//  This file is part of MANTIS OS, Operating System//  See http://mantis.cs.colorado.edu/////  Copyright (C) 2003-2005 University of Colorado, Boulder////  This program is free software; you can redistribute it and/or//  modify it under the terms of the mos license (see file LICENSE)#define _GNU_SOURCE#include <stdio.h>#include <stdbool.h>#include <stdlib.h>#include <inttypes.h>#include <ctype.h>#include <string.h>#include "shell_serial.h"#include "serial.h"#include "flash.h"#include "load.h"#include "mcc.h"#include "mcs.h"#include "run.h"#include "shell.h"/* following added for command server */#include "com.h"int go = 0;int program = 0;int clear_cb =0;char *srec = NULL;static char *stripwhite (char *line){   char *p = line;   while (isspace (*p)) {      p++;   }   return p;}void shell_send_to_node(char * string){   comBuf packet;   char *cursor=string;   packet.size=0;   /* copy the string into a packet */   while (*cursor && packet.size < COM_DATA_SIZE - 1){      if(*cursor == '\n') //make sure we don't sent newline	 *cursor++;      else if(*cursor == ' '){ //break each packet up by spaces	 packet.data[packet.size++]='\0'; //null terminate	 com_send(IFACE_SERIAL, &packet);	 packet.size=0;	 *cursor++;      }      else	 packet.data[packet.size++] = *cursor++; //add char, inc size   }   packet.data[packet.size++]='\0'; //null terminate string   com_send(IFACE_SERIAL, &packet); // send it over the uart}      void shell_send_byte(uint8_t byte){   comBuf send_packet;   send_packet.size=1;   send_packet.data[0]=byte;   com_send(IFACE_SERIAL, &send_packet);}int shell_find_node (find_node_callback find_callback_func){   comBuf *recv_pkt, send_pkt;   uint8_t retry_max = 50;   uint8_t retries = 0;   bool  error_flag = false;   com_mode (IFACE_SERIAL, IF_LISTEN);   //send_pkt.data[0] = SHELL_PRESENT;   //send_pkt.data[1] = '\0';   //send_pkt.size=2;   //com_send(IFACE_SERIAL, &send_pkt);/*   if (clear_cb) {      printf ("Sending cb 0\n");      send_pkt.data[0] = CLEAR_CB;      send_pkt.data[1] = '\0';      send_pkt.size = 2;      com_send(IFACE_SERIAL, &send_pkt);      check_recv (CLEAR_CB_PONG);   } else {      send_pkt.data[0] = SHELL_PRESENT;      send_pkt.data[1] = '\0';      send_pkt.size=2;      com_send(IFACE_SERIAL, &send_pkt);   }*/   while(retries++ < retry_max) {      if(find_callback_func != NULL)	 find_callback_func(retries);      else {	 if(retries > 1)	    fprintf(stderr,"Retry [%d]...", retries);      }      if (clear_cb) {	 printf ("Sending cb 1\n");	 send_pkt.data[0] = CLEAR_CB;	 send_pkt.data[1] = '\0';	 send_pkt.size = 2;	 com_send (IFACE_SERIAL, &send_pkt);      } else {	 send_pkt.data[0] = SHELL_PRESENT;	 send_pkt.data[1] = '\0';	 send_pkt.size=2;	 com_send (IFACE_SERIAL, &send_pkt);	       }      recv_pkt = com_recv(IFACE_SERIAL);      //usleep (10000);      switch (recv_pkt->data[0]) {      case CLEAR_CB_PONG:	 printf ("Cleared boot control block\n");	 clear_cb = 0;	 //com_free_buf (recv_pkt);	 //return(BOOTLOADER_MODE);	 break;      case LOADER_PRESENT:	 send_pkt.data[0] = SHELL_PRESENT;	 send_pkt.data[1] = '\0';	 send_pkt.size = 2;	 com_send(IFACE_SERIAL, &send_pkt); //send a ping	 break;      case LOADER_PRESENT_PONG:	 com_free_buf(recv_pkt);	 return(BOOTLOADER_MODE);	 break;      case APP_PRESENT:	 com_free_buf(recv_pkt);	 recv_pkt = com_recv(IFACE_SERIAL);	 com_free_buf(recv_pkt); //throw away the command prompt	 return(APP_MODE);	 break;      default:	 if(!error_flag){	    fprintf(stderr, "Unexpected serial input from node: %d.