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" |
3fceb8eb | 15 | #include "modules/robot/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" | |
61134a65 | 28 | |
40843ebc | 29 | #include "TemperatureControlPublicAccess.h" |
9339253b | 30 | #include "EndstopsPublicAccess.h" |
d4ee6ee2 | 31 | #include "NetworkPublicAccess.h" |
a200fc31 | 32 | #include "platform_memory.h" |
ae91dea4 | 33 | #include "SwitchPublicAccess.h" |
3704585b | 34 | #include "SDFAT.h" |
1f8dab1a | 35 | #include "Thermistor.h" |
d55d551b | 36 | #include "md5.h" |
47339e4a | 37 | |
61134a65 JM |
38 | #include "system_LPC17xx.h" |
39 | #include "LPC17xx.h" | |
40 | ||
23eb804b JM |
41 | #include "mbed.h" // for wait_ms() |
42 | ||
6187a020 JM |
43 | extern unsigned int g_maximumHeapAddress; |
44 | ||
ecc610a4 JM |
45 | #include <malloc.h> |
46 | #include <mri.h> | |
47 | #include <stdio.h> | |
48 | #include <stdint.h> | |
49 | ||
50 | extern "C" uint32_t __end__; | |
51 | extern "C" uint32_t __malloc_free_list; | |
52 | extern "C" uint32_t _sbrk(int size); | |
53 | ||
9e403697 | 54 | // command lookup table |
7e81f138 JM |
55 | const SimpleShell::ptentry_t SimpleShell::commands_table[] = { |
56 | {"ls", SimpleShell::ls_command}, | |
57 | {"cd", SimpleShell::cd_command}, | |
58 | {"pwd", SimpleShell::pwd_command}, | |
59 | {"cat", SimpleShell::cat_command}, | |
60 | {"rm", SimpleShell::rm_command}, | |
6d877d9b JM |
61 | {"mv", SimpleShell::mv_command}, |
62 | {"upload", SimpleShell::upload_command}, | |
7e81f138 JM |
63 | {"reset", SimpleShell::reset_command}, |
64 | {"dfu", SimpleShell::dfu_command}, | |
65 | {"break", SimpleShell::break_command}, | |
66 | {"help", SimpleShell::help_command}, | |
67 | {"?", SimpleShell::help_command}, | |
68 | {"version", SimpleShell::version_command}, | |
69 | {"mem", SimpleShell::mem_command}, | |
70 | {"get", SimpleShell::get_command}, | |
71 | {"set_temp", SimpleShell::set_temp_command}, | |
ae91dea4 | 72 | {"switch", SimpleShell::switch_command}, |
7e81f138 JM |
73 | {"net", SimpleShell::net_command}, |
74 | {"load", SimpleShell::load_command}, | |
75 | {"save", SimpleShell::save_command}, | |
6d877d9b | 76 | {"remount", SimpleShell::remount_command}, |
1f8dab1a | 77 | {"calc_thermistor", SimpleShell::calc_thermistor_command}, |
4c8f5447 | 78 | {"thermistors", SimpleShell::print_thermistors_command}, |
d55d551b | 79 | {"md5sum", SimpleShell::md5sum_command}, |
9e403697 JM |
80 | |
81 | // unknown command | |
7e81f138 | 82 | {NULL, NULL} |
9e403697 | 83 | }; |
ecc610a4 | 84 | |
6d877d9b | 85 | int SimpleShell::reset_delay_secs = 0; |
7e81f138 | 86 | |
ecc610a4 | 87 | // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556 |
0c683b26 | 88 | static uint32_t heapWalk(StreamOutput *stream, bool verbose) |
ecc610a4 JM |
89 | { |
90 | uint32_t chunkNumber = 1; | |
91 | // The __end__ linker symbol points to the beginning of the heap. | |
92 | uint32_t chunkCurr = (uint32_t)&__end__; | |
93 | // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks. | |
94 | uint32_t freeCurr = __malloc_free_list; | |
95 | // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap. | |
96 | uint32_t heapEnd = _sbrk(0); | |
97 | // accumulate totals | |
9e403697 JM |
98 | uint32_t freeSize = 0; |
99 | uint32_t usedSize = 0; | |
ecc610a4 JM |
100 | |
101 | stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr); | |
102 | ||
103 | // Walk through the chunks until we hit the end of the heap. | |
9e403697 | 104 | while (chunkCurr < heapEnd) { |
ecc610a4 JM |
105 | // Assume the chunk is in use. Will update later. |
106 | int isChunkFree = 0; | |
107 | // The first 32-bit word in a chunk is the size of the allocation. newlib-nano over allocates by 8 bytes. | |
