CRAC Team
Programme d'utilisation servomotors MX12 V1
Diff: mbed/rpc.h
- Revision:
- 0:80df663dd15e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed/rpc.h Fri May 19 14:32:14 2017 +0000
@@ -0,0 +1,592 @@
+/* mbed Microcontroller Library - RPC
+ * Copyright (c) 2008-2009 ARM Limited. All rights reserved.
+ */
+
+#ifndef MBED_RPC_H
+#define MBED_RPC_H
+
+/* Section rpc
+ * Helpers for rpc handling.
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <ctype.h>
+#include "Base.h"
+
+#include "PinNames.h"
+#include <stdint.h>
+
+namespace mbed {
+
+/* Function parse_arg
+ * Parses and returns a value from a string.
+ *
+ * Variable
+ * arg - The string to pase
+ * next - If not NULL a pointer to after the last
+ * character parsed is written here
+ */
+template<typename T> T parse_arg(const char *arg, const char **next);
+
+inline char parse_char(const char *arg, const char **next) {
+ char c = *arg++;
+ if(c == '\\') {
+ c = *arg++;
+ switch(c) {
+ case 'a': c = '\a'; break;
+ case 'b': c = '\b'; break;
+ case 't': c = '\t'; break;
+ case 'n': c = '\n'; break;
+ case 'v': c = '\v'; break;
+ case 'f': c = '\f'; break;
+ case 'r': c = '\r'; break;
+ case 'x':
+ {
+ /* two-character hexadecimal */
+ char buf[3];
+ buf[0] = *arg++;
+ buf[1] = *arg++;
+ buf[2] = 0;
+ c = strtol(buf, NULL, 16);
+ }
+ break;
+ default:
+ if(isdigit(c)) {
+ /* three-character octal */
+ char buf[4];
+ buf[0] = c;
+ buf[1] = *arg++;
+ buf[2] = *arg++;
+ buf[3] = 0;
+ c = strtol(buf, NULL, 8);
+ }
+ break;
+ }
+ }
+ *next = arg;
+ return c;
+}
+
+/* signed integer types */
+
+template<> inline int parse_arg<int>(const char *arg, const char **next) {
+ if(arg[0] == '\'') {
+ char c = parse_char(arg+1, &arg);
+ if(next != NULL) *next = arg+1;
+ return c;
+ } else {
+ return strtol(arg, const_cast<char**>(next), 0);
+ }
+}
+
+template<> inline char parse_arg<char>(const char *arg, const char **next) {
+ return parse_arg<int>(arg,next);
+}
+
+template<> inline short int parse_arg<short int>(const char *arg, const char **next) {
+ return parse_arg<int>(arg,next);
+}
+
+template<> inline long int parse_arg<long int>(const char *arg, const char **next) {
+ return parse_arg<int>(arg,next);
+}
+
+template<> inline long long parse_arg<long long>(const char *arg, const char **next) {
+ return strtoll(arg, const_cast<char**>(next), 0);
+}
+
+/* unsigned integer types */
+
+template<> inline unsigned int parse_arg<unsigned int>(const char *arg, const char **next) {
+ if(arg[0] == '\'') {
+ char c = parse_char(arg+1, &arg);
+ if(next != NULL) *next = arg+1;
+ return c;
+ } else {
+ return strtoul(arg, const_cast<char**>(next), 0);
+ }
+}
+
+template<> inline unsigned char parse_arg<unsigned char>(const char *arg, const char **next) {
+ return parse_arg<unsigned int>(arg,next);
+}
+
+template<> inline unsigned short int parse_arg<unsigned short int>(const char *arg, const char **next) {
+ return parse_arg<unsigned int>(arg,next);
+}
+
+template<> inline unsigned long int parse_arg<unsigned long int>(const char *arg, const char **next) {
+ return parse_arg<unsigned int>(arg,next);
+}
+
+template<> inline unsigned long long parse_arg<unsigned long long>(const char *arg, const char **next) {
+ return strtoull(arg, const_cast<char**>(next), 0);
+}
+
+/* floating types */
+
+template<> inline float parse_arg<float>(const char *arg, const char **next) {
+#if !defined(__ARMCC_VERSION) || __ARMCC_VERSION >= 410000
+ return strtof(arg,const_cast<char**>(next));
+#elif __ARMCC_VERSION >= 310000
+ /* bug in header means no using declaration for strtof */
+ return std::strtof(arg,const_cast<char**>(next));
+#else
+ /* strtof not supported */
+ return strtod(arg,const_cast<char**>(next));
+#endif
+}
+
+template<> inline double parse_arg<double>(const char *arg, const char **next) {
