Node: Support for shell commands & Modules (#70)

.vscode/settings.json

@@ -68,7 +68,8 @@
         "lcd.h": "c",
         "ili9341.h": "c",
         "ili9341_params.h": "c",
-        "lvgl_riot.h": "c"
+        "lvgl_riot.h": "c",
+        "shell.h": "c"
     },
     "[shellscript][c][cpp]": {
         "editor.tabSize": 4,

node/code/Makefile

@@ -12,14 +12,19 @@ DEVELHELP ?= 1
 FEATURES_REQUIRED += cpp
 FEATURES_REQUIRED += libstdcpp
 
-#Hardware specific configs
+# Internal Modules
+EXTERNAL_MODULE_DIRS += modules
+USEMODULE += external_module
+
+# External modules
 USEMODULE += cpp11-compat
 USEMODULE += ili9341
 USEMODULE += ztimer
 USEMODULE += ztimer_msec
+USEMODULE += shell
 
+# Lvgl Related Modules
 DISABLE_MODULE += test_utils_interactive_sync
-
 USEPKG += lvgl
 USEMODULE += lvgl_contrib
 USEMODULE += lvgl_extra_widget_chart
@@ -35,7 +40,7 @@ SHOULD_RUN_KCONFIG ?=
 # Include "inc" directory for the header files
 INCLUDES += -I$(CURDIR)/inc
 
-CXXEXFLAGS += 
+CXXEXFLAGS += -std=c++17 -Wall -Wextra
 
 include $(RIOTBASE)/Makefile.include
 

node/code/dispatcher.cpp

@@ -3,6 +3,7 @@
 
 Dispatcher::Dispatcher() {
     this->subscriptions = list<Subscription>();
+    this->setRespectTerminate(false); // We need to send the other classes a terminate event
 }
 
 void Dispatcher::subscribe(list<EVENTS> events, kernel_pid_t pid) {
@@ -16,7 +17,7 @@ void Dispatcher::subscribe(list<EVENTS> events, kernel_pid_t pid) {
 void Dispatcher::handleEvent(msg_t *event) {
     for (Subscription sub : this->subscriptions) {
         for (EVENTS e : sub.event) {
-            if (e == event->type) {
+            if (e == event->type || e == EVENTS::WILDCARD || event->type == EVENTS::TERMINATE) {
                 cout << "👀 PID: " << sub.pid << " was interested in event " << event->type << " notifying them" << endl;
 
                 msg_t msg;

node/code/inc/dispatch_handler.hpp

@@ -29,6 +29,7 @@ class DispatchHandler {
   msg_t rcv_queue[QUEUE_SIZE];
   char internal_thread_stack [THREAD_STACKSIZE_MAIN];
   kernel_pid_t internal_thread_pid;
+  bool respect_terminate = true;
 
  public:
   /**
@@ -37,11 +38,15 @@ class DispatchHandler {
    */
   DispatchHandler() { }
 
+  void setRespectTerminate(bool respect_terminate) {
+    this->respect_terminate = respect_terminate;
+  }
+
   /**
    * @brief Send an event to the dispatcher.
    * @param event The event to send.
   */
-  void sendEvent(msg_t *event) {
+  static void sendEvent(msg_t *event) {
     if (DISPATCHER_PID == -1) {
       cout << "Dispatcher PID not set yet!" << endl;
       return;
@@ -76,7 +81,12 @@ class DispatchHandler {
       msg_receive(&message);
 
       if (message.type == EVENTS::TERMINATE) {
-        cout << "Received TERMINATE event, exiting..." << endl;
+        cout << "💣 Received TERMINATE event, exiting..." << endl;
+        if (!this->respect_terminate) {
+            cout << "😎 Not respecting terminate, will handle event anyways" << endl;
+            this->handleEvent(&message);
+            cout << "🌃 Handled Terminate Event, now going offline fr ..." << endl;
+        }
         return;
       }
 

node/code/inc/shell_commands.hpp

@@ -0,0 +1,55 @@
+#pragma once
+
+#include "shell.h"
+#include <stdio.h>
+
+static kernel_pid_t DISPATCHER_THREAD_ID;
+
+static int echo_command(int argc, char **argv)
+{
+    /* check that the command is called correctly */
+    if (argc != 2) {
+        puts("usage: echo <message>");
+        puts("Note: to echo multiple words wrap the message in \"\"");
+        return 1;
+    }
+
+    /* print the first argument */
+    puts(argv[1]);
+
+    return 0;
+}
+
+/**
+ * @brief Sends an event to the dispatcher.
+ * @example send_event 1
+*/
+static int send_event(int argc, char **argv) {
+    if (argc != 2) {
+        puts("usage: send_event <event>");
+        return 1;
+    }
+
+    msg_t message;
+    message.type = atoi(argv[1]);
+
+    msg_try_send(&message, DISPATCHER_THREAD_ID);
+
+    return 0;
+}
+
+const shell_command_t SHELL_COMMANDS[] = {
+    { "echo", "Prints the message to the console", echo_command },
+    { "send_event", "Sends an event to the dispatcher. send_event 1", send_event },
+    { NULL, NULL, NULL }
+};
+
+void shell_loop(void) {
+        /* buffer to read commands */
+    char line_buf[SHELL_DEFAULT_BUFSIZE];
+
+    cout << "Starting shell loop" << endl;
+
+    /* run the shell, this will block the thread waiting for incoming commands */
+    shell_run_forever(SHELL_COMMANDS, line_buf, SHELL_DEFAULT_BUFSIZE);
+}