108 | // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer. | |
9e403697 | 109 | uint32_t chunkSize = *(uint32_t *)chunkCurr; |
ecc610a4 JM |
110 | // The start of the next chunk is right after the end of this one. |
111 | uint32_t chunkNext = chunkCurr + chunkSize; | |
112 | ||
113 | // The free list is sorted by address. | |
114 | // Check to see if we have found the next free chunk in the heap. | |
9e403697 | 115 | if (chunkCurr == freeCurr) { |
ecc610a4 JM |
116 | // Chunk is free so flag it as such. |
117 | isChunkFree = 1; | |
118 | // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address). | |
9e403697 | 119 | freeCurr = *(uint32_t *)(freeCurr + 4); |
ecc610a4 JM |
120 | } |
121 | ||
122 | // Skip past the 32-bit size field in the chunk header. | |
123 | chunkCurr += 4; | |
124 | // 8-byte align the data pointer. | |
125 | chunkCurr = (chunkCurr + 7) & ~7; | |
126 | // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8 | |
127 | // byte-alignment of the returned pointer. | |
128 | chunkSize -= 8; | |
9e403697 | 129 | if (verbose) |
ecc610a4 JM |
130 | stream->printf(" Chunk: %lu Address: 0x%08lX Size: %lu %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : ""); |
131 | ||
9e403697 | 132 | if (isChunkFree) freeSize += chunkSize; |
ecc610a4 JM |
133 | else usedSize += chunkSize; |
134 | ||
135 | chunkCurr = chunkNext; | |
136 | chunkNumber++; | |
137 | } | |
138 | stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize); | |
0c683b26 | 139 | return freeSize; |
ecc610a4 JM |
140 | } |
141 | ||
142 | ||
9e403697 JM |
143 | void SimpleShell::on_module_loaded() |
144 | { | |
0325af12 | 145 | this->register_for_event(ON_CONSOLE_LINE_RECEIVED); |
48afc62a | 146 | this->register_for_event(ON_GCODE_RECEIVED); |
147 | this->register_for_event(ON_SECOND_TICK); | |
c4e56997 | 148 | |
7e81f138 | 149 | reset_delay_secs = 0; |
ead17727 JM |
150 | } |
151 | ||
9e403697 JM |
152 | void SimpleShell::on_second_tick(void *) |
153 | { | |
ead17727 | 154 | // we are timing out for the reset |
7e81f138 JM |
155 | if (reset_delay_secs > 0) { |
156 | if (--reset_delay_secs == 0) { | |
ead17727 JM |
157 | system_reset(false); |
158 | } | |
159 | } | |
0325af12 AW |
160 | } |
161 | ||
9e403697 JM |
162 | void SimpleShell::on_gcode_received(void *argument) |
163 | { | |
164 | Gcode *gcode = static_cast<Gcode *>(argument); | |
6d877d9b | 165 | string args = get_arguments(gcode->get_command()); |
c4e56997 JM |
166 | |
167 | if (gcode->has_m) { | |
168 | if (gcode->m == 20) { // list sd card | |
c4e56997 JM |
169 | gcode->stream->printf("Begin file list\r\n"); |
170 | ls_command("/sd", gcode->stream); | |
171 | gcode->stream->printf("End file list\r\n"); | |
d4ee6ee2 JM |
172 | |
173 | } else if (gcode->m == 30) { // remove file | |
3a238fdc | 174 | rm_command("/sd/" + args, gcode->stream); |
618c9b0f | 175 | |
6d877d9b | 176 | } else if(gcode->m == 501) { // load config override |
618c9b0f JM |
177 | if(args.empty()) { |
178 | load_command("/sd/config-override", gcode->stream); | |
6d877d9b | 179 | } else { |
618c9b0f JM |
180 | load_command("/sd/config-override." + args, gcode->stream); |
181 | } | |
182 | ||
6d877d9b | 183 | } else if(gcode->m == 504) { // save to specific config override file |
618c9b0f JM |
184 | if(args.empty()) { |
185 | save_command("/sd/config-override", gcode->stream); | |
6d877d9b | 186 | } else { |
618c9b0f JM |
187 | save_command("/sd/config-override." + args, gcode->stream); |
188 | } | |
3a238fdc | 189 | } |
c4e56997 JM |
190 | } |
191 | } | |
192 | ||
7e81f138 | 193 | bool SimpleShell::parse_command(const char *cmd, string args, StreamOutput *stream) |
9e403697 | 194 | { |
7e81f138 JM |
195 | for (const ptentry_t *p = commands_table; p->command != NULL; ++p) { |
