Commit | Line | Data |
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58baeec1 MM |
1 | /* |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). | |
3 | 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. | |
4 | 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. | |
5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. | |
cd011f58 AW |
6 | */ |
7 | ||
8 | ||
0325af12 | 9 | #include "SimpleShell.h" |
ba8da804 | 10 | #include "libs/Kernel.h" |
0325af12 AW |
11 | #include "libs/nuts_bolts.h" |
12 | #include "libs/utils.h" | |
423df6df | 13 | #include "libs/SerialMessage.h" |
838b33b4 | 14 | #include "libs/StreamOutput.h" |
18ca10a3 | 15 | #include "Conveyor.h" |
172d42d9 | 16 | #include "DirHandle.h" |
0f0b1656 | 17 | #include "mri.h" |
582559c6 | 18 | #include "version.h" |
8293d443 | 19 | #include "PublicDataRequest.h" |
4fed9ba1 | 20 | #include "AppendFileStream.h" |
618c9b0f | 21 | #include "FileStream.h" |
61134a65 JM |
22 | #include "checksumm.h" |
23 | #include "PublicData.h" | |
24 | #include "Gcode.h" | |
564cf1f0 | 25 | #include "Robot.h" |
40843ebc JM |
26 | #include "ToolManagerPublicAccess.h" |
27 | #include "GcodeDispatch.h" | |
2577a122 | 28 | #include "BaseSolution.h" |
586cc733 | 29 | #include "StepperMotor.h" |
3e54c9fc | 30 | #include "Configurator.h" |
8a9f9313 | 31 | #include "Block.h" |
61134a65 | 32 | |
40843ebc | 33 | #include "TemperatureControlPublicAccess.h" |
9339253b | 34 | #include "EndstopsPublicAccess.h" |
d4ee6ee2 | 35 | #include "NetworkPublicAccess.h" |
a200fc31 | 36 | #include "platform_memory.h" |
ae91dea4 | 37 | #include "SwitchPublicAccess.h" |
3704585b | 38 | #include "SDFAT.h" |
1f8dab1a | 39 | #include "Thermistor.h" |
d55d551b | 40 | #include "md5.h" |
1aa3d42f | 41 | #include "utils.h" |
d1b660ac | 42 | #include "AutoPushPop.h" |
47339e4a | 43 | |
61134a65 JM |
44 | #include "system_LPC17xx.h" |
45 | #include "LPC17xx.h" | |
46 | ||
23eb804b JM |
47 | #include "mbed.h" // for wait_ms() |
48 | ||
6187a020 JM |
49 | extern unsigned int g_maximumHeapAddress; |
50 | ||
ecc610a4 JM |
51 | #include <malloc.h> |
52 | #include <mri.h> | |
53 | #include <stdio.h> | |
54 | #include <stdint.h> | |
be7f67cd | 55 | #include <functional> |
ecc610a4 JM |
56 | |
57 | extern "C" uint32_t __end__; | |
58 | extern "C" uint32_t __malloc_free_list; | |
59 | extern "C" uint32_t _sbrk(int size); | |
60 | ||
04d608c4 | 61 | |
9e403697 | 62 | // command lookup table |
7e81f138 JM |
63 | const SimpleShell::ptentry_t SimpleShell::commands_table[] = { |
64 | {"ls", SimpleShell::ls_command}, | |
65 | {"cd", SimpleShell::cd_command}, | |
66 | {"pwd", SimpleShell::pwd_command}, | |
67 | {"cat", SimpleShell::cat_command}, | |
68 | {"rm", SimpleShell::rm_command}, | |
6d877d9b | 69 | {"mv", SimpleShell::mv_command}, |
04d608c4 | 70 | {"mkdir", SimpleShell::mkdir_command}, |
6d877d9b | 71 | {"upload", SimpleShell::upload_command}, |
7e81f138 JM |
72 | {"reset", SimpleShell::reset_command}, |
73 | {"dfu", SimpleShell::dfu_command}, | |
74 | {"break", SimpleShell::break_command}, | |
75 | {"help", SimpleShell::help_command}, | |
76 | {"?", SimpleShell::help_command}, | |
77 | {"version", SimpleShell::version_command}, | |
78 | {"mem", SimpleShell::mem_command}, | |
79 | {"get", SimpleShell::get_command}, | |
80 | {"set_temp", SimpleShell::set_temp_command}, | |
ae91dea4 | 81 | {"switch", SimpleShell::switch_command}, |
7e81f138 JM |
82 | {"net", SimpleShell::net_command}, |
83 | {"load", SimpleShell::load_command}, | |
84 | {"save", SimpleShell::save_command}, | |
6d877d9b | 85 | {"remount", SimpleShell::remount_command}, |
1f8dab1a | 86 | {"calc_thermistor", SimpleShell::calc_thermistor_command}, |
4c8f5447 | 87 | {"thermistors", SimpleShell::print_thermistors_command}, |
d55d551b | 88 | {"md5sum", SimpleShell::md5sum_command}, |
518b5c4c | 89 | {"test", SimpleShell::test_command}, |
be7f67cd | 90 | |
9e403697 | 91 | // unknown command |
7e81f138 | 92 | {NULL, NULL} |
9e403697 | 93 | }; |
ecc610a4 | 94 | |
6d877d9b | 95 | int SimpleShell::reset_delay_secs = 0; |
7e81f138 | 96 | |
ecc610a4 | 97 | // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556 |
0c683b26 | 98 | static uint32_t heapWalk(StreamOutput *stream, bool verbose) |
ecc610a4 JM |
99 | { |
100 | uint32_t chunkNumber = 1; | |
101 | // The __end__ linker symbol points to the beginning of the heap. | |
102 | uint32_t chunkCurr = (uint32_t)&__end__; | |
103 | // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks. | |
104 | uint32_t freeCurr = __malloc_free_list; | |
105 | // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap. | |
106 | uint32_t heapEnd = _sbrk(0); | |
107 | // accumulate totals | |
9e403697 JM |
108 | uint32_t freeSize = 0; |
109 | uint32_t usedSize = 0; | |
ecc610a4 JM |
110 | |
111 | stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr); | |
112 | ||
113 | // Walk through the chunks until we hit the end of the heap. | |
9e403697 | 114 | while (chunkCurr < heapEnd) { |
ecc610a4 JM |
115 | // Assume the chunk is in use. Will update later. |
116 | int isChunkFree = 0; | |
117 | // The first 32-bit word in a chunk is the size of the allocation. newlib-nano over allocates by 8 bytes. | |
118 | // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer. | |
9e403697 | 119 | uint32_t chunkSize = *(uint32_t *)chunkCurr; |
ecc610a4 JM |
120 | // The start of the next chunk is right after the end of this one. |
121 | uint32_t chunkNext = chunkCurr + chunkSize; | |
122 | ||
123 | // The free list is sorted by address. | |
124 | // Check to see if we have found the next free chunk in the heap. | |
9e403697 | 125 | if (chunkCurr == freeCurr) { |
ecc610a4 JM |
126 | // Chunk is free so flag it as such. |
127 | isChunkFree = 1; | |
128 | // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address). | |
9e403697 | 129 | freeCurr = *(uint32_t *)(freeCurr + 4); |
ecc610a4 JM |
130 | } |
131 | ||
132 | // Skip past the 32-bit size field in the chunk header. | |
133 | chunkCurr += 4; | |
134 | // 8-byte align the data pointer. | |
135 | chunkCurr = (chunkCurr + 7) & ~7; | |
136 | // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8 | |
137 | // byte-alignment of the returned pointer. | |
138 | chunkSize -= 8; | |
9e403697 | 139 | if (verbose) |
ecc610a4 JM |
140 | stream->printf(" Chunk: %lu Address: 0x%08lX Size: %lu %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : ""); |
141 | ||
9e403697 | 142 | if (isChunkFree) freeSize += chunkSize; |
ecc610a4 JM |
143 | else usedSize += chunkSize; |
144 | ||
145 | chunkCurr = chunkNext; | |
146 | chunkNumber++; | |
147 | } | |
148 | stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize); | |
