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