196 | if (strncasecmp(cmd, p->command, strlen(p->command)) == 0) { | |
197 | p->func(args, stream); | |
9e403697 JM |
198 | return true; |
199 | } | |
200 | } | |
201 | ||
202 | return false; | |
203 | } | |
204 | ||
0325af12 | 205 | // When a new line is received, check if it is a command, and if it is, act upon it |
9e403697 JM |
206 | void SimpleShell::on_console_line_received( void *argument ) |
207 | { | |
208 | SerialMessage new_message = *static_cast<SerialMessage *>(argument); | |
6c0193b3 | 209 | string possible_command = new_message.message; |
7f613782 | 210 | |
6c0193b3 JM |
211 | // ignore anything that is not lowercase or a $ as it is not a command |
212 | if(possible_command.size() == 0 || (!islower(possible_command[0]) && possible_command[0] != '$')) { | |
213 | return; | |
214 | } | |
7f613782 | 215 | |
6c0193b3 JM |
216 | // it is a grbl compatible command |
217 | if(possible_command[0] == '$' && possible_command.size() >= 2) { | |
218 | switch(possible_command[1]) { | |
219 | case 'G': | |
220 | // issue get state | |
221 | get_command("state", new_message.stream); | |
222 | break; | |
223 | ||
224 | case 'X': | |
225 | THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt | |
226 | new_message.stream->printf("[Caution: Unlocked]\n"); | |
227 | break; | |
228 | ||
229 | case '#': | |
230 | grblDP_command("", new_message.stream); | |
231 | break; | |
232 | ||
233 | case 'H': | |
07186543 | 234 | if(THEKERNEL->is_grbl_mode()) { |
8ad60a4c | 235 | // issue G28.2 which is force homing cycle |
53ece53b | 236 | Gcode gcode("G28.2", new_message.stream); |
6c0193b3 | 237 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode); |
07186543 JM |
238 | }else{ |
239 | new_message.stream->printf("error:only supported in GRBL mode\n"); | |
6c0193b3 JM |
240 | } |
241 | break; | |
0325af12 | 242 | |
6c0193b3 | 243 | default: |
07186543 | 244 | new_message.stream->printf("error:Invalid statement\n"); |
6c0193b3 JM |
245 | break; |
246 | } | |
247 | ||
248 | }else{ | |
6187a020 | 249 | |
6c0193b3 JM |
250 | //new_message.stream->printf("Received %s\r\n", possible_command.c_str()); |
251 | string cmd = shift_parameter(possible_command); | |
252 | ||
253 | // find command and execute it | |
254 | if(!parse_command(cmd.c_str(), possible_command, new_message.stream)) { | |
07186543 | 255 | new_message.stream->printf("error:Unsupported command\n"); |
6c0193b3 JM |
256 | } |
257 | } | |
0325af12 AW |
258 | } |
259 | ||
0325af12 AW |
260 | // Act upon an ls command |
261 | // Convert the first parameter into an absolute path, then list the files in that path | |
9e403697 JM |
262 | void SimpleShell::ls_command( string parameters, StreamOutput *stream ) |
263 | { | |
3579deea JM |
264 | string path, opts; |
265 | while(!parameters.empty()) { | |
6d877d9b | 266 | string s = shift_parameter( parameters ); |
3579deea JM |
267 | if(s.front() == '-') { |
268 | opts.append(s); | |
269 | } else { | |
6d877d9b JM |
270 | path = s; |
271 | if(!parameters.empty()) { | |
3579deea JM |
272 | path.append(" "); |
273 | path.append(parameters); | |
274 | } | |
275 | break; | |
276 | } | |
277 | } | |
b557a801 | 278 | |
6d877d9b | 279 | path = absolute_from_relative(path); |
3579deea | 280 | |
9e403697 JM |
281 | DIR *d; |
282 | struct dirent *p; | |
3579deea | 283 | d = opendir(path.c_str()); |
9e403697 JM |
284 | if (d != NULL) { |
285 | while ((p = readdir(d)) != NULL) { | |
3579deea | 286 | stream->printf("%s", lc(string(p->d_name)).c_str()); |
6d877d9b | 287 | if(p->d_isdir) { |
3579deea | 288 | stream->printf("/"); |
6d877d9b | 289 | } else if(opts.find("-s", 0, 2) != string::npos) { |
3579deea JM |
290 | stream->printf(" %d", p->d_fsize); |
291 | } | |
292 | stream->printf("\r\n"); | |
9e403697 | 293 | } |
ed7c5844 | 294 | closedir(d); |
