx_char, 1, false);
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}
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/* Exported functions ------------------------------------------------------- */
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void MRobot_Init(void) {
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/* 初始化设备数组 */
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memset(devices, 0, sizeof(devices));
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device_count = 0;
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/* 注册 CLI 命令 */
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FreeRTOS_CLIRegisterCommand(&cmd_def_help);
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FreeRTOS_CLIRegisterCommand(&cmd_def_htop);
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FreeRTOS_CLIRegisterCommand(&cmd_def_cd);
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FreeRTOS_CLIRegisterCommand(&cmd_def_ls);
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FreeRTOS_CLIRegisterCommand(&cmd_def_show);
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FreeRTOS_CLIRegisterCommand(&cmd_def_pwd);
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/* 注册 UART 回调 */
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BSP_UART_RegisterCallback(BSP_UART_VOFA, BSP_UART_RX_CPLT_CB, mrobot_uart_rx_callback);
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BSP_UART_RegisterCallback(BSP_UART_VOFA, BSP_UART_TX_CPLT_CB, mrobot_uart_tx_callback);
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/* 启动 UART 接收 */
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BSP_UART_Receive(BSP_UART_VOFA, &uart_rx_char, 1, false);
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/* 发送欢迎消息 */
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const char *welcome = "\r\n\r\n"
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"================================\r\n"
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" MRobot CLI v1.0\r\n"
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" 输入 'help' 获取帮助\r\n"
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"================================\r\n"
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"root@mrobot:~$ ";
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tx_complete = false;
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BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)welcome, strlen(welcome), true);
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while (!tx_complete) { osDelay(1); } /* 等待发送完成 */
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}
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int8_t MRobot_RegisterDevice(const char *name, MRobot_DeviceType_t type,
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void *data, MRobot_PrintCallback_t print_callback) {
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if (device_count >= MROBOT_MAX_DEVICES) {
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return -1;
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}
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if (name == NULL || data == NULL) {
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return -1;
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}
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strncpy(devices[device_count].name, name, sizeof(devices[device_count].name) - 1);
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devices[device_count].type = type;
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devices[device_count].data = data;
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devices[device_count].print_callback = print_callback;
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device_count++;
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return 0;
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}
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void MRobot_Run(void) {
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/* 动态 htop 模式 */
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if (htop_mode) {
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/* 清屏并重置光标 */
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const char *clear = "\033[2J\033[H";
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tx_complete = false;
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BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)clear, strlen(clear), true);
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while (!tx_complete) { osDelay(1); } /* 等待发送完成 */
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/* 显示 htop 头部 */
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const char *header =
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"MRobot Task Monitor (按 'q' 退出)\r\n"
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"================================================================================\r\n";
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tx_complete = false;
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BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)header, strlen(header), true);
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while (!tx_complete) { osDelay(1); } /* 等待发送完成 */
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/* 获取任务列表 */
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char task_buffer[1024];
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vTaskList(task_buffer);
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/* 格式化输出 */
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char display_buffer[1536];
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int offset = snprintf(display_buffer, sizeof(display_buffer),
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"%-16s %-8s %-4s %-8s %-4s\r\n"
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"--------------------------------------------------------------------------------\r\n",
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"Task Name", "State", "Prio", "Stack", "Num");
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/* 解析并美化任务列表 */
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char *line = strtok(task_buffer, "\r\n");
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while (line != NULL && offset < (int)sizeof(display_buffer) - 100) {
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char name[17] = {0};
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char state[9] = {0};
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int prio = 0;
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int stack = 0;
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int num = 0;
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if (sscanf(line, "%16s %c %d %d %d", name, &state[0], &prio, &stack, &num) == 5) {
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/* 状态字符转换 */
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const char *state_str = "?";
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switch(state[0]) {
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case 'R': state_str = "Running"; break;
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case 'B': state_str = "Blocked"; break;
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case 'S': state_str = "Suspend"; break;
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case 'D': state_str = "Deleted"; break;
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default: state_str = "Unknown"; break;
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}
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offset += snprintf(display_buffer + offset, sizeof(display_buffer) - offset,
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"%-16s %-8s %-4d %-8d %-4d\r\n",
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name, state_str, prio, stack, num);
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}
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line = strtok(NULL, "\r\n");
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}
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/* 添加运行时统计 */
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offset += snprintf(display_buffer + offset, sizeof(display_buffer) - offset,
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"--------------------------------------------------------------------------------\r\n"
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"System Tick: %lu\r\n",
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(unsigned long)xTaskGetTickCount());
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tx_complete = false;
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BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)display_buffer, strlen(display_buffer), true);
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while (!tx_complete) { osDelay(1); } /* 等待发送完成 */
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/* 检查退出标志 */
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if (htop_exit) {
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htop_mode = false;
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htop_exit = false;
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/* 清屏 */
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tx_complete = false;
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BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)clear, strlen(clear), true);
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while (!tx_complete) { osDelay(1); } /* 等待发送完成 */
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/* 显示提示符 */
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char prompt[128];
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snprintf(prompt, sizeof(prompt), "root@mrobot:%s$ ", current_path);
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tx_complete = false;
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BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)prompt, strlen(prompt), true);
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while (!tx_complete) { osDelay(1); } /* 等待发送完成 */
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}
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osDelay(200); /* 每 200ms 刷新一次，5fps */
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return;
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}
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/* 检查是否有命令需要处理 */
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if (cmd_ready) {
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/* 检查是否是 htop 命令 */
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if (strcmp((char *)cmd_buffer, "htop") == 0) {
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htop_mode = true;
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htop_exit = false;
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} else {
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/* 处理其他命令 */
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BaseType_t result;
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int offset = 0;
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do {
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result = FreeRTOS_CLIProcessCommand((char *)cmd_buffer,
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output_buffer + offset,
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sizeof(output_buffer) - offset);
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offset = strlen(output_buffer);
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} while (result != pdFALSE && offset < (int)sizeof(output_buffer));
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if (strlen(output_buffer) > 0) {
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tx_complete = false;
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BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)output_buffer, strlen(output_buffer), true);
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while (!tx_complete) { osDelay(1); } /* 等待发送完成 */
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}
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/* 发送提示符 */
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char prompt[128];
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snprintf(prompt, sizeof(prompt), "root@mrobot:%s$ ", current_path);
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tx_complete = false;
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BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)prompt, strlen(prompt), true);
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while (!tx_complete) { osDelay(1); } /* 等待发送完成 */
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}
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/* 重置状态 */
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cmd_index = 0;
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cmd_ready = false;
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}
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osDelay(10);
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}
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