Posix build (#1664)

* Changes to support Posix build target

The Posix build can serve as a base for automated tests.

The vast majority of the changes were extant problems caught
by a pickier compiler, including

* Use snprintf instead of sprintf for safety
* Missing or spurious "override" on virtual methods
* A couple of buffer safety issues
* Nonportable use of variable length arrays
* Case-correct spelling of freertos Task.H and Queue.h
* Type mismatches in printf arguments

I had to change the way that undefinedPin and errorPin were defined
to ensure that they are initialized prior to being used, which
showed up with a different compiler.

The changes that were directly related to Posix were quite
small.  A WinConsole.cpp and ExceptionHelper.cpp were moved
from capture/ to (new) windows-x86/, and posix/Console.cpp
was created to handle keyboard input.

* Spurious "private:"

* Task.h and Queue.h should be lowercase

* Still fixing capitalization

* This time for sure

* Reversed preliminary commit of Channel.cpp fix

* Put errorPin and undefinedPin in the Pins namespace

Author: MitchBradley

FluidNC/capture/AssertionFailed.cpp

@@ -3,6 +3,7 @@
 
 #include "AssertionFailed.h"
 
+#include "stdio.h"
 #include <cstdarg>
 #include <cstring>
 

FluidNC/capture/WString.cpp

@@ -1,14 +1,15 @@
 #include "WString.h"
 
+#include <cstdlib>
 #include <iomanip>
 #include <sstream>
 
 #pragma warning(disable : 4996)  // itoa
 
 std::string String::ValueToString(int value, int base) {
-    char        buffer[100] = { 0 };
-    int         number_base = 10;
-    std::string output      = itoa(value, buffer, base);
+    char                 buffer[100] = { 0 };
+    std::to_chars_result result      = std::to_chars(buffer, buffer + sizeof(buffer), value, base);
+    std::string          output(buffer, result.ptr);
     return output;
 }
 

FluidNC/capture/fnc_uart.cpp

@@ -29,7 +29,7 @@ int uart_buflen(uint32_t uart_num) {
 
 extern int inchar();
 
-int uart_read(uint32_t uart_num, uint8_t* buf, size_t len, uint32_t timeout_ms) {
+int uart_read(uint32_t uart_num, uint8_t* buf, uint32_t len, uint32_t timeout_ms) {
     auto        key = uart_key(uart_num);
     const auto& val = Inputs::instance().get(key);
     auto        max = std::min(size_t(len), val.size());

FluidNC/capture/freertos/FreeRTOS.h

@@ -1,7 +1,7 @@
 #pragma once
 
-#include "Task.h"
-#include "Queue.h"
+#include "task.h"
+#include "queue.h"
 #include "FreeRTOSTypes.h"
 #include <mutex>
 #include <atomic>

FluidNC/capture/freertos/Queue.cpp FluidNC/capture/freertos/queue.cppFluidNC/capture/freertos/Queue.cpp renamed to FluidNC/capture/freertos/queue.cpp

@@ -1,4 +1,4 @@
-#include "Queue.h"
+#include "queue.h"
 
 #include <cstring>
 #include <atomic>

FluidNC/capture/freertos/Queue.h FluidNC/capture/freertos/queue.hFluidNC/capture/freertos/Queue.h renamed to FluidNC/capture/freertos/queue.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "Task.h"
+#include "task.h"
 #include "FreeRTOSTypes.h"
 
 #include <queue>

FluidNC/capture/freertos/Task.cpp FluidNC/capture/freertos/task.cppFluidNC/capture/freertos/Task.cpp renamed to FluidNC/capture/freertos/task.cpp

@@ -1,4 +1,4 @@
-#include "Task.h"
+#include "task.h"
 
 #include "Capture.h"
 #include "Arduino.h"

FluidNC/capture/localfs.cpp

@@ -11,7 +11,10 @@
 #include <filesystem>
 namespace stdfs = std::filesystem;
 
-bool localfs_format(const char* fsname) {
+const char* localfsDir = "./localfs";
+const char* sdDir      = "./sd";
+
+bool localfs_format(const std::string fsname) {
     return false;
 }
 bool localfs_mount() {