0325af12 | 295 | } else { |
3579deea | 296 | stream->printf("Could not open directory %s\r\n", path.c_str()); |
0325af12 AW |
297 | } |
298 | } | |
299 | ||
3704585b | 300 | extern SDFAT mounter; |
301 | ||
302 | void SimpleShell::remount_command( string parameters, StreamOutput *stream ) | |
303 | { | |
304 | mounter.remount(); | |
48afc62a | 305 | stream->printf("remounted\r\n"); |
12fb447a | 306 | } |
3704585b | 307 | |
9e403697 JM |
308 | // Delete a file |
309 | void SimpleShell::rm_command( string parameters, StreamOutput *stream ) | |
310 | { | |
6d877d9b | 311 | const char *fn = absolute_from_relative(shift_parameter( parameters )).c_str(); |
9e403697 JM |
312 | int s = remove(fn); |
313 | if (s != 0) stream->printf("Could not delete %s \r\n", fn); | |
314 | } | |
315 | ||
6d877d9b JM |
316 | // Rename a file |
317 | void SimpleShell::mv_command( string parameters, StreamOutput *stream ) | |
318 | { | |
319 | string from = absolute_from_relative(shift_parameter( parameters )); | |
a940483b | 320 | string to = absolute_from_relative(shift_parameter(parameters)); |
6d877d9b JM |
321 | int s = rename(from.c_str(), to.c_str()); |
322 | if (s != 0) stream->printf("Could not rename %s to %s\r\n", from.c_str(), to.c_str()); | |
323 | else stream->printf("renamed %s to %s\r\n", from.c_str(), to.c_str()); | |
324 | } | |
325 | ||
0325af12 | 326 | // Change current absolute path to provided path |
9e403697 JM |
327 | void SimpleShell::cd_command( string parameters, StreamOutput *stream ) |
328 | { | |
75f4581c | 329 | string folder = absolute_from_relative( parameters ); |
6bcd4886 | 330 | |
0325af12 | 331 | DIR *d; |
0325af12 | 332 | d = opendir(folder.c_str()); |
9e403697 | 333 | if (d == NULL) { |
58baeec1 | 334 | stream->printf("Could not open directory %s \r\n", folder.c_str() ); |
9e403697 | 335 | } else { |
75f4581c | 336 | THEKERNEL->current_path = folder; |
ed7c5844 | 337 | closedir(d); |
0325af12 AW |
338 | } |
339 | } | |
340 | ||
b7250484 | 341 | // Responds with the present working directory |
9e403697 JM |
342 | void SimpleShell::pwd_command( string parameters, StreamOutput *stream ) |
343 | { | |
75f4581c | 344 | stream->printf("%s\r\n", THEKERNEL->current_path.c_str()); |
b7250484 L |
345 | } |
346 | ||
0325af12 | 347 | // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output ) |
9e403697 JM |
348 | void SimpleShell::cat_command( string parameters, StreamOutput *stream ) |
349 | { | |
58baeec1 | 350 | // Get parameters ( filename and line limit ) |
75f4581c | 351 | string filename = absolute_from_relative(shift_parameter( parameters )); |
1f61f177 | 352 | string limit_parameter = shift_parameter( parameters ); |
0325af12 | 353 | int limit = -1; |
1f61f177 | 354 | int delay= 0; |
2ab3fca6 | 355 | bool send_eof= false; |
1f61f177 JM |
356 | if ( limit_parameter == "-d" ) { |
357 | string d= shift_parameter( parameters ); | |
9e403697 | 358 | char *e = NULL; |
1f61f177 | 359 | delay = strtol(d.c_str(), &e, 10); |
01e97c58 | 360 | if (e <= d.c_str()) { |
1f61f177 JM |
361 | delay = 0; |
362 | ||
01e97c58 JM |
363 | } else { |
364 | send_eof= true; // we need to terminate file send with an eof | |
365 | } | |
366 | ||
1f61f177 JM |
367 | }else if ( limit_parameter != "" ) { |
368 | char *e = NULL; | |
369 | limit = strtol(limit_parameter.c_str(), &e, 10); | |
370 | if (e <= limit_parameter.c_str()) | |
f7e6f459 MM |
371 | limit = -1; |
372 | } | |
58baeec1 | 373 | |
1f61f177 JM |
374 | // we have been asked to delay before cat, probably to allow time to issue upload command |
375 | while(delay-- > 0) { | |
376 | for (int i = 0; i < 10; ++i) { | |
377 | wait_ms(100); | |
378 | THEKERNEL->call_event(ON_IDLE); | |
379 | } | |
380 | } | |
381 | ||
