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This file is part of Smoothie ( The motion control part is heavily based on Grbl (
Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with Smoothie. If not, see <>.
#include <string>
#include <stdarg.h>
using std::string;
#include "libs/Module.h"
#include "libs/Kernel.h"
#include "libs/nuts_bolts.h"
#include "SerialConsole.h"
#include "libs/RingBuffer.h"
#include "libs/SerialMessage.h"
#include "libs/StreamOutput.h"
#include "libs/StreamOutputPool.h"
// Serial reading module
// Treats every received line as a command and passes it ( via event call ) to the command dispatcher.
// The command dispatcher will then ask other modules if they can do something with it
SerialConsole::SerialConsole( PinName rx_pin, PinName tx_pin, int baud_rate ){
this->serial = new mbed::Serial( rx_pin, tx_pin );
// Called when the module has just been loaded
void SerialConsole::on_module_loaded() {
// We want to be called every time a new char is received
this->serial->attach(this, &SerialConsole::on_serial_char_received, mbed::Serial::RxIrq);
query_flag= false;
halt_flag= false;
// We only call the command dispatcher in the main loop, nowhere else
// Add to the pack of streams kernel can call to, for example for broadcasting
// Called on Serial::RxIrq interrupt, meaning we have received a char
void SerialConsole::on_serial_char_received(){
char received = this->serial->getc();
if(received == '?') {
query_flag= true;
if(received == 'X'-'A'+1) { // ^X
halt_flag= true;
// convert CR to NL (for host OSs that don't send NL)
if( received == '\r' ){ received = '\n'; }
void SerialConsole::on_idle(void * argument)
if(query_flag) {
query_flag= false;
if(halt_flag) {
halt_flag= false;
THEKERNEL->call_event(ON_HALT, nullptr);
// Actual event calling must happen in the main loop because if it happens in the interrupt we will loose data
void SerialConsole::on_main_loop(void * argument){
if( this->has_char('\n') ){
string received;
char c;
if( c == '\n' ){
struct SerialMessage message;
message.message = received; = this;
received += c;
int SerialConsole::puts(const char* s)
return fwrite(s, strlen(s), 1, (FILE*)(*this->serial));
int SerialConsole::_putc(int c)
return this->serial->putc(c);
int SerialConsole::_getc()
return this->serial->getc();
// Does the queue have a given char ?
bool SerialConsole::has_char(char letter){
int index = this->buffer.tail;
while( index != this->buffer.head ){
if( this->buffer.buffer[index] == letter ){
return true;
index = this->buffer.next_block_index(index);
return false;