+ return strtod(arg,const_cast<char**>(next));
+}
+
+template<> inline long double parse_arg<long double>(const char *arg, const char **next) {
+ return strtod(arg,const_cast<char**>(next));
+}
+
+/* string */
+
+template<> inline char *parse_arg<char*>(const char *arg, const char **next) {
+ const char *ptr = arg;
+ char *res = NULL;
+ if(*arg == '"') {
+ /* quoted string */
+ ptr = ++arg;
+ int len = 0;
+ /* find the end (and length) of the quoted string */
+ for(char c = *ptr; c != 0 && c != '"'; c = *++ptr) {
+ len++;
+ if(c == '\\') {
+ ptr++;
+ }
+ }
+ /* copy the quoted string, and unescape characters */
+ if(len != 0) {
+ res = new char[len+1];
+ char *resptr = res;
+ while(arg != ptr) {
+ *resptr++ = parse_char(arg, &arg);
+ }
+ *resptr = 0;
+ }
+ } else {
+ /* unquoted string */
+ while(isalnum(*ptr) || *ptr=='_') {
+ ptr++;
+ }
+ int len = ptr-arg;
+ if(len!=0) {
+ res = new char[len+1];
+ memcpy(res, arg, len);
+ res[len] = 0;
+ }
+ }
+
+ if(next != NULL) {
+ *next = ptr;
+ }
+ return res;
+}
+
+template<> inline const char *parse_arg<const char*>(const char *arg, const char **next) {
+ return parse_arg<char*>(arg,next);
+}
+
+/* Pins */
+
+
+inline PinName parse_pins(const char *str) {
+ const PinName pin_names[] = {p5, p6, p7, p8, p9, p10, p11, p12, p13, p14
+ , p15, p16, p17, p18, p19, p20, p21, p22, p23
+ , p24, p25, p26, p27, p28, p29, p30};
+
+ if(str[0] == 'P') { // Pn_n
+ uint32_t port = str[1] - '0';
+ uint32_t pin = str[3] - '0'; // Pn_n
+ uint32_t pin2 = str[4] - '0'; // Pn_nn
+ if(pin2 <= 9) {
+ pin = pin * 10 + pin2;
+ }
+#if defined(TARGET_LPC1768) || defined(TARGET_LPC2368)
+ return (PinName)(LPC_GPIO0_BASE + port * 32 + pin);
+#elif defined(TARGET_LPC11U24)
+ return (PinName)(port * 32 + pin);
+#endif
+ } else if(str[0] == 'p') { // pn
+ uint32_t pin = str[1] - '0'; // pn
+ uint32_t pin2 = str[2] - '0'; // pnn
+ if(pin2 <= 9) {
+ pin = pin * 10 + pin2;
+ }
+ if(pin < 5 || pin > 30) {
+ return NC;
+ }
+ return pin_names[pin - 5];
+ } else if(str[0] == 'L') { // LEDn
+ switch(str[3]) {
+ case '1' : return LED1;
+ case '2' : return LED2;
+ case '3' : return LED3;
+ case '4' : return LED4;
+ }
+ } else if(str[0] == 'U') { // USB?X
+ switch(str[3]) {
+ case 'T' : return USBTX;
+ case 'R' : return USBRX;
+ }
+ }
+ return NC;
+}
+
+template<> inline PinName parse_arg<PinName>(const char *arg, const char **next) {
+ const char *ptr = arg;
+ PinName pinname = NC;
+ while(isalnum(*ptr) || *ptr=='_') {
+ ptr++;
+ }
+ int len = ptr-arg;
+ if(len!=0) {
+ pinname = parse_pins(arg);
+
+ }
+ if(next != NULL) {
+ *next = ptr;
+ }
+ return pinname;
+}
+
+
+/* Function write_result
+ * Writes a value in to a result string in an appropriate manner
+ *
+ * Variable
+ * val - The value to write
+ * result - A pointer to the array to write the value into
+ */
+template<typename T> void write_result(T val, char *result);
+
+/* signed integer types */
+
+template<> inline void write_result<char>(char val, char *result) {
+ result[0] = val;
+ result[1] = '\0';
+}
+
+template<> inline void write_result<short int>(short int val, char *result) {
+ sprintf(result, "%hi", val);
+}
+
+template<> inline void write_result<int>(int val, char *result) {
+ sprintf(result, "%i", val);
+}
+
+template<> inline void write_result<long int>(long int val, char *result) {
+ sprintf(result, "%li", val);
+}
+
+template<> inline void write_result<long long int>(long long int val, char *result) {
+ sprintf(result, "%lli", val);
+}
+
+/* unsigned integer types */
+
+template<> inline void write_result<unsigned char>(unsigned char val, char *result) {
+ result[0] = val;
+ result[1] = '\0';
+}
+
+template<> inline void write_result<unsigned short int>(unsigned short int val, char *result) {