0c683b26 | 149 | return freeSize; |
ecc610a4 JM |
150 | } |
151 | ||
152 | ||
9e403697 JM |
153 | void SimpleShell::on_module_loaded() |
154 | { | |
0325af12 | 155 | this->register_for_event(ON_CONSOLE_LINE_RECEIVED); |
48afc62a | 156 | this->register_for_event(ON_GCODE_RECEIVED); |
157 | this->register_for_event(ON_SECOND_TICK); | |
c4e56997 | 158 | |
7e81f138 | 159 | reset_delay_secs = 0; |
ead17727 JM |
160 | } |
161 | ||
9e403697 JM |
162 | void SimpleShell::on_second_tick(void *) |
163 | { | |
ead17727 | 164 | // we are timing out for the reset |
7e81f138 JM |
165 | if (reset_delay_secs > 0) { |
166 | if (--reset_delay_secs == 0) { | |
ead17727 JM |
167 | system_reset(false); |
168 | } | |
169 | } | |
0325af12 AW |
170 | } |
171 | ||
9e403697 JM |
172 | void SimpleShell::on_gcode_received(void *argument) |
173 | { | |
174 | Gcode *gcode = static_cast<Gcode *>(argument); | |
6d877d9b | 175 | string args = get_arguments(gcode->get_command()); |
c4e56997 JM |
176 | |
177 | if (gcode->has_m) { | |
178 | if (gcode->m == 20) { // list sd card | |
c4e56997 JM |
179 | gcode->stream->printf("Begin file list\r\n"); |
180 | ls_command("/sd", gcode->stream); | |
181 | gcode->stream->printf("End file list\r\n"); | |
d4ee6ee2 JM |
182 | |
183 | } else if (gcode->m == 30) { // remove file | |
01a8d21a JM |
184 | if(!args.empty() && !THEKERNEL->is_grbl_mode()) |
185 | rm_command("/sd/" + args, gcode->stream); | |
3a238fdc | 186 | } |
c4e56997 JM |
187 | } |
188 | } | |
189 | ||
7e81f138 | 190 | bool SimpleShell::parse_command(const char *cmd, string args, StreamOutput *stream) |
9e403697 | 191 | { |
7e81f138 JM |
192 | for (const ptentry_t *p = commands_table; p->command != NULL; ++p) { |
193 | if (strncasecmp(cmd, p->command, strlen(p->command)) == 0) { | |
194 | p->func(args, stream); | |
9e403697 JM |
195 | return true; |
196 | } | |
197 | } | |
198 | ||
199 | return false; | |
200 | } | |
201 | ||
0325af12 | 202 | // When a new line is received, check if it is a command, and if it is, act upon it |
9e403697 JM |
203 | void SimpleShell::on_console_line_received( void *argument ) |
204 | { | |
205 | SerialMessage new_message = *static_cast<SerialMessage *>(argument); | |
6c0193b3 | 206 | string possible_command = new_message.message; |
7f613782 | 207 | |
6c0193b3 JM |
208 | // ignore anything that is not lowercase or a $ as it is not a command |
209 | if(possible_command.size() == 0 || (!islower(possible_command[0]) && possible_command[0] != '$')) { | |
210 | return; | |
211 | } | |
7f613782 | 212 | |
6c0193b3 JM |
213 | // it is a grbl compatible command |
214 | if(possible_command[0] == '$' && possible_command.size() >= 2) { | |
215 | switch(possible_command[1]) { | |
216 | case 'G': | |
217 | // issue get state | |
218 | get_command("state", new_message.stream); | |
54f0098a | 219 | //new_message.stream->printf("ok\n"); // sending this while printing will cause ok count to get out of sync |
6c0193b3 JM |
220 | break; |
221 | ||
222 | case 'X': | |
b9ad75de JM |
223 | if(THEKERNEL->is_halted()) { |
224 | THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt | |
225 | new_message.stream->printf("[Caution: Unlocked]\nok\n"); | |
226 | } | |
6c0193b3 JM |
227 | break; |
228 | ||
229 | case '#': | |
230 | grblDP_command("", new_message.stream); | |
543c4b6d | 231 | new_message.stream->printf("ok\n"); |
6c0193b3 JM |
232 | break; |
233 | ||
234 | case 'H': | |
6ab94cbd | 235 | if(THEKERNEL->is_halted()) THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt |
07186543 | 236 | if(THEKERNEL->is_grbl_mode()) { |
8ad60a4c | 237 | // issue G28.2 which is force homing cycle |
53ece53b | 238 | Gcode gcode("G28.2", new_message.stream); |
6c0193b3 | 239 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode); |
07186543 | 240 | }else{ |
9869200b JM |
241 | Gcode gcode("G28", new_message.stream); |
242 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode); | |
6c0193b3 | 243 | } |
7f44e9e1 | 244 | new_message.stream->printf("ok\n"); |
6c0193b3 | 245 | break; |
0325af12 | 246 | |
18ca10a3 JM |
247 | case 'J': |
248 | // instant jog command | |
249 | jog(possible_command, new_message.stream); | |
250 | break; | |
251 | ||
6c0193b3 | 252 | default: |
07186543 | 253 | new_message.stream->printf("error:Invalid statement\n"); |
6c0193b3 JM |
254 | break; |
255 | } | |
256 | ||
257 | }else{ | |
6187a020 | 258 | |
6c0193b3 JM |
259 | //new_message.stream->printf("Received %s\r\n", possible_command.c_str()); |
260 | string cmd = shift_parameter(possible_command); | |
261 | ||
3e54c9fc JM |
262 | // Configurator commands |
263 | if (cmd == "config-get"){ | |
264 | THEKERNEL->configurator->config_get_command( possible_command, new_message.stream ); | |
265 | ||
266 | } else if (cmd == "config-set"){ | |
267 | THEKERNEL->configurator->config_set_command( possible_command, new_message.stream ); | |
268 | ||
269 | } else if (cmd == "config-load"){ | |
270 | THEKERNEL->configurator->config_load_command( possible_command, new_message.stream ); | |
271 | ||
272 | } else if (cmd == "play" || cmd == "progress" || cmd == "abort" || cmd == "suspend" || cmd == "resume") { | |
01a8d21a | 273 | // these are handled by Player module |
93f20a8c | 274 | |
7ed2d732 JM |
275 | } else if (cmd == "fire") { |
276 | // these are handled by Laser module | |
277 | ||
93f20a8c JM |
278 | } else if (cmd == "ok") { |
279 | // probably an echo so reply ok | |
280 | new_message.stream->printf("ok\n"); | |
3e54c9fc JM |
281 | |
282 | }else if(!parse_command(cmd.c_str(), possible_command, new_message.stream)) { | |
42bbc035 | 283 | new_message.stream->printf("error:Unsupported command - %s\n", cmd.c_str()); |
6c0193b3 JM |
284 | } |
285 | } | |
0325af12 AW |
286 | } |
287 | ||
0325af12 AW |
288 | // Act upon an ls command |
289 | // Convert the first parameter into an absolute path, then list the files in that path | |
9e403697 JM |
290 | void SimpleShell::ls_command( string parameters, StreamOutput *stream ) |
291 | { | |
3579deea JM |
292 | string path, opts; |
293 | while(!parameters.empty()) { | |
6d877d9b | 294 | string s = shift_parameter( parameters ); |
3579deea JM |
295 | if(s.front() == '-') { |
296 | opts.append(s); | |
297 | } else { | |
6d877d9b JM |
298 | path = s; |
299 | if(!parameters.empty()) { | |
3579deea JM |
300 | path.append(" "); |
301 | path.append(parameters); | |
302 | } | |
303 | break; | |
304 | } | |
305 | } | |
b557a801 | 306 | |
6d877d9b | 307 | path = absolute_from_relative(path); |
3579deea | 308 | |
9e403697 JM |
309 | DIR *d; |
310 | struct dirent *p; | |
3579deea | 311 | d = opendir(path.c_str()); |
9e403697 JM |
312 | if (d != NULL) { |
313 | while ((p = readdir(d)) != NULL) { | |
