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Added lisp repl

This commit is contained in:
Benjamin Vedder 2022-03-01 12:07:27 +01:00
parent 964bcba5ab
commit 7a962949c4
3 changed files with 43 additions and 1 deletions
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3
commands.c
View File

@ -1571,7 +1571,8 @@ void commands_process_packet(unsigned char *data, unsigned int len,
} break; } break;
case COMM_LISP_SET_RUNNING: case COMM_LISP_SET_RUNNING:
case COMM_LISP_GET_STATS: { case COMM_LISP_GET_STATS:
case COMM_LISP_REPL_CMD: {
#ifdef USE_LISPBM #ifdef USE_LISPBM
lispif_process_cmd(data - 1, len + 1, reply_func); lispif_process_cmd(data - 1, len + 1, reply_func);
#endif #endif

2
datatypes.h
View File

@ -1066,6 +1066,8 @@ typedef enum {
COMM_BMS_SET_BATT_TYPE, COMM_BMS_SET_BATT_TYPE,
COMM_BMS_GET_BATT_TYPE, COMM_BMS_GET_BATT_TYPE,
COMM_LISP_REPL_CMD,
} COMM_PACKET_ID; } COMM_PACKET_ID;
// CAN commands // CAN commands

39
lispBM/lispif.c
View File

@ -50,6 +50,8 @@ static THD_FUNCTION(eval_thread, arg);
static THD_WORKING_AREA(eval_thread_wa, 2048); static THD_WORKING_AREA(eval_thread_wa, 2048);
static bool lisp_thd_running = false; static bool lisp_thd_running = false;
static int repl_cid = -1;
// Private functions // Private functions
static bool start_lisp(bool print); static bool start_lisp(bool print);
static uint32_t timestamp_callback(void); static uint32_t timestamp_callback(void);
@ -178,11 +180,47 @@ void lispif_process_cmd(unsigned char *data, unsigned int len,
chMtxUnlock(&send_buffer_mutex); chMtxUnlock(&send_buffer_mutex);
} break; } break;
case COMM_LISP_REPL_CMD: {
if (lisp_thd_running) {
bool ok = true;
int timeout_cnt = 1000;
lbm_pause_eval_with_gc(100);
while (lbm_get_eval_state() != EVAL_CPS_STATE_PAUSED && timeout_cnt > 0) {
chThdSleep(5);
timeout_cnt--;
}
ok = timeout_cnt > 0;
if (ok) {
lbm_create_char_stream_from_string(&string_tok_state, &string_tok, (char*)data);
repl_cid = lbm_load_and_eval_expression(&string_tok);
lbm_continue_eval();
lbm_wait_ctx(repl_cid, 500);
repl_cid = -1;
} else {
commands_printf_lisp("Could not pause");
}
} else {
commands_printf_lisp("LispBM is not running");
}
} break;
default: default:
break; break;
} }
} }
static void done_callback(eval_context_t *ctx) {
lbm_cid cid = ctx->id;
lbm_value t = ctx->r;
if (cid == repl_cid) {
char output[64];
lbm_print_value(output, 1024, t);
commands_printf_lisp("> %s", output);
}
}
static bool start_lisp(bool print) { static bool start_lisp(bool print) {
bool res = false; bool res = false;
@ -202,6 +240,7 @@ static bool start_lisp(bool print) {
lbm_set_timestamp_us_callback(timestamp_callback); lbm_set_timestamp_us_callback(timestamp_callback);
lbm_set_usleep_callback(sleep_callback); lbm_set_usleep_callback(sleep_callback);
lbm_set_printf_callback(commands_printf_lisp); lbm_set_printf_callback(commands_printf_lisp);
lbm_set_ctx_done_callback(done_callback);
chThdCreateStatic(eval_thread_wa, sizeof(eval_thread_wa), NORMALPRIO, eval_thread, NULL); chThdCreateStatic(eval_thread_wa, sizeof(eval_thread_wa), NORMALPRIO, eval_thread, NULL);
lisp_thd_running = true; lisp_thd_running = true;