+ sprintf(result, "%hu", val);
+}
+
+template<> inline void write_result<unsigned int>(unsigned int val, char *result) {
+ sprintf(result, "%u", val);
+}
+
+template<> inline void write_result<unsigned long int>(unsigned long int val, char *result) {
+ sprintf(result, "%lu", val);
+}
+
+template<> inline void write_result<unsigned long long int>(unsigned long long int val, char *result) {
+ sprintf(result, "%llu", val);
+}
+
+/* floating types */
+
+template<> inline void write_result<float>(float val, char *result) {
+ sprintf(result, "%.17g", val);
+}
+
+template<> inline void write_result<double>(double val, char *result) {
+ sprintf(result, "%.17g", val);
+}
+
+template<> inline void write_result<long double>(long double val, char *result) {
+ sprintf(result, "%.17Lg", val);
+}
+
+
+/* string */
+
+template<> inline void write_result<char*>(char *val, char *result) {
+ if(val==NULL) {
+ result[0] = 0;
+ } else {
+ strcpy(result, val);
+ }
+}
+
+template<> inline void write_result<const char*>(const char *val, char *result) {
+ if(val==NULL) {
+ result[0] = 0;
+ } else {
+ strcpy(result, val);
+ }
+}
+
+
+inline const char *next_arg(const char* next) {
+ while(*next == ' ') next++;
+ if(*next == ',' || *next == '?') next++;
+ while(*next == ' ') next++;
+ return next;
+}
+
+
+/* Function rpc_method_caller
+ */
+template<class T, void (T::*member)(const char *,char *)>
+void rpc_method_caller(Base *this_ptr, const char *arguments, char *result) {
+ (static_cast<T*>(this_ptr)->*member)(arguments,result);
+}
+
+
+/* Function rpc_method_caller
+ */
+template<class T, void (T::*member)()>
+void rpc_method_caller(Base *this_ptr, const char *arguments, char *result) {
+ (static_cast<T*>(this_ptr)->*member)();
+ if(result != NULL) {
+ result[0] = '\0';
+ }
+}
+
+
+/* Function rpc_method_caller
+ */
+template<class T, typename A1, void (T::*member)(A1)>
+void rpc_method_caller(Base *this_ptr, const char *arguments, char *result) {
+
+ const char *next = arguments;
+ A1 arg1 = parse_arg<A1>(next_arg(next),NULL);
+
+ (static_cast<T*>(this_ptr)->*member)(arg1);
+ if(result != NULL) {
+ result[0] = '\0';
+ }
+}
+
+
+/* Function rpc_method_caller
+ */
+template<class T, typename A1, typename A2, void (T::*member)(A1,A2)>
+void rpc_method_caller(Base *this_ptr, const char *arguments, char *result) {
+
+ const char *next = arguments;
+ A1 arg1 = parse_arg<A1>(next_arg(next),&next);
+ A2 arg2 = parse_arg<A2>(next_arg(next),NULL);
+
+ (static_cast<T*>(this_ptr)->*member)(arg1,arg2);
+ if(result != NULL) {
+ result[0] = '\0';
+ }
+}
+
+
+/* Function rpc_method_caller
+ */
+template<class T, typename A1, typename A2, typename A3, void (T::*member)(A1,A2,A3)>
+void rpc_method_caller(Base *this_ptr, const char *arguments, char *result) {
+
+ const char *next = arguments;
+ A1 arg1 = parse_arg<A1>(next_arg(next),&next);
+ A2 arg2 = parse_arg<A2>(next_arg(next),&next);
+ A3 arg3 = parse_arg<A3>(next_arg(next),NULL);
+
+ (static_cast<T*>(this_ptr)->*member)(arg1,arg2,arg3);
+ if(result != NULL) {
+ result[0] = '\0';
+ }
+}
+
+
+/* Function rpc_method_caller
+ */
+template<typename R, class T, R (T::*member)()>
+void rpc_method_caller(Base *this_ptr, const char *arguments, char *result) {
+ R res = (static_cast<T*>(this_ptr)->*member)();
+ if(result != NULL) {
+ write_result<R>(res, result);
+ }
+}
+
+
+/* Function rpc_method_caller
+ */
+template<typename R, class T, typename A1, R (T::*member)(A1)>
+void rpc_method_caller(Base *this_ptr, const char *arguments, char *result) {
+
+ const char *next = arguments;
+ A1 arg1 = parse_arg<A1>(next_arg(next),NULL);
+
+ R res = (static_cast<T*>(this_ptr)->*member)(arg1);
+ if(result != NULL) {
+ write_result<R>(res, result);
+ }
+}
+
+
+/* Function rpc_method_caller
+ */