\n",	       recv_pkt->data[0]);	    error_flag = true;	 }	 break;      }      com_free_buf (recv_pkt);	          //usleep(10000);   }   return NODE_NOT_FOUND;}int shell_find_loader(find_node_callback find_callback_func){   int ret_val;   fprintf(stderr,"Searching for a sensor node...");   fflush (stdout);   while((ret_val = shell_find_node (find_callback_func)) != BOOTLOADER_MODE){      if(ret_val == APP_MODE){	 fprintf(stderr,"Application Mode, Sending reboot...\n");	 shell_send_to_node("MR"); //restart the app...      }      if(ret_val == NODE_NOT_FOUND) {	 fprintf(stderr,"Node not found!\n");	 return ret_val;      }      fprintf(stderr,"Searching for a sensor node...");      ret_val = shell_find_node(find_callback_func);   }   fprintf (stderr,"bootloader mode.\n");   return true;}int8_t shell_load_image(char *arg, update_callback callback_func){   char *name, *s;   char *image = (char *)malloc (CODE_MAX_SIZE);   int val;   int8_t ret;   // Only use file completion for this line, and then revert back   if (arg == NULL) {      //set_file_completion();      fprintf(stderr,"Enter name of S-Record file: ");      ret = scanf("%s", name);      //set_command_completion();   } else {      name = arg;   }      s = stripwhite(name); // Strip the whitespace so fopen works      // Read the srecord into memory   val = srec_read(s, image);      if(val == -1) {      fprintf(stderr,"Did not load file...\n");      free (image);      return SREC_READ_ERROR;   }   ret = write_image(image, val, callback_func);   free (image);   return ret;}/* send a command that restarts the node */void shell_send_restart(){   shell_send_to_node("MR"); //restart the app}/* Send command to start program execution. */int8_t shell_start_execution(char *arg){   comBuf startex_packet;   startex_packet.size = 1;   startex_packet.data[0] = START;   uint8_t ret_val;      com_send(IFACE_SERIAL, &startex_packet);   while(1) {      ret_val = check_recv(START);      if(ret_val == NODE_RESTARTED) { //node restarted so...	 fprintf(stderr,"oops... node restarted, sending again.\n");	 usleep (10000);	 com_send(IFACE_SERIAL, &startex_packet); //try again      }      else 	 return SUCCESS;   }}void shell_load_bootloader(){   char *write_fuse = "uisp -dprog=mib510 -dserial=/dev/ttyS0 -dpart=ATmega128 --wr_fuse_h=0x10 -v=0";   char *erase_mem = "uisp -dprog=mib510 -dserial=/dev/ttyS0 -dpart=ATmega128 --erase -v=0";   char *load_srec = "uisp -dprog=mib510 -dserial=/dev/ttyS0 -dpart=ATmega128 --upload if=/usr/local/share/mos/boot.srec -v=0";   char *verify = "uisp -dprog=mib510 -dserial=/dev/ttyS0 -dpart=ATmega128 --verify if=/usr/local/share/mos/boot.srec -v=0";   serial_block();   if(file_exists("/usr/local/share/mos/boot.srec") == false){      fprintf(stderr, "ERROR: /usr/local/share/mos/boot.srec not found.\n");      return;   } else {      fprintf(stderr, "boot file found!\n");   }   fprintf(stderr, "\nWriting the fuse high byte...\n");   fprintf(stderr, "%s\n",write_fuse);   if(!run_command(write_fuse)){	 printf("Writing fuse high byte failed.\n");	 return;   }      fprintf(stderr, "\nErasing program memory...\n");   fprintf(stderr, "%s\n",erase_mem);   if(!run_command(erase_mem)){      printf("Erasing memory failed.\n");      return;   }   fprintf(stderr, "\nLoading the bootloader program...\n");   fprintf(stderr, "%s\n",load_srec);   if(!run_command(load_srec)){      printf("loading failed.\n");      return;   }   fprintf(stderr, "\nVerifying the new image...\n");   fprintf(stderr, "%s\n",verify);   if(!run_command(verify)){      printf("verify failed.\n");      return;   }   fprintf(stderr, "Done.\n");   serial_unblock();}