FluidNC/posix/Console.cpp

@@ -0,0 +1,114 @@
+#include <iostream>
+
+#include <sys/ioctl.h>
+#include <termios.h>
+#include <unistd.h>
+#include <stdio.h>
+#include "Serial.h"  // allChannels
+#include "Driver/Console.h"
+
+#include "Channel.h"
+#include "lineedit.h"
+
+static struct termios _orig_termios;
+
+class PosixConsole : public Channel {
+private:
+    Lineedit* _lineedit;
+
+public:
+    PosixConsole(bool addCR = false) : Channel("PosixConsole", addCR) {}
+
+    static void editModeOn() {
+        // stdout changes?
+        tcsetattr(STDIN_FILENO, TCSAFLUSH, &_orig_termios);
+    }
+
+    static void editModeOff() {
+        tcgetattr(STDIN_FILENO, &_orig_termios);
+        struct termios raw = _orig_termios;
+
+        // input modes: no break, no CR to NL, no parity check, no strip char,
+        // no start/stop output control.
+        raw.c_iflag &= ~(BRKINT | /* ICRNL | */ INPCK | ISTRIP | IXON);
+
+        // output modes - disable post processing */
+        //    raw.c_oflag &= ~(OPOST);
+        raw.c_oflag |= ONLCR;
+
+        // control modes - set 8 bit chars */
+        raw.c_cflag |= (CS8);
+
+        // local modes - choing off, canonical off, no extended functions,
+        // no signal chars (^Z,^C) */
+        raw.c_lflag &= ~(ECHO | ICANON | IEXTEN | ISIG);
+        raw.c_lflag |= ISIG;
+
+        // control chars - set return condition: min number of bytes and timer.
+        // We want read to return every single byte, without timeout. */
+        raw.c_cc[VINTR] = 3; /* Ctrl-C interrupts process */
+        // raw.c_cc[VMIN]  = 1;
+        // raw.c_cc[VTIME] = 0; /* 1 byte, no timer */
+
+        // // The cfmakeraw function is a standard way to achieve raw mode
+        // cfmakeraw(&raw);
+
+        // // Additional configuration for read() behavior (VMIN and VTIME)
+        // // VMIN=1, VTIME=0 means read() returns as soon as 1 character is available, blocking indefinitely until then
+        // raw.c_cc[VMIN]  = 1;
+        // raw.c_cc[VTIME] = 0;
+
+        tcsetattr(STDIN_FILENO, TCSAFLUSH, &raw);
+
+        atexit(editModeOn);  // Ensure terminal mode is restored on exit
+    }
+
+    void init() override {
+        editModeOff();
+        _lineedit = new Lineedit(this, _line, Channel::maxLine - 1);
+        allChannels.registration(this);
+    };
+
+    // Print methods (Stream inherits from Print)
+    size_t write(uint8_t c) override {
+        //        fflush(STDOUT);
+        return ::write(STDOUT_FILENO, &c, 1);
+    }
+
+    // Stream methods (Channel inherits from Stream)
+
+    int available(void) override {
+        int n;
+        return ioctl(STDIN_FILENO, FIONREAD, &n) ? 0 : n;
+    }
+
+    int read() override {
+        int n;
+        if ((n = available()) < 1) {
+            return -1;
+        }
+
+        char c;
+        auto ret = ::read(STDIN_FILENO, &c, 1);
+        return ret == 1 ? c : -1;
+    }
+
+    // Channel methods
+    int rx_buffer_available() override { return 128 - available(); }
+
+    bool realtimeOkay(char c) override { return _lineedit->realtime(c); }
+
+    bool lineComplete(char* line, char c) override {
+        if (_lineedit->step(c)) {
+            _linelen        = _lineedit->finish();
+            _line[_linelen] = '\0';
+            strcpy(line, _line);
+            _linelen = 0;
+            return true;
+        }
+        return false;
+    }
+};
+
+PosixConsole posixConsole(true);
+Channel&     Console = posixConsole;

FluidNC/src/BTConfig.cpp

@@ -48,7 +48,7 @@ namespace WebUI {
                 char str[18];
                 str[17]       = '\0';
                 uint8_t* addr = param->srv_open.rem_bda;
-                sprintf(str, "%02X:%02X:%02X:%02X:%02X:%02X", addr[0], addr[1], addr[2], addr[3], addr[4], addr[5]);
+                snprintf(str, 18, "%02X:%02X:%02X:%02X:%02X:%02X", addr[0], addr[1], addr[2], addr[3], addr[4], addr[5]);
                 _btclient = str;
                 log_info("BT Connected with " << str);
             } break;
@@ -65,8 +65,8 @@ namespace WebUI {
         const uint8_t* point = esp_bt_dev_get_address();
         char*          str   = _deviceAddrBuffer;
         str[17]              = '\0';
-        sprintf(
-            str, "%02X:%02X:%02X:%02X:%02X:%02X", (int)point[0], (int)point[1], (int)point[2], (int)point[3], (int)point[4], (int)point[5]);
+        snprintf(
+            str, 17, "%02X:%02X:%02X:%02X:%02X:%02X", (int)point[0], (int)point[1], (int)point[2], (int)point[3], (int)point[4], (int)point[5]);
         return str;
     }