3579deea | 314 | stream->printf("%s", lc(string(p->d_name)).c_str()); |
6d877d9b | 315 | if(p->d_isdir) { |
3579deea | 316 | stream->printf("/"); |
6d877d9b | 317 | } else if(opts.find("-s", 0, 2) != string::npos) { |
3579deea JM |
318 | stream->printf(" %d", p->d_fsize); |
319 | } | |
320 | stream->printf("\r\n"); | |
9e403697 | 321 | } |
ed7c5844 | 322 | closedir(d); |
0325af12 | 323 | } else { |
3579deea | 324 | stream->printf("Could not open directory %s\r\n", path.c_str()); |
0325af12 AW |
325 | } |
326 | } | |
327 | ||
3704585b | 328 | extern SDFAT mounter; |
329 | ||
330 | void SimpleShell::remount_command( string parameters, StreamOutput *stream ) | |
331 | { | |
332 | mounter.remount(); | |
48afc62a | 333 | stream->printf("remounted\r\n"); |
12fb447a | 334 | } |
3704585b | 335 | |
9e403697 JM |
336 | // Delete a file |
337 | void SimpleShell::rm_command( string parameters, StreamOutput *stream ) | |
338 | { | |
6d877d9b | 339 | const char *fn = absolute_from_relative(shift_parameter( parameters )).c_str(); |
9e403697 JM |
340 | int s = remove(fn); |
341 | if (s != 0) stream->printf("Could not delete %s \r\n", fn); | |
342 | } | |
343 | ||
6d877d9b JM |
344 | // Rename a file |
345 | void SimpleShell::mv_command( string parameters, StreamOutput *stream ) | |
346 | { | |
347 | string from = absolute_from_relative(shift_parameter( parameters )); | |
a940483b | 348 | string to = absolute_from_relative(shift_parameter(parameters)); |
6d877d9b JM |
349 | int s = rename(from.c_str(), to.c_str()); |
350 | if (s != 0) stream->printf("Could not rename %s to %s\r\n", from.c_str(), to.c_str()); | |
351 | else stream->printf("renamed %s to %s\r\n", from.c_str(), to.c_str()); | |
352 | } | |
353 | ||
04d608c4 MM |
354 | // Create a new directory |
355 | void SimpleShell::mkdir_command( string parameters, StreamOutput *stream ) | |
356 | { | |
357 | string path = absolute_from_relative(shift_parameter( parameters )); | |
358 | int result = mkdir(path.c_str(), 0); | |
359 | if (result != 0) stream->printf("could not create directory %s\r\n", path.c_str()); | |
360 | else stream->printf("created directory %s\r\n", path.c_str()); | |
361 | } | |
362 | ||
0325af12 | 363 | // Change current absolute path to provided path |
9e403697 JM |
364 | void SimpleShell::cd_command( string parameters, StreamOutput *stream ) |
365 | { | |
75f4581c | 366 | string folder = absolute_from_relative( parameters ); |
6bcd4886 | 367 | |
0325af12 | 368 | DIR *d; |
0325af12 | 369 | d = opendir(folder.c_str()); |
9e403697 | 370 | if (d == NULL) { |
58baeec1 | 371 | stream->printf("Could not open directory %s \r\n", folder.c_str() ); |
9e403697 | 372 | } else { |
75f4581c | 373 | THEKERNEL->current_path = folder; |
ed7c5844 | 374 | closedir(d); |
0325af12 AW |
375 | } |
376 | } | |
377 | ||
b7250484 | 378 | // Responds with the present working directory |
9e403697 JM |
379 | void SimpleShell::pwd_command( string parameters, StreamOutput *stream ) |
380 | { | |
75f4581c | 381 | stream->printf("%s\r\n", THEKERNEL->current_path.c_str()); |
b7250484 L |
382 | } |
383 | ||
0325af12 | 384 | // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output ) |
9e403697 JM |
385 | void SimpleShell::cat_command( string parameters, StreamOutput *stream ) |
386 | { | |
58baeec1 | 387 | // Get parameters ( filename and line limit ) |
75f4581c | 388 | string filename = absolute_from_relative(shift_parameter( parameters )); |
1f61f177 | 389 | string limit_parameter = shift_parameter( parameters ); |
0325af12 | 390 | int limit = -1; |
1f61f177 | 391 | int delay= 0; |
2ab3fca6 | 392 | bool send_eof= false; |
1f61f177 JM |
393 | if ( limit_parameter == "-d" ) { |
394 | string d= shift_parameter( parameters ); | |
9e403697 | 395 | char *e = NULL; |
1f61f177 | 396 | delay = strtol(d.c_str(), &e, 10); |
01e97c58 | 397 | if (e <= d.c_str()) { |
1f61f177 JM |
398 | delay = 0; |
399 | ||
01e97c58 JM |
400 | } else { |
401 | send_eof= true; // we need to terminate file send with an eof | |
402 | } | |
403 | ||
1f61f177 JM |
404 | }else if ( limit_parameter != "" ) { |
405 | char *e = NULL; | |
406 | limit = strtol(limit_parameter.c_str(), &e, 10); | |
407 | if (e <= limit_parameter.c_str()) | |
f7e6f459 MM |
408 | limit = -1; |
409 | } | |
58baeec1 | 410 | |
1f61f177 | 411 | // we have been asked to delay before cat, probably to allow time to issue upload command |
1aa3d42f | 412 | if(delay > 0) { |
be7f67cd | 413 | safe_delay_ms(delay*1000); |
1f61f177 JM |
414 | } |
415 | ||
58baeec1 | 416 | // Open file |
0325af12 | 417 | FILE *lp = fopen(filename.c_str(), "r"); |
9e403697 | 418 | if (lp == NULL) { |
58baeec1 MM |
419 | stream->printf("File not found: %s\r\n", filename.c_str()); |
420 | return; | |
9ed670c5 | 421 | } |
0325af12 AW |
422 | string buffer; |
423 | int c; | |
58baeec1 | 424 | int newlines = 0; |
6d877d9b | 425 | int linecnt = 0; |
0325af12 | 426 | // Print each line of the file |
9e403697 | 427 | while ((c = fgetc (lp)) != EOF) { |
58baeec1 | 428 | buffer.append((char *)&c, 1); |
2ab3fca6 JM |
429 | if ( c == '\n' || ++linecnt > 80) { |
430 | if(c == '\n') newlines++; | |
d728799b | 431 | stream->puts(buffer.c_str()); |
58baeec1 | 432 | buffer.clear(); |
6d877d9b | 433 | if(linecnt > 80) linecnt = 0; |
6757ce1a JM |
434 | // we need to kick things or they die |
435 | THEKERNEL->call_event(ON_IDLE); | |
68b7afb4 | 436 | } |
9e403697 JM |
437 | if ( newlines == limit ) { |
438 | break; | |
439 | } | |
58baeec1 | 440 | }; |
0325af12 | 441 | fclose(lp); |
2ab3fca6 JM |
442 | |
443 | if(send_eof) { | |
444 | stream->puts("\032"); // ^Z terminates the upload | |
445 | } | |
6d877d9b JM |
446 | } |
447 | ||
448 | void SimpleShell::upload_command( string parameters, StreamOutput *stream ) | |
449 | { | |
450 | // this needs to be a hack. it needs to read direct from serial and not allow on_main_loop run until done | |
451 | // NOTE this will block all operation until the upload is complete, so do not do while printing | |
7baa50df | 452 | if(!THECONVEYOR->is_idle()) { |
6d877d9b JM |
453 | stream->printf("upload not allowed while printing or busy\n"); |
454 | return; | |
455 | } | |
456 | ||
457 | // open file to upload to | |
458 | string upload_filename = absolute_from_relative( parameters ); | |
459 | FILE *fd = fopen(upload_filename.c_str(), "w"); | |
460 | if(fd != NULL) { | |
461 | stream->printf("uploading to file: %s, send control-D or control-Z to finish\r\n", upload_filename.c_str()); | |
462 | } else { | |
463 | stream->printf("failed to open file: %s.\r\n", upload_filename.c_str()); | |
464 | return; | |
465 | } | |
0325af12 | 466 | |
6d877d9b JM |
467 | int cnt = 0; |