58baeec1 | 382 | // Open file |
0325af12 | 383 | FILE *lp = fopen(filename.c_str(), "r"); |
9e403697 | 384 | if (lp == NULL) { |
58baeec1 MM |
385 | stream->printf("File not found: %s\r\n", filename.c_str()); |
386 | return; | |
9ed670c5 | 387 | } |
0325af12 AW |
388 | string buffer; |
389 | int c; | |
58baeec1 | 390 | int newlines = 0; |
6d877d9b | 391 | int linecnt = 0; |
0325af12 | 392 | // Print each line of the file |
9e403697 | 393 | while ((c = fgetc (lp)) != EOF) { |
58baeec1 | 394 | buffer.append((char *)&c, 1); |
2ab3fca6 JM |
395 | if ( c == '\n' || ++linecnt > 80) { |
396 | if(c == '\n') newlines++; | |
d728799b | 397 | stream->puts(buffer.c_str()); |
58baeec1 | 398 | buffer.clear(); |
6d877d9b | 399 | if(linecnt > 80) linecnt = 0; |
6757ce1a JM |
400 | // we need to kick things or they die |
401 | THEKERNEL->call_event(ON_IDLE); | |
68b7afb4 | 402 | } |
9e403697 JM |
403 | if ( newlines == limit ) { |
404 | break; | |
405 | } | |
58baeec1 | 406 | }; |
0325af12 | 407 | fclose(lp); |
2ab3fca6 JM |
408 | |
409 | if(send_eof) { | |
410 | stream->puts("\032"); // ^Z terminates the upload | |
411 | } | |
6d877d9b JM |
412 | } |
413 | ||
414 | void SimpleShell::upload_command( string parameters, StreamOutput *stream ) | |
415 | { | |
416 | // this needs to be a hack. it needs to read direct from serial and not allow on_main_loop run until done | |
417 | // NOTE this will block all operation until the upload is complete, so do not do while printing | |
418 | if(!THEKERNEL->conveyor->is_queue_empty()) { | |
419 | stream->printf("upload not allowed while printing or busy\n"); | |
420 | return; | |
421 | } | |
422 | ||
423 | // open file to upload to | |
424 | string upload_filename = absolute_from_relative( parameters ); | |
425 | FILE *fd = fopen(upload_filename.c_str(), "w"); | |
426 | if(fd != NULL) { | |
427 | stream->printf("uploading to file: %s, send control-D or control-Z to finish\r\n", upload_filename.c_str()); | |
428 | } else { | |
429 | stream->printf("failed to open file: %s.\r\n", upload_filename.c_str()); | |
430 | return; | |
431 | } | |
0325af12 | 432 | |
6d877d9b JM |
433 | int cnt = 0; |
434 | bool uploading = true; | |
435 | while(uploading) { | |
436 | if(!stream->ready()) { | |
437 | // we need to kick things or they die | |
438 | THEKERNEL->call_event(ON_IDLE); | |
439 | continue; | |
440 | } | |
441 | ||
442 | char c = stream->_getc(); | |
443 | if( c == 4 || c == 26) { // ctrl-D or ctrl-Z | |
444 | uploading = false; | |
445 | // close file | |
446 | fclose(fd); | |
447 | stream->printf("uploaded %d bytes\n", cnt); | |
448 | return; | |
449 | ||
450 | } else { | |
451 | // write character to file | |
452 | cnt++; | |
453 | if(fputc(c, fd) != c) { | |
454 | // error writing to file | |
455 | stream->printf("error writing to file. ignoring all characters until EOF\r\n"); | |
456 | fclose(fd); | |
457 | fd = NULL; | |
458 | uploading= false; | |
459 | ||
460 | } else { | |
461 | if ((cnt%400) == 0) { | |
462 | // HACK ALERT to get around fwrite corruption close and re open for append | |
463 | fclose(fd); | |
464 | fd = fopen(upload_filename.c_str(), "a"); | |
6757ce1a JM |
465 | // we need to kick things or they die |
466 | THEKERNEL->call_event(ON_IDLE); | |
6d877d9b JM |
467 | } |
468 | } | |
469 | } | |
470 | } | |
471 | // we got an error so ignore everything until EOF | |
472 | char c; | |
473 | do { | |
474 | if(stream->ready()) { | |
475 | c= stream->_getc(); | |
476 | }else{ | |
477 | THEKERNEL->call_event(ON_IDLE); | |
478 | c= 0; | |
479 | } | |
480 | } while(c != 4 && c != 26); | |
0325af12 AW |
481 | } |
482 | ||
618c9b0f JM |
483 | // loads the specified config-override file |
484 | void SimpleShell::load_command( string parameters, StreamOutput *stream ) | |