node/code/main.cpp

@@ -9,11 +9,16 @@
 #include "architecture.h"
 #include "dispatch_handler.hpp"
 #include "dispatcher.hpp"
-//#include "init_display.h"
+#include "shell.h"
+// #include "init_display.h"
 #include "init_lvgl.h"
 #include "ping.hpp"
 #include "pong.hpp"
 #include "riot/thread.hpp"
+#include "shell_commands.hpp"
+
+// Example Module Import
+#include "external_module.h"
 
 using namespace std;
 using namespace riot;
@@ -24,10 +29,12 @@ kernel_pid_t DISPATCHER_PID;
 int main() {
   printf("\n************ We are in C++ 😎 ***********\n");
   printf("\n");
-  init_lvgl();
 
   puts("{\"result\": \"PASS\"}");
 
+  // Show the example module function
+  cout << "Example Module Init: " << external_module_initialized << endl;
+
   cout << "Sleeping for 5 seconds...\n" << endl;
   riot::this_thread::sleep_for(chrono::seconds(5));
   cout << "Done sleeping.\n" << endl;
@@ -37,6 +44,7 @@ int main() {
   dispatcher->startInternalThread();
 
   DISPATCHER_PID = dispatcher->getPID();
+  DISPATCHER_THREAD_ID = DISPATCHER_PID;
 
   // Create the ping class
   Ping *ping = new Ping();
@@ -50,14 +58,13 @@ int main() {
   dispatcher->subscribe({EVENTS::PING}, ping->getPID());
   dispatcher->subscribe({EVENTS::PONG}, pong->getPID());
 
-  cout << "Sending initial ping event" << endl;
-  msg_t message;
-  message.type = EVENTS::PING;
+  //   cout << "Sending initial ping event" << endl;
+  //   msg_t message;
+  //   message.type = EVENTS::PING;
 
-  msg_try_send(&message, dispatcher->getPID());
+  //   msg_try_send(&message, dispatcher->getPID());
 
-  while (true) {
-  }
+  shell_loop();
 
   return 0;
 }

node/code/modules/external_module/Makefile

@@ -0,0 +1 @@
+include $(RIOTBASE)/Makefile.base

node/code/modules/external_module/Makefile.dep

@@ -0,0 +1,3 @@
+USEMODULE += random
+# Set a different prng than the default
+USEMODULE += prng_xorshift

node/code/modules/external_module/Makefile.include

@@ -0,0 +1,3 @@
+# Use an immediate variable to evaluate `MAKEFILE_LIST` now
+USEMODULE_INCLUDES_external_module := $(LAST_MAKEFILEDIR)/include
+USEMODULE_INCLUDES += $(USEMODULE_INCLUDES_external_module)

node/code/modules/external_module/external_module.c

@@ -0,0 +1,36 @@
+/*
+ * Copyright (C) 2018 Freie Universität Berlin
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     tests
+ * @{
+ *
+ * @file
+ * @brief       Test the EXTERNAL_MODULE_DIRS feature
+ * @note        Define a shared variable
+ *
+ * @author      Gaëtan Harter <gaetan.harter@fu-berlin.de>
+ *
+ * @}
+ */
+
+#include "external_module.h"
+#include "auto_init_priorities.h"
+#include "auto_init_utils.h"
+
+#define PRIO AUTO_INIT_PRIORITY_AFTER(AUTO_INIT_PRIO_MOD_RANDOM)
+
+AUTO_INIT(auto_init_external_module, PRIO);
+
+bool external_module_initialized = false;
+char *external_module_message = "Linking worked";
+
+void auto_init_external_module(void)
+{
+    external_module_initialized = true;
+}

node/code/modules/external_module/include/external_module.h

@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) 2018 Freie Universität Berlin
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @defgroup
+ * @ingroup
+ * @brief
+ * @{
+ *
+ * @file
+ * @brief
+ *
+ * @author  Gaëtan Harter <gaetan.harter@fu-berlin.de>
+ */
+#ifndef EXTERNAL_MODULE_H
+#define EXTERNAL_MODULE_H
+
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   true: this module hase been initialized
+ *          false: this module has not been initialized
+ */
+extern bool external_module_initialized;
+
+/**
+ * @brief   A simple string message
+ */
+extern char *external_module_message;
+
+/**
+ * @brief   Auto-init function of this module to be called on system start up
+ */
+void auto_init_external_module(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+/** @} */
+#endif /* EXTERNAL_MODULE_H */

node/code/tests/01-run.py

@@ -13,7 +13,16 @@
 
 def testfunc(child: pexpect.spawn):
     child.expect("PASS")
-
+
+    # Test if the module is initialized correctly
+    child.expect("Example Module Init: 1")
+
+    # Test if the module is started correctly
+    child.expect("Starting shell loop")
+
+    # Test if shell commands work correctly
+    child.sendline("send_event 0")
+    child.expect("💣 Received TERMINATE event, exiting...")
 
 if __name__ == "__main__":
     sys.exit(run(testfunc))