468 | bool uploading = true; | |
469 | while(uploading) { | |
470 | if(!stream->ready()) { | |
471 | // we need to kick things or they die | |
472 | THEKERNEL->call_event(ON_IDLE); | |
473 | continue; | |
474 | } | |
475 | ||
476 | char c = stream->_getc(); | |
477 | if( c == 4 || c == 26) { // ctrl-D or ctrl-Z | |
478 | uploading = false; | |
479 | // close file | |
480 | fclose(fd); | |
481 | stream->printf("uploaded %d bytes\n", cnt); | |
482 | return; | |
483 | ||
484 | } else { | |
485 | // write character to file | |
486 | cnt++; | |
487 | if(fputc(c, fd) != c) { | |
488 | // error writing to file | |
489 | stream->printf("error writing to file. ignoring all characters until EOF\r\n"); | |
490 | fclose(fd); | |
491 | fd = NULL; | |
492 | uploading= false; | |
493 | ||
494 | } else { | |
ed5e53ce | 495 | if ((cnt%1000) == 0) { |
6757ce1a JM |
496 | // we need to kick things or they die |
497 | THEKERNEL->call_event(ON_IDLE); | |
6d877d9b JM |
498 | } |
499 | } | |
500 | } | |
501 | } | |
502 | // we got an error so ignore everything until EOF | |
503 | char c; | |
504 | do { | |
505 | if(stream->ready()) { | |
506 | c= stream->_getc(); | |
507 | }else{ | |
508 | THEKERNEL->call_event(ON_IDLE); | |
509 | c= 0; | |
510 | } | |
511 | } while(c != 4 && c != 26); | |
0325af12 AW |
512 | } |
513 | ||
618c9b0f JM |
514 | // loads the specified config-override file |
515 | void SimpleShell::load_command( string parameters, StreamOutput *stream ) | |
516 | { | |
517 | // Get parameters ( filename ) | |
75f4581c | 518 | string filename = absolute_from_relative(parameters); |
618c9b0f JM |
519 | if(filename == "/") { |
520 | filename = THEKERNEL->config_override_filename(); | |
521 | } | |
522 | ||
6d877d9b | 523 | FILE *fp = fopen(filename.c_str(), "r"); |
618c9b0f JM |
524 | if(fp != NULL) { |
525 | char buf[132]; | |
526 | stream->printf("Loading config override file: %s...\n", filename.c_str()); | |
527 | while(fgets(buf, sizeof buf, fp) != NULL) { | |
528 | stream->printf(" %s", buf); | |
529 | if(buf[0] == ';') continue; // skip the comments | |
c0b50fa8 JM |
530 | // NOTE only Gcodes and Mcodes can be in the config-override |
531 | Gcode *gcode = new Gcode(buf, &StreamOutput::NullStream); | |
532 | THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode); | |
533 | delete gcode; | |
534 | THEKERNEL->call_event(ON_IDLE); | |
618c9b0f JM |
535 | } |
536 | stream->printf("config override file executed\n"); | |
537 | fclose(fp); | |
538 | ||
6d877d9b | 539 | } else { |
618c9b0f JM |
540 | stream->printf("File not found: %s\n", filename.c_str()); |
541 | } | |
542 | } | |
543 | ||
544 | // saves the specified config-override file | |
545 | void SimpleShell::save_command( string parameters, StreamOutput *stream ) | |
546 | { | |
547 | // Get parameters ( filename ) | |
75f4581c | 548 | string filename = absolute_from_relative(parameters); |
618c9b0f JM |
549 | if(filename == "/") { |
550 | filename = THEKERNEL->config_override_filename(); | |
551 | } | |
552 | ||
be7f67cd | 553 | THECONVEYOR->wait_for_idle(); //just to be safe as it can take a while to run |
23eb804b | 554 | |
06afe68b JM |
555 | //remove(filename.c_str()); // seems to cause a hang every now and then |
556 | { | |
557 | FileStream fs(filename.c_str()); | |
558 | fs.printf("; DO NOT EDIT THIS FILE\n"); | |
559 | // this also will truncate the existing file instead of deleting it | |
560 | } | |
561 | ||
23eb804b | 562 | // stream that appends to file |
4fed9ba1 JM |
563 | AppendFileStream *gs = new AppendFileStream(filename.c_str()); |
564 | // if(!gs->is_open()) { | |
565 | // stream->printf("Unable to open File %s for write\n", filename.c_str()); | |
566 | // return; | |
567 | // } | |
618c9b0f | 568 | |
7acfedab | 569 | __disable_irq(); |
618c9b0f JM |
570 | // issue a M500 which will store values in the file stream |
571 | Gcode *gcode = new Gcode("M500", gs); | |
572 | THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode ); | |
573 | delete gs; | |
574 | delete gcode; | |
7acfedab | 575 | __enable_irq(); |
618c9b0f JM |
576 | |
577 | stream->printf("Settings Stored to %s\r\n", filename.c_str()); | |
578 | } | |
579 | ||
6187a020 | 580 | // show free memory |
9e403697 JM |
581 | void SimpleShell::mem_command( string parameters, StreamOutput *stream) |
582 | { | |
078f76e0 | 583 | bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos; |
9e403697 JM |
584 | unsigned long heap = (unsigned long)_sbrk(0); |
585 | unsigned long m = g_maximumHeapAddress - heap; | |
ecc610a4 JM |
586 | stream->printf("Unused Heap: %lu bytes\r\n", m); |
587 | ||
6d877d9b | 588 | uint32_t f = heapWalk(stream, verbose); |
0c683b26 | 589 | stream->printf("Total Free RAM: %lu bytes\r\n", m + f); |
a200fc31 | 590 | |
0c683b26 | 591 | stream->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0.free(), AHB1.free()); |
6d877d9b | 592 | if (verbose) { |
1803076a MM |
593 | AHB0.debug(stream); |
594 | AHB1.debug(stream); | |
595 | } | |
8a9f9313 | 596 | |
781dcb02 | 597 | stream->printf("Block size: %u bytes, Tickinfo size: %u bytes\n", sizeof(Block), sizeof(Block::tickinfo_t) * Block::n_actuators); |
6187a020 JM |
598 | } |
599 | ||
9e403697 JM |
600 | static uint32_t getDeviceType() |
601 | { | |
602 | #define IAP_LOCATION 0x1FFF1FF1 | |
01f35bcc JM |
603 | uint32_t command[1]; |
604 | uint32_t result[5]; | |
9e403697 | 605 | typedef void (*IAP)(uint32_t *, uint32_t *); |
01f35bcc JM |
606 | IAP iap = (IAP) IAP_LOCATION; |
607 | ||
608 | __disable_irq(); | |
609 | ||
610 | command[0] = 54; | |
611 | iap(command, result); | |
612 | ||
613 | __enable_irq(); | |
614 | ||
615 | return result[1]; | |
616 | } | |
617 | ||
d4ee6ee2 JM |
618 | // get network config |
619 | void SimpleShell::net_command( string parameters, StreamOutput *stream) | |
620 | { | |
621 | void *returned_data; | |
6d877d9b | 622 | bool ok = PublicData::get_value( network_checksum, get_ipconfig_checksum, &returned_data ); |
d4ee6ee2 | 623 | if(ok) { |
6d877d9b | 624 | char *str = (char *)returned_data; |
d4ee6ee2 JM |
625 | stream->printf("%s\r\n", str); |
626 | free(str); | |
627 | ||
6d877d9b | 628 | } else { |
d4ee6ee2 JM |
629 | stream->printf("No network detected\n"); |
630 | } | |
631 | } | |
632 | ||
582559c6 | 633 | // print out build version |
9e403697 JM |
634 | void SimpleShell::version_command( string parameters, StreamOutput *stream) |
635 | { | |
582559c6 | 636 | Version vers; |
9e403697 JM |
637 | uint32_t dev = getDeviceType(); |
638 | const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768"; | |
01f35bcc | 639 | stream->printf("Build version: %s, Build date: %s, MCU: %s, System Clock: %ldMHz\r\n", vers.get_build(), vers.get_build_date(), mcu, SystemCoreClock / 1000000); |