485 | { | |
486 | // Get parameters ( filename ) | |
75f4581c | 487 | string filename = absolute_from_relative(parameters); |
618c9b0f JM |
488 | if(filename == "/") { |
489 | filename = THEKERNEL->config_override_filename(); | |
490 | } | |
491 | ||
6d877d9b | 492 | FILE *fp = fopen(filename.c_str(), "r"); |
618c9b0f JM |
493 | if(fp != NULL) { |
494 | char buf[132]; | |
495 | stream->printf("Loading config override file: %s...\n", filename.c_str()); | |
496 | while(fgets(buf, sizeof buf, fp) != NULL) { | |
497 | stream->printf(" %s", buf); | |
498 | if(buf[0] == ';') continue; // skip the comments | |
6d877d9b | 499 | struct SerialMessage message = {&(StreamOutput::NullStream), buf}; |
618c9b0f JM |
500 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message); |
501 | } | |
502 | stream->printf("config override file executed\n"); | |
503 | fclose(fp); | |
504 | ||
6d877d9b | 505 | } else { |
618c9b0f JM |
506 | stream->printf("File not found: %s\n", filename.c_str()); |
507 | } | |
508 | } | |
509 | ||
510 | // saves the specified config-override file | |
511 | void SimpleShell::save_command( string parameters, StreamOutput *stream ) | |
512 | { | |
513 | // Get parameters ( filename ) | |
75f4581c | 514 | string filename = absolute_from_relative(parameters); |
618c9b0f JM |
515 | if(filename == "/") { |
516 | filename = THEKERNEL->config_override_filename(); | |
517 | } | |
518 | ||
23eb804b JM |
519 | THEKERNEL->conveyor->wait_for_empty_queue(); //just to be safe as it can take a while to run |
520 | ||
06afe68b JM |
521 | //remove(filename.c_str()); // seems to cause a hang every now and then |
522 | { | |
523 | FileStream fs(filename.c_str()); | |
524 | fs.printf("; DO NOT EDIT THIS FILE\n"); | |
525 | // this also will truncate the existing file instead of deleting it | |
526 | } | |
527 | ||
23eb804b | 528 | // stream that appends to file |
4fed9ba1 JM |
529 | AppendFileStream *gs = new AppendFileStream(filename.c_str()); |
530 | // if(!gs->is_open()) { | |
531 | // stream->printf("Unable to open File %s for write\n", filename.c_str()); | |
532 | // return; | |
533 | // } | |
618c9b0f | 534 | |
7acfedab | 535 | __disable_irq(); |
618c9b0f JM |
536 | // issue a M500 which will store values in the file stream |
537 | Gcode *gcode = new Gcode("M500", gs); | |
538 | THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode ); | |
539 | delete gs; | |
540 | delete gcode; | |
7acfedab | 541 | __enable_irq(); |
618c9b0f JM |
542 | |
543 | stream->printf("Settings Stored to %s\r\n", filename.c_str()); | |
544 | } | |
545 | ||
6187a020 | 546 | // show free memory |
9e403697 JM |
547 | void SimpleShell::mem_command( string parameters, StreamOutput *stream) |
548 | { | |
549 | bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos ; | |
550 | unsigned long heap = (unsigned long)_sbrk(0); | |
551 | unsigned long m = g_maximumHeapAddress - heap; | |
ecc610a4 JM |
552 | stream->printf("Unused Heap: %lu bytes\r\n", m); |
553 | ||
6d877d9b | 554 | uint32_t f = heapWalk(stream, verbose); |
0c683b26 | 555 | stream->printf("Total Free RAM: %lu bytes\r\n", m + f); |
a200fc31 | 556 | |
0c683b26 | 557 | stream->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0.free(), AHB1.free()); |
6d877d9b | 558 | if (verbose) { |
1803076a MM |
559 | AHB0.debug(stream); |
560 | AHB1.debug(stream); | |
561 | } | |
6187a020 JM |
562 | } |
563 | ||
9e403697 JM |
564 | static uint32_t getDeviceType() |
565 | { | |
566 | #define IAP_LOCATION 0x1FFF1FF1 | |
01f35bcc JM |
567 | uint32_t command[1]; |
568 | uint32_t result[5]; | |
9e403697 | 569 | typedef void (*IAP)(uint32_t *, uint32_t *); |
01f35bcc JM |
570 | IAP iap = (IAP) IAP_LOCATION; |
571 | ||
572 | __disable_irq(); | |
573 | ||
574 | command[0] = 54; | |