+template<typename R, class T, typename A1, typename A2, R (T::*member)(A1,A2)>
+void rpc_method_caller(Base *this_ptr, const char *arguments, char *result) {
+
+ const char *next = arguments;
+ A1 arg1 = parse_arg<A1>(next_arg(next),&next);
+ A2 arg2 = parse_arg<A2>(next_arg(next),NULL);
+
+ R res = (static_cast<T*>(this_ptr)->*member)(arg1,arg2);
+ if(result != NULL) {
+ write_result<R>(res, result);
+ }
+}
+
+
+/* Function rpc_method_caller
+ */
+template<typename R, class T, typename A1, typename A2, typename A3, R (T::*member)(A1,A2,A3)>
+void rpc_method_caller(Base *this_ptr, const char *arguments, char *result) {
+
+ const char *next = arguments;
+ A1 arg1 = parse_arg<A1>(next_arg(next),&next);
+ A2 arg2 = parse_arg<A2>(next_arg(next),&next);
+ A3 arg3 = parse_arg<A3>(next_arg(next),NULL);
+
+ R res = (static_cast<T*>(this_ptr)->*member)(arg1,arg2,arg3);
+ if(result != NULL) {
+ write_result<R>(res, result);
+ }
+}
+
+
+/* Function rpc_function caller
+ */
+template<typename R, R (*func)()>
+void rpc_function_caller(const char *arguments, char *result) {
+ R res = (*func)();
+ if(result != NULL) {
+ write_result<R>(res, result);
+ }
+}
+
+
+/* Function rpc_function caller
+ */
+template<typename R, typename A1, R (*func)(A1)>
+void rpc_function_caller(const char *arguments, char *result) {
+ A1 arg1 = parse_arg<A1>(next_arg(arguments),NULL);
+ R res = (*func)(arg1);
+ if(result != NULL) {
+ write_result<R>(res, result);
+ }
+}
+
+
+/* Function rpc_function caller
+ */
+template<typename R, typename A1, typename A2, R (*func)(A1,A2)>
+void rpc_function_caller(const char *arguments, char *result) {
+
+ const char *next = arguments;
+ A1 arg1 = parse_arg<A1>(next_arg(next),&next);
+ A2 arg2 = parse_arg<A2>(next_arg(next),NULL);
+
+ R res = (*func)(arg1,arg2);
+ if(result != NULL) {
+ write_result<R>(res, result);
+ }
+}
+
+
+/* Function rpc_function caller
+ */
+template<typename R, typename A1, typename A2, typename A3, R (*func)(A1,A2,A3)>
+void rpc_function_caller(const char *arguments, char *result) {
+
+ const char *next = arguments;
+ A1 arg1 = parse_arg<A1>(next_arg(next),&next);
+ A2 arg2 = parse_arg<A2>(next_arg(next),&next);
+ A3 arg3 = parse_arg<A3>(next_arg(next),NULL);
+
+ R res = (*func)(arg1,arg2,arg3);
+ if(result != NULL) {
+ write_result<R>(res, result);
+ }
+}
+
+
+/* Function rpc_function caller
+ */
+template<typename R, typename A1, typename A2, typename A3, typename A4, R (*func)(A1,A2,A3,A4)>
+void rpc_function_caller(const char *arguments, char *result) {
+
+ const char *next = arguments;
+ A1 arg1 = parse_arg<A1>(next_arg(next),&next);
+ A2 arg2 = parse_arg<A2>(next_arg(next),&next);
+ A3 arg3 = parse_arg<A3>(next_arg(next),&next);
+ A4 arg4 = parse_arg<A4>(next_arg(next),NULL);
+
+ R res = (*func)(arg1,arg2,arg3,arg4);
+ if(result != NULL) {
+ write_result<R>(res, result);
+ }
+}
+
+
+struct rpc_method {
+ const char *name;
+ typedef void (*caller_t)(Base*, const char*, char*);
+ typedef const struct rpc_method *(*super_t)(Base*);
+ union {
+ caller_t caller;
+ super_t super;
+ };
+};
+
+template<class C>
+const struct rpc_method *rpc_super(Base *this_ptr) {
+ return static_cast<C*>(this_ptr)->C::get_rpc_methods();
+}
+
+#define RPC_METHOD_END { NULL, NULL }
+#define RPC_METHOD_SUPER(C) { NULL, (rpc_method::caller_t)(rpc_method::super_t)rpc_super<C> }
+
+/* Function rpc
+ * Parse a string describing a call and then do it
+ *
+ * Variables
+ * call - A pointer to a string describing the call, which has
+ * the form /object/method arg ... argn. Arguments are
+ * delimited by space characters, and the string is terminated
+ * by a null character.
+ * result - A pointer to an array to write the result into.
+ */
+bool rpc(const char *buf, char *result = 0);
+
+
+} // namespace mbed
+
+#endif