599cb4bd | 640 | #ifdef CNC |
37b7b898 | 641 | stream->printf(" CNC Build "); |
599cb4bd | 642 | #endif |
52d0c799 | 643 | #ifdef DISABLEMSD |
1189e9cd | 644 | stream->printf(" NOMSD Build\r\n"); |
52d0c799 | 645 | #endif |
37b7b898 | 646 | stream->printf("%d axis\n", MAX_ROBOT_ACTUATORS); |
582559c6 JM |
647 | } |
648 | ||
77983aa1 | 649 | // Reset the system |
9e403697 JM |
650 | void SimpleShell::reset_command( string parameters, StreamOutput *stream) |
651 | { | |
ead17727 | 652 | stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n"); |
7e81f138 | 653 | reset_delay_secs = 5; // reboot in 5 seconds |
2742fca9 JM |
654 | } |
655 | ||
656 | // go into dfu boot mode | |
9e403697 JM |
657 | void SimpleShell::dfu_command( string parameters, StreamOutput *stream) |
658 | { | |
ed7c5844 JM |
659 | stream->printf("Entering boot mode...\r\n"); |
660 | system_reset(true); | |
77983aa1 L |
661 | } |
662 | ||
0f0b1656 | 663 | // Break out into the MRI debugging system |
9e403697 JM |
664 | void SimpleShell::break_command( string parameters, StreamOutput *stream) |
665 | { | |
0f0b1656 L |
666 | stream->printf("Entering MRI debug mode...\r\n"); |
667 | __debugbreak(); | |
668 | } | |
669 | ||
40843ebc JM |
670 | static int get_active_tool() |
671 | { | |
335957f5 | 672 | void *returned_data; |
40843ebc JM |
673 | bool ok = PublicData::get_value(tool_manager_checksum, get_active_tool_checksum, &returned_data); |
674 | if (ok) { | |
335957f5 JM |
675 | int active_tool= *static_cast<int *>(returned_data); |
676 | return active_tool; | |
40843ebc JM |
677 | } else { |
678 | return 0; | |
679 | } | |
680 | } | |
681 | ||
6c0193b3 JM |
682 | void SimpleShell::grblDP_command( string parameters, StreamOutput *stream) |
683 | { | |
684 | /* | |
685 | [G54:95.000,40.000,-23.600] | |
686 | [G55:0.000,0.000,0.000] | |
687 | [G56:0.000,0.000,0.000] | |
688 | [G57:0.000,0.000,0.000] | |
689 | [G58:0.000,0.000,0.000] | |
690 | [G59:0.000,0.000,0.000] | |
691 | [G28:0.000,0.000,0.000] | |
692 | [G30:0.000,0.000,0.000] | |
693 | [G92:0.000,0.000,0.000] | |
694 | [TLO:0.000] | |
695 | [PRB:0.000,0.000,0.000:0] | |
696 | */ | |
078f76e0 JM |
697 | |
698 | bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos; | |
699 | ||
c8bac202 | 700 | std::vector<Robot::wcs_t> v= THEROBOT->get_wcs_state(); |
078f76e0 JM |
701 | if(verbose) { |
702 | char current_wcs= std::get<0>(v[0]); | |
703 | stream->printf("[current WCS: %s]\n", wcs2gcode(current_wcs).c_str()); | |
704 | } | |
705 | ||
6c0193b3 JM |
706 | int n= std::get<1>(v[0]); |
707 | for (int i = 1; i <= n; ++i) { | |
32bc8b54 | 708 | stream->printf("[%s:%1.4f,%1.4f,%1.4f]\n", wcs2gcode(i-1).c_str(), |
c8bac202 JM |
709 | THEROBOT->from_millimeters(std::get<0>(v[i])), |
710 | THEROBOT->from_millimeters(std::get<1>(v[i])), | |
711 | THEROBOT->from_millimeters(std::get<2>(v[i]))); | |
6c0193b3 JM |
712 | } |
713 | ||
9339253b JM |
714 | float *rd; |
715 | PublicData::get_value( endstops_checksum, saved_position_checksum, &rd ); | |
32bc8b54 | 716 | stream->printf("[G28:%1.4f,%1.4f,%1.4f]\n", |
c8bac202 JM |
717 | THEROBOT->from_millimeters(rd[0]), |
718 | THEROBOT->from_millimeters(rd[1]), | |
719 | THEROBOT->from_millimeters(rd[2])); | |
32bc8b54 | 720 | |
31c6c2c2 | 721 | stream->printf("[G30:%1.4f,%1.4f,%1.4f]\n", 0.0F, 0.0F, 0.0F); // not implemented |
9339253b | 722 | |
32bc8b54 | 723 | stream->printf("[G92:%1.4f,%1.4f,%1.4f]\n", |
c8bac202 JM |
724 | THEROBOT->from_millimeters(std::get<0>(v[n+1])), |
725 | THEROBOT->from_millimeters(std::get<1>(v[n+1])), | |
726 | THEROBOT->from_millimeters(std::get<2>(v[n+1]))); | |
32bc8b54 | 727 | |
078f76e0 | 728 | if(verbose) { |
32bc8b54 | 729 | stream->printf("[Tool Offset:%1.4f,%1.4f,%1.4f]\n", |
c8bac202 JM |
730 | THEROBOT->from_millimeters(std::get<0>(v[n+2])), |
731 | THEROBOT->from_millimeters(std::get<1>(v[n+2])), | |
732 | THEROBOT->from_millimeters(std::get<2>(v[n+2]))); | |
078f76e0 | 733 | }else{ |
c8bac202 | 734 | stream->printf("[TL0:%1.4f]\n", THEROBOT->from_millimeters(std::get<2>(v[n+2]))); |
078f76e0 | 735 | } |
6c0193b3 | 736 | |
4440e123 JM |
737 | // this is the last probe position, updated when a probe completes, also stores the number of steps moved after a homing cycle |
738 | float px, py, pz; | |
739 | uint8_t ps; | |
c8bac202 JM |
740 | std::tie(px, py, pz, ps) = THEROBOT->get_last_probe_position(); |
741 | stream->printf("[PRB:%1.4f,%1.4f,%1.4f:%d]\n", THEROBOT->from_millimeters(px), THEROBOT->from_millimeters(py), THEROBOT->from_millimeters(pz), ps); | |
6c0193b3 JM |
742 | } |
743 | ||
9e403697 JM |
744 | void SimpleShell::get_command( string parameters, StreamOutput *stream) |
745 | { | |
7e81f138 | 746 | string what = shift_parameter( parameters ); |
c4e56997 | 747 | |
7e81f138 | 748 | if (what == "temp") { |
3bfb2639 | 749 | struct pad_temperature temp; |
9e403697 | 750 | string type = shift_parameter( parameters ); |
56a6c8c1 JM |
751 | if(type.empty()) { |
752 | // scan all temperature controls | |
753 | std::vector<struct pad_temperature> controllers; | |
754 | bool ok = PublicData::get_value(temperature_control_checksum, poll_controls_checksum, &controllers); | |
755 | if (ok) { | |
756 | for (auto &c : controllers) { | |
757 | stream->printf("%s (%d) temp: %f/%f @%d\r\n", c.designator.c_str(), c.id, c.current_temperature, c.target_temperature, c.pwm); | |
758 | } | |
b55cfff1 | 759 | |
56a6c8c1 JM |
760 | } else { |
761 | stream->printf("no heaters found\r\n"); | |
762 | } | |
763 | ||
764 | }else{ | |
765 | bool ok = PublicData::get_value( temperature_control_checksum, current_temperature_checksum, get_checksum(type), &temp ); | |
766 | ||
767 | if (ok) { | |
768 | stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm); | |
769 | } else { | |
770 | stream->printf("%s is not a known temperature device\r\n", type.c_str()); | |
771 | } | |
b55cfff1 | 772 | } |
c4e56997 | 773 | |
70021ec9 | 774 | } else if (what == "fk" || what == "ik") { |
2577a122 | 775 | string p= shift_parameter( parameters ); |
70021ec9 | 776 | bool move= false; |
8ff7a960 | 777 | if(p == "-m") { |
70021ec9 JM |
778 | move= true; |
779 | p= shift_parameter( parameters ); | |
780 | } | |
781 | ||
782 | std::vector<float> v= parse_number_list(p.c_str()); | |
586cc733 JM |
783 | if(p.empty() || v.size() < 1) { |
784 | stream->printf("error:usage: get [fk|ik] [-m] x[,y,z]\n"); | |
70021ec9 JM |
785 | return; |
786 | } | |
2577a122 | 787 | |
70021ec9 | 788 | float x= v[0]; |
586cc733 JM |
789 | float y= (v.size() > 1) ? v[1] : x; |
790 | float z= (v.size() > 2) ? v[2] : y; | |
70021ec9 JM |
791 | |
792 | if(what == "fk") { | |