575 | iap(command, result); | |
576 | ||
577 | __enable_irq(); | |
578 | ||
579 | return result[1]; | |
580 | } | |
581 | ||
d4ee6ee2 JM |
582 | // get network config |
583 | void SimpleShell::net_command( string parameters, StreamOutput *stream) | |
584 | { | |
585 | void *returned_data; | |
6d877d9b | 586 | bool ok = PublicData::get_value( network_checksum, get_ipconfig_checksum, &returned_data ); |
d4ee6ee2 | 587 | if(ok) { |
6d877d9b | 588 | char *str = (char *)returned_data; |
d4ee6ee2 JM |
589 | stream->printf("%s\r\n", str); |
590 | free(str); | |
591 | ||
6d877d9b | 592 | } else { |
d4ee6ee2 JM |
593 | stream->printf("No network detected\n"); |
594 | } | |
595 | } | |
596 | ||
582559c6 | 597 | // print out build version |
9e403697 JM |
598 | void SimpleShell::version_command( string parameters, StreamOutput *stream) |
599 | { | |
582559c6 | 600 | Version vers; |
9e403697 JM |
601 | uint32_t dev = getDeviceType(); |
602 | const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768"; | |
01f35bcc | 603 | 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); |
582559c6 JM |
604 | } |
605 | ||
77983aa1 | 606 | // Reset the system |
9e403697 JM |
607 | void SimpleShell::reset_command( string parameters, StreamOutput *stream) |
608 | { | |
ead17727 | 609 | stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n"); |
7e81f138 | 610 | reset_delay_secs = 5; // reboot in 5 seconds |
2742fca9 JM |
611 | } |
612 | ||
613 | // go into dfu boot mode | |
9e403697 JM |
614 | void SimpleShell::dfu_command( string parameters, StreamOutput *stream) |
615 | { | |
ed7c5844 JM |
616 | stream->printf("Entering boot mode...\r\n"); |
617 | system_reset(true); | |
77983aa1 L |
618 | } |
619 | ||
0f0b1656 | 620 | // Break out into the MRI debugging system |
9e403697 JM |
621 | void SimpleShell::break_command( string parameters, StreamOutput *stream) |
622 | { | |
0f0b1656 L |
623 | stream->printf("Entering MRI debug mode...\r\n"); |
624 | __debugbreak(); | |
625 | } | |
626 | ||
40843ebc JM |
627 | static int get_active_tool() |
628 | { | |
335957f5 | 629 | void *returned_data; |
40843ebc JM |
630 | bool ok = PublicData::get_value(tool_manager_checksum, get_active_tool_checksum, &returned_data); |
631 | if (ok) { | |
335957f5 JM |
632 | int active_tool= *static_cast<int *>(returned_data); |
633 | return active_tool; | |
40843ebc JM |
634 | } else { |
635 | return 0; | |
636 | } | |
637 | } | |
638 | ||
6c0193b3 JM |
639 | void SimpleShell::grblDP_command( string parameters, StreamOutput *stream) |
640 | { | |
641 | /* | |
642 | [G54:95.000,40.000,-23.600] | |
643 | [G55:0.000,0.000,0.000] | |
644 | [G56:0.000,0.000,0.000] | |
645 | [G57:0.000,0.000,0.000] | |
646 | [G58:0.000,0.000,0.000] | |
647 | [G59:0.000,0.000,0.000] | |
648 | [G28:0.000,0.000,0.000] | |
649 | [G30:0.000,0.000,0.000] | |
650 | [G92:0.000,0.000,0.000] | |
651 | [TLO:0.000] | |
652 | [PRB:0.000,0.000,0.000:0] | |
653 | */ | |
654 | std::vector<Robot::wcs_t> v= THEKERNEL->robot->get_wcs_state(); | |
655 | int n= std::get<1>(v[0]); | |
656 | for (int i = 1; i <= n; ++i) { | |
657 | stream->printf("[%s:%1.3f,%1.3f,%1.3f]\n", wcs2gcode(i-1).c_str(), std::get<0>(v[i]), std::get<1>(v[i]), std::get<2>(v[i])); | |
658 | } | |
659 | ||
9339253b JM |
660 | float *rd; |
661 | PublicData::get_value( endstops_checksum, saved_position_checksum, &rd ); | |
662 | stream->printf("[G28:%1.3f,%1.3f,%1.3f]\n", rd[0], rd[1], rd[2]); | |
663 | stream->printf("[G30:%1.3f,%1.3f,%1.3f]\n", 0.0F, 0.0F, 0.0F); // not implemented | |
664 | ||
6c0193b3 JM |
665 | stream->printf("[G92:%1.3f,%1.3f,%1.3f]\n", std::get<0>(v[n+1]), std::get<1>(v[n+1]), std::get<2>(v[n+1])); |
666 | stream->printf("[TL0:%1.3f]\n", std::get<2>(v[n+2])); | |
667 | ||