8ff7a960 | 793 | // do forward kinematics on the given actuator position and display the cartesian coordinates |
70021ec9 JM |
794 | ActuatorCoordinates apos{x, y, z}; |
795 | float pos[3]; | |
c8bac202 | 796 | THEROBOT->arm_solution->actuator_to_cartesian(apos, pos); |
1c658603 | 797 | stream->printf("cartesian= X %f, Y %f, Z %f\n", pos[0], pos[1], pos[2]); |
70021ec9 JM |
798 | x= pos[0]; |
799 | y= pos[1]; | |
800 | z= pos[2]; | |
8ff7a960 | 801 | |
70021ec9 | 802 | }else{ |
8ff7a960 | 803 | // do inverse kinematics on the given cartesian position and display the actuator coordinates |
70021ec9 JM |
804 | float pos[3]{x, y, z}; |
805 | ActuatorCoordinates apos; | |
c8bac202 | 806 | THEROBOT->arm_solution->cartesian_to_actuator(pos, apos); |
1c658603 | 807 | stream->printf("actuator= X %f, Y %f, Z %f\n", apos[0], apos[1], apos[2]); |
70021ec9 JM |
808 | } |
809 | ||
810 | if(move) { | |
8ff7a960 | 811 | // move to the calculated, or given, XYZ |
70021ec9 JM |
812 | char cmd[64]; |
813 | snprintf(cmd, sizeof(cmd), "G53 G0 X%f Y%f Z%f", x, y, z); | |
814 | struct SerialMessage message; | |
815 | message.message = cmd; | |
816 | message.stream = &(StreamOutput::NullStream); | |
817 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
be7f67cd | 818 | THECONVEYOR->wait_for_idle(); |
70021ec9 | 819 | } |
2577a122 JM |
820 | |
821 | } else if (what == "pos") { | |
12ce413f | 822 | // convenience to call all the various M114 variants, shows ABC axis where relevant |
cb6bfefa JM |
823 | std::string buf; |
824 | THEROBOT->print_position(0, buf); stream->printf("last %s\n", buf.c_str()); buf.clear(); | |
825 | THEROBOT->print_position(1, buf); stream->printf("realtime %s\n", buf.c_str()); buf.clear(); | |
826 | THEROBOT->print_position(2, buf); stream->printf("%s\n", buf.c_str()); buf.clear(); | |
827 | THEROBOT->print_position(3, buf); stream->printf("%s\n", buf.c_str()); buf.clear(); | |
828 | THEROBOT->print_position(4, buf); stream->printf("%s\n", buf.c_str()); buf.clear(); | |
829 | THEROBOT->print_position(5, buf); stream->printf("%s\n", buf.c_str()); buf.clear(); | |
34210908 JM |
830 | |
831 | } else if (what == "wcs") { | |
832 | // print the wcs state | |
078f76e0 | 833 | grblDP_command("-v", stream); |
40843ebc JM |
834 | |
835 | } else if (what == "state") { | |
6c0193b3 | 836 | // also $G |
40843ebc | 837 | // [G0 G54 G17 G21 G90 G94 M0 M5 M9 T0 F0.] |
73cc27d2 | 838 | stream->printf("[G%d %s G%d G%d G%d G94 M0 M5 M9 T%d F%1.4f S%1.4f]\n", |
40843ebc | 839 | THEKERNEL->gcode_dispatch->get_modal_command(), |
c8bac202 JM |
840 | wcs2gcode(THEROBOT->get_current_wcs()).c_str(), |
841 | THEROBOT->plane_axis_0 == X_AXIS && THEROBOT->plane_axis_1 == Y_AXIS && THEROBOT->plane_axis_2 == Z_AXIS ? 17 : | |
842 | THEROBOT->plane_axis_0 == X_AXIS && THEROBOT->plane_axis_1 == Z_AXIS && THEROBOT->plane_axis_2 == Y_AXIS ? 18 : | |
843 | THEROBOT->plane_axis_0 == Y_AXIS && THEROBOT->plane_axis_1 == Z_AXIS && THEROBOT->plane_axis_2 == X_AXIS ? 19 : 17, | |
844 | THEROBOT->inch_mode ? 20 : 21, | |
845 | THEROBOT->absolute_mode ? 90 : 91, | |
40843ebc | 846 | get_active_tool(), |
73cc27d2 JM |
847 | THEROBOT->from_millimeters(THEROBOT->get_feed_rate()), |
848 | THEROBOT->get_s_value()); | |
6c0193b3 | 849 | |
a9e8c04b JM |
850 | } else if (what == "status") { |
851 | // also ? on serial and usb | |
852 | stream->printf("%s\n", THEKERNEL->get_query_string().c_str()); | |
853 | ||
6c0193b3 | 854 | } else { |
07186543 | 855 | stream->printf("error:unknown option %s\n", what.c_str()); |
b55cfff1 | 856 | } |
8293d443 JM |
857 | } |
858 | ||
77047e76 | 859 | // used to test out the get public data events |
9e403697 JM |
860 | void SimpleShell::set_temp_command( string parameters, StreamOutput *stream) |
861 | { | |
862 | string type = shift_parameter( parameters ); | |
863 | string temp = shift_parameter( parameters ); | |
04211969 | 864 | float t = temp.empty() ? 0.0 : strtof(temp.c_str(), NULL); |
75e6428d | 865 | bool ok = PublicData::set_value( temperature_control_checksum, get_checksum(type), &t ); |
991d98cc | 866 | |
9e403697 | 867 | if (ok) { |
991d98cc | 868 | stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t); |
9e403697 | 869 | } else { |
991d98cc JM |
870 | stream->printf("%s is not a known temperature device\r\n", type.c_str()); |
871 | } | |
77047e76 JM |
872 | } |
873 | ||
4c8f5447 JM |
874 | void SimpleShell::print_thermistors_command( string parameters, StreamOutput *stream) |
875 | { | |
8b260c2c | 876 | #ifndef NO_TOOLS_TEMPERATURECONTROL |
4c8f5447 | 877 | Thermistor::print_predefined_thermistors(stream); |
8b260c2c | 878 | #endif |
4c8f5447 JM |
879 | } |
880 | ||
1f8dab1a JM |
881 | void SimpleShell::calc_thermistor_command( string parameters, StreamOutput *stream) |
882 | { | |
8b260c2c | 883 | #ifndef NO_TOOLS_TEMPERATURECONTROL |
bbb839c1 JM |
884 | string s = shift_parameter( parameters ); |
885 | int saveto= -1; | |
886 | // see if we have -sn as first argument | |
887 | if(s.find("-s", 0, 2) != string::npos) { | |
888 | // save the results to thermistor n | |
889 | saveto= strtol(s.substr(2).c_str(), nullptr, 10); | |
890 | }else{ | |
891 | parameters= s; | |
892 | } | |
893 | ||
1f8dab1a JM |
894 | std::vector<float> trl= parse_number_list(parameters.c_str()); |
895 | if(trl.size() == 6) { | |
896 | // calculate the coefficients | |
897 | float c1, c2, c3; | |
898 | std::tie(c1, c2, c3) = Thermistor::calculate_steinhart_hart_coefficients(trl[0], trl[1], trl[2], trl[3], trl[4], trl[5]); | |
899 | stream->printf("Steinhart Hart coefficients: I%1.18f J%1.18f K%1.18f\n", c1, c2, c3); | |
bbb839c1 JM |
900 | if(saveto == -1) { |
901 | stream->printf(" Paste the above in the M305 S0 command, then save with M500\n"); | |
902 | }else{ | |
903 | char buf[80]; | |
5fe7262c JM |
904 | size_t n = snprintf(buf, sizeof(buf), "M305 S%d I%1.18f J%1.18f K%1.18f", saveto, c1, c2, c3); |
905 | if(n > sizeof(buf)) n= sizeof(buf); | |
bbb839c1 JM |
906 | string g(buf, n); |
907 | Gcode gcode(g, &(StreamOutput::NullStream)); | |
908 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode ); | |
909 | stream->printf(" Setting Thermistor %d to those settings, save with M500\n", saveto); | |
910 | } | |
1f8dab1a JM |
911 | |
912 | }else{ | |
913 | // give help | |
914 | stream->printf("Usage: calc_thermistor T1,R1,T2,R2,T3,R3\n"); | |
915 | } | |
8b260c2c | 916 | #endif |
1f8dab1a JM |
917 | } |
918 | ||
413ea56f | 919 | // set or get switch state for a named switch |
ae91dea4 JM |
920 | void SimpleShell::switch_command( string parameters, StreamOutput *stream) |
921 | { | |
922 | string type = shift_parameter( parameters ); | |
923 | string value = shift_parameter( parameters ); | |
6d877d9b | 924 | bool ok = false; |
413ea56f JM |
925 | if(value.empty()) { |
926 | // get switch state | |
927 | struct pad_switch pad; | |
928 | bool ok = PublicData::get_value(switch_checksum, get_checksum(type), 0, &pad); | |
929 | if (!ok) { | |
930 | stream->printf("unknown switch %s.\n", type.c_str()); | |
931 | return; | |
932 | } | |
933 | stream->printf("switch %s is %d\n", type.c_str(), pad.state); | |
934 | ||
935 | }else{ | |
936 | // set switch state | |
937 | if(value == "on" || value == "off") { | |
938 | bool b = value == "on"; | |
939 | ok = PublicData::set_value( switch_checksum, get_checksum(type), state_checksum, &b ); | |
940 | } else { | |
941 | float v = strtof(value.c_str(), NULL); | |
942 | ok = PublicData::set_value( switch_checksum, get_checksum(type), value_checksum, &v ); | |
943 | } | |
944 | if (ok) { | |
945 | stream->printf("switch %s set to: %s\n", type.c_str(), value.c_str()); | |
946 | } else { | |
947 | stream->printf("%s is not a known switch device\n", type.c_str()); | |
948 | } | |
ae91dea4 JM |
949 | } |
950 | } | |
951 | ||
d55d551b JM |
952 | void SimpleShell::md5sum_command( string parameters, StreamOutput *stream ) |
953 | { | |
954 | string filename = absolute_from_relative(parameters); | |
955 | ||
956 | // Open file | |
957 | FILE *lp = fopen(filename.c_str(), "r"); | |
958 | if (lp == NULL) { | |
959 | stream->printf("File not found: %s\r\n", filename.c_str()); | |
960 | return; | |
961 | } | |
962 | MD5 md5; | |
963 | uint8_t buf[64]; | |
964 | do { | |
965 | size_t n= fread(buf, 1, sizeof buf, lp); | |
966 | if(n > 0) md5.update(buf, n); | |
2a95b07e | 967 | THEKERNEL->call_event(ON_IDLE); |
d55d551b JM |
968 | } while(!feof(lp)); |
969 | ||
970 | stream->printf("%s %s\n", md5.finalize().hexdigest().c_str(), filename.c_str()); | |
971 | fclose(lp); | |
972 | } | |
973 | ||
518b5c4c JM |
974 | // runs several types of test on the mechanisms |
975 | void SimpleShell::test_command( string parameters, StreamOutput *stream) | |
976 | { | |
d1b660ac | 977 | AutoPushPop app; // this will save the state and restore it on exit |
518b5c4c JM |
978 | string what = shift_parameter( parameters ); |
979 | ||
980 | if (what == "jog") { | |
981 | // jogs back and forth usage: axis distance iterations [feedrate] | |
982 | string axis = shift_parameter( parameters ); | |
983 | string dist = shift_parameter( parameters ); | |
984 | string iters = shift_parameter( parameters ); | |
985 | string speed = shift_parameter( parameters ); | |
986 | if(axis.empty() || dist.empty() || iters.empty()) { | |
987 | stream->printf("error: Need axis distance iterations\n"); | |
988 | return; | |
989 | } | |
990 | float d= strtof(dist.c_str(), NULL); | |
c8bac202 | 991 | float f= speed.empty() ? THEROBOT->get_feed_rate() : strtof(speed.c_str(), NULL); |
518b5c4c JM |
992 | uint32_t n= strtol(iters.c_str(), NULL, 10); |
993 | ||
994 | bool toggle= false; | |
995 | for (uint32_t i = 0; i < n; ++i) { | |
996 | char cmd[64]; | |
a276de9c JM |
997 | snprintf(cmd, sizeof(cmd), "G91 G0 %c%f F%f G90", toupper(axis[0]), toggle ? -d : d, f); |
998 | stream->printf("%s\n", cmd); | |
518b5c4c JM |
999 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1000 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
a276de9c | 1001 | if(THEKERNEL->is_halted()) break; |
518b5c4c JM |
1002 | toggle= !toggle; |
1003 | } | |
a276de9c | 1004 | stream->printf("done\n"); |
518b5c4c JM |
1005 | |
1006 | }else if (what == "circle") { | |
fb4c9d09 | 1007 | // draws a circle around origin. usage: radius iterations [feedrate] |
e0b7aa0e | 1008 | string radius = shift_parameter( parameters ); |
e0b7aa0e JM |
1009 | string iters = shift_parameter( parameters ); |
1010 | string speed = shift_parameter( parameters ); | |
fb4c9d09 JM |
1011 | if(radius.empty() || iters.empty()) { |
1012 | stream->printf("error: Need radius iterations\n"); | |
e0b7aa0e JM |
1013 | return; |
1014 | } | |
1015 | ||
1016 | float r= strtof(radius.c_str(), NULL); | |
e0b7aa0e | 1017 | uint32_t n= strtol(iters.c_str(), NULL, 10); |
c8bac202 | 1018 | float f= speed.empty() ? THEROBOT->get_feed_rate() : strtof(speed.c_str(), NULL); |
fb4c9d09 | 1019 | |
70057bbd | 1020 | THEROBOT->push_state(); |
ee602f65 | 1021 | char cmd[64]; |
ec3cac28 | 1022 | snprintf(cmd, sizeof(cmd), "G91 G0 X%f F%f G90", -r, f); |
fb4c9d09 | 1023 | stream->printf("%s\n", cmd); |
ee602f65 JM |
1024 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1025 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
e0b7aa0e JM |
1026 | |
1027 | for (uint32_t i = 0; i < n; ++i) { | |
a276de9c | 1028 | if(THEKERNEL->is_halted()) break; |
ec3cac28 | 1029 | snprintf(cmd, sizeof(cmd), "G2 I%f J0 F%f", r, f); |
fb4c9d09 JM |
1030 | stream->printf("%s\n", cmd); |
1031 | message.message= cmd; | |
1032 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
e0b7aa0e | 1033 | } |
ec3cac28 JM |
1034 | |
1035 | // leave it where it started | |
1036 | if(!THEKERNEL->is_halted()) { | |
1037 | snprintf(cmd, sizeof(cmd), "G91 G0 X%f F%f G90", r, f); | |
1038 | stream->printf("%s\n", cmd); | |
1039 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; | |
1040 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1041 | } | |
1042 | ||
5daa28cd | 1043 | THEROBOT->pop_state(); |
a276de9c | 1044 | stream->printf("done\n"); |
518b5c4c JM |
1045 | |
1046 | }else if (what == "square") { | |
1047 | // draws a square usage: size iterations [feedrate] | |
1048 | string size = shift_parameter( parameters ); | |
1049 | string iters = shift_parameter( parameters ); | |
1050 | string speed = shift_parameter( parameters ); | |
1051 | if(size.empty() || iters.empty()) { | |
1052 | stream->printf("error: Need size iterations\n"); | |
1053 | return; | |
1054 | } | |
1055 | float d= strtof(size.c_str(), NULL); | |
c8bac202 | 1056 | float f= speed.empty() ? THEROBOT->get_feed_rate() : strtof(speed.c_str(), NULL); |
518b5c4c JM |
1057 | uint32_t n= strtol(iters.c_str(), NULL, 10); |
1058 | ||
1059 | for (uint32_t i = 0; i < n; ++i) { | |
1060 | char cmd[64]; | |
1061 | { | |
1062 | snprintf(cmd, sizeof(cmd), "G91 G0 X%f F%f", d, f); | |
a276de9c | 1063 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1064 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1065 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1066 | } | |
1067 | { | |
e0b7aa0e | 1068 | snprintf(cmd, sizeof(cmd), "G0 Y%f", d); |
a276de9c | 1069 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1070 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1071 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1072 | } | |
1073 | { | |
e0b7aa0e | 1074 | snprintf(cmd, sizeof(cmd), "G0 X%f", -d); |
a276de9c | 1075 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1076 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1077 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1078 | } | |
1079 | { | |
e0b7aa0e | 1080 | snprintf(cmd, sizeof(cmd), "G0 Y%f G90", -d); |
a276de9c | 1081 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1082 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1083 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1084 | } | |
a276de9c | 1085 | if(THEKERNEL->is_halted()) break; |
5daa28cd | 1086 | } |
be7f67cd JM |
1087 | stream->printf("done\n"); |
1088 | ||
1089 | }else if (what == "raw") { | |
1090 | // issues raw steps to the specified axis usage: axis steps steps/sec | |
1091 | string axis = shift_parameter( parameters ); | |
1092 | string stepstr = shift_parameter( parameters ); | |
1093 | string stepspersec = shift_parameter( parameters ); | |
1094 | if(axis.empty() || stepstr.empty() || stepspersec.empty()) { | |
1095 | stream->printf("error: Need axis steps steps/sec\n"); | |
1096 | return; | |
1097 | } | |
1098 | ||
5da4221b JM |
1099 | char ax= toupper(axis[0]); |
1100 | uint8_t a= ax >= 'X' ? ax - 'X' : ax - 'A' + 3; | |
be7f67cd JM |
1101 | int steps= strtol(stepstr.c_str(), NULL, 10); |
1102 | bool dir= steps >= 0; | |
1103 | steps= std::abs(steps); | |
1104 | ||
5da4221b JM |
1105 | if(a > C_AXIS) { |
1106 | stream->printf("error: axis must be x, y, z, a, b, c\n"); | |
1107 | return; | |
1108 | } | |
1109 | ||
1110 | if(a >= THEROBOT->get_number_registered_motors()) { | |
1111 | stream->printf("error: axis is out of range\n"); | |
be7f67cd JM |
1112 | return; |
1113 | } | |
1114 | ||
1115 | uint32_t sps= strtol(stepspersec.c_str(), NULL, 10); | |
1116 | sps= std::max(sps, 1UL); | |
1117 | ||
1118 | uint32_t delayus= 1000000.0F / sps; | |
1119 | for(int s= 0;s<steps;s++) { | |
1120 | if(THEKERNEL->is_halted()) break; | |
1121 | THEROBOT->actuators[a]->manual_step(dir); | |
1122 | // delay but call on_idle | |
1123 | safe_delay_us(delayus); | |
518b5c4c | 1124 | } |
df675215 JM |
1125 | |
1126 | // reset the position based on current actuator position | |
1127 | THEROBOT->reset_position_from_current_actuator_position(); | |
1128 | ||
922f169d | 1129 | //stream->printf("done\n"); |
d55d551b | 1130 | |
a276de9c JM |
1131 | }else { |
1132 | stream->printf("usage:\n test jog axis distance iterations [feedrate]\n"); | |
1133 | stream->printf(" test square size iterations [feedrate]\n"); | |
fb4c9d09 | 1134 | stream->printf(" test circle radius iterations [feedrate]\n"); |
be7f67cd | 1135 | stream->printf(" test raw axis steps steps/sec\n"); |
518b5c4c JM |
1136 | } |
1137 | } | |
d55d551b | 1138 | |
18ca10a3 JM |
1139 | void SimpleShell::jog(string parameters, StreamOutput *stream) |
1140 | { | |
1141 | // $J X0.1 F0.5 | |
1142 | int n_motors= THEROBOT->get_number_registered_motors(); | |
1143 | ||
1144 | // get axis to move and amount (X0.1) | |
1145 | // for now always 1 axis | |
1146 | size_t npos= parameters.find_first_of("XYZABC"); | |
1147 | if(npos == string::npos) { | |
1148 | stream->printf("usage: $J X|Y|Z|A|B|C 0.01 [F0.5]\n"); | |
1149 | return; | |
1150 | } | |
1151 | ||
1152 | string s = parameters.substr(npos); | |
1153 | if(s.empty() || s.size() < 2) { | |
1154 | stream->printf("usage: $J X0.01 [F0.5]\n"); | |
1155 | return; | |
1156 | } | |
1157 | char ax= toupper(s[0]); | |
1158 | uint8_t a= ax >= 'X' ? ax - 'X' : ax - 'A' + 3; | |
1159 | if(a >= n_motors) { | |
1160 | stream->printf("error:bad axis\n"); | |
1161 | return; | |
1162 | } | |
1163 | ||
1164 | float d= strtof(s.substr(1).c_str(), NULL); | |
1165 | ||
1166 | float delta[n_motors]; | |
1167 | for (int i = 0; i < n_motors; ++i) { | |
1168 | delta[i]= 0; | |
1169 | } | |
1170 | delta[a]= d; | |
1171 | ||
1172 | // get speed scale | |
1173 | float scale= 1.0F; | |
1174 | npos= parameters.find_first_of("F"); | |
1175 | if(npos != string::npos && npos+1 < parameters.size()) { | |
1176 | scale= strtof(parameters.substr(npos+1).c_str(), NULL); | |
1177 | } | |
1178 | ||
1179 | THEROBOT->push_state(); | |
1180 | float rate_mm_s= THEROBOT->actuators[a]->get_max_rate() * scale; | |
1181 | THEROBOT->delta_move(delta, rate_mm_s, n_motors); | |
1182 | ||
1183 | // turn off queue delay and run it now | |
1184 | THECONVEYOR->force_queue(); | |
1185 | THEROBOT->pop_state(); | |
0b82315d | 1186 | //stream->printf("Jog: %c%f F%f\n", ax, d, scale); |
18ca10a3 JM |
1187 | } |
1188 | ||
9e403697 JM |
1189 | void SimpleShell::help_command( string parameters, StreamOutput *stream ) |
1190 | { | |
ed7c5844 | 1191 | stream->printf("Commands:\r\n"); |
582559c6 | 1192 | stream->printf("version\r\n"); |
ecc610a4 | 1193 | stream->printf("mem [-v]\r\n"); |
3579deea | 1194 | stream->printf("ls [-s] [folder]\r\n"); |
ed7c5844 | 1195 | stream->printf("cd folder\r\n"); |
c4e56997 | 1196 | stream->printf("pwd\r\n"); |
6c0193b3 | 1197 | stream->printf("cat file [limit] [-d 10]\r\n"); |
9e403697 | 1198 | stream->printf("rm file\r\n"); |
6d877d9b | 1199 | stream->printf("mv file newfile\r\n"); |
12fb447a | 1200 | stream->printf("remount\r\n"); |
4eb0e279 | 1201 | stream->printf("play file [-v]\r\n"); |
ed7c5844 JM |
1202 | stream->printf("progress - shows progress of current play\r\n"); |
1203 | stream->printf("abort - abort currently playing file\r\n"); | |
c4e56997 JM |
1204 | stream->printf("reset - reset smoothie\r\n"); |
1205 | stream->printf("dfu - enter dfu boot loader\r\n"); | |
1206 | stream->printf("break - break into debugger\r\n"); | |
ed7c5844 JM |
1207 | stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n"); |
1208 | stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n"); | |
a9e8c04b | 1209 | stream->printf("get [pos|wcs|state|status|fk|ik]\r\n"); |
5647f709 | 1210 | stream->printf("get temp [bed|hotend]\r\n"); |
991d98cc | 1211 | stream->printf("set_temp bed|hotend 185\r\n"); |
413ea56f | 1212 | stream->printf("switch name [value]\r\n"); |
d4ee6ee2 | 1213 | stream->printf("net\r\n"); |
618c9b0f JM |
1214 | stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n"); |
1215 | stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n"); | |
bbb839c1 JM |
1216 | stream->printf("upload filename - saves a stream of text to the named file\r\n"); |
1217 | stream->printf("calc_thermistor [-s0] T1,R1,T2,R2,T3,R3 - calculate the Steinhart Hart coefficients for a thermistor\r\n"); | |
4c8f5447 | 1218 | stream->printf("thermistors - print out the predefined thermistors\r\n"); |
d55d551b | 1219 | stream->printf("md5sum file - prints md5 sum of the given file\r\n"); |
235a7435 JM |
1220 | } |
1221 |