e714bd32 | 668 | // TODO this should be the last probe position, which will be this if probe was the last thing done |
6c0193b3 JM |
669 | float current_machine_pos[3]; |
670 | THEKERNEL->robot->get_axis_position(current_machine_pos); | |
671 | stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", current_machine_pos[X_AXIS], current_machine_pos[Y_AXIS], current_machine_pos[Z_AXIS], 0); | |
672 | } | |
673 | ||
8293d443 | 674 | // used to test out the get public data events |
9e403697 JM |
675 | void SimpleShell::get_command( string parameters, StreamOutput *stream) |
676 | { | |
7e81f138 | 677 | string what = shift_parameter( parameters ); |
c4e56997 | 678 | |
7e81f138 | 679 | if (what == "temp") { |
3bfb2639 | 680 | struct pad_temperature temp; |
9e403697 | 681 | string type = shift_parameter( parameters ); |
56a6c8c1 JM |
682 | if(type.empty()) { |
683 | // scan all temperature controls | |
684 | std::vector<struct pad_temperature> controllers; | |
685 | bool ok = PublicData::get_value(temperature_control_checksum, poll_controls_checksum, &controllers); | |
686 | if (ok) { | |
687 | for (auto &c : controllers) { | |
688 | stream->printf("%s (%d) temp: %f/%f @%d\r\n", c.designator.c_str(), c.id, c.current_temperature, c.target_temperature, c.pwm); | |
689 | } | |
b55cfff1 | 690 | |
56a6c8c1 JM |
691 | } else { |
692 | stream->printf("no heaters found\r\n"); | |
693 | } | |
694 | ||
695 | }else{ | |
696 | bool ok = PublicData::get_value( temperature_control_checksum, current_temperature_checksum, get_checksum(type), &temp ); | |
697 | ||
698 | if (ok) { | |
699 | stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm); | |
700 | } else { | |
701 | stream->printf("%s is not a known temperature device\r\n", type.c_str()); | |
702 | } | |
b55cfff1 | 703 | } |
c4e56997 | 704 | |
7e81f138 | 705 | } else if (what == "pos") { |
e03f2747 JM |
706 | // convenience to call all the various M114 variants |
707 | char buf[64]; | |
708 | THEKERNEL->robot->print_position(0, buf, sizeof buf); stream->printf("last %s\n", buf); | |
709 | THEKERNEL->robot->print_position(1, buf, sizeof buf); stream->printf("realtime %s\n", buf); | |
710 | THEKERNEL->robot->print_position(2, buf, sizeof buf); stream->printf("%s\n", buf); | |
711 | THEKERNEL->robot->print_position(3, buf, sizeof buf); stream->printf("%s\n", buf); | |
712 | THEKERNEL->robot->print_position(4, buf, sizeof buf); stream->printf("%s\n", buf); | |
713 | THEKERNEL->robot->print_position(5, buf, sizeof buf); stream->printf("%s\n", buf); | |
34210908 JM |
714 | |
715 | } else if (what == "wcs") { | |
716 | // print the wcs state | |
717 | std::vector<Robot::wcs_t> v= THEKERNEL->robot->get_wcs_state(); | |
718 | char current_wcs= std::get<0>(v[0]); | |
40fd5d98 | 719 | stream->printf("current WCS: %s\n", wcs2gcode(current_wcs).c_str()); |
34210908 JM |
720 | int n= std::get<1>(v[0]); |
721 | for (int i = 1; i <= n; ++i) { | |
40fd5d98 | 722 | stream->printf("%s: %1.4f, %1.4f, %1.4f\n", wcs2gcode(i-1).c_str(), std::get<0>(v[i]), std::get<1>(v[i]), std::get<2>(v[i])); |
34210908 JM |
723 | } |
724 | ||
725 | stream->printf("G92: %1.4f, %1.4f, %1.4f\n", std::get<0>(v[n+1]), std::get<1>(v[n+1]), std::get<2>(v[n+1])); | |
726 | stream->printf("ToolOffset: %1.4f, %1.4f, %1.4f\n", std::get<0>(v[n+2]), std::get<1>(v[n+2]), std::get<2>(v[n+2])); | |
40843ebc JM |
727 | |
728 | } else if (what == "state") { | |
6c0193b3 | 729 | // also $G |
40843ebc | 730 | // [G0 G54 G17 G21 G90 G94 M0 M5 M9 T0 F0.] |
6c0193b3 | 731 | stream->printf("[G%d %s G%d G%d G%d G94 M0 M5 M9 T%d F%1.1f]\n", |
40843ebc JM |
732 | THEKERNEL->gcode_dispatch->get_modal_command(), |
733 | wcs2gcode(THEKERNEL->robot->get_current_wcs()).c_str(), | |
734 | THEKERNEL->robot->plane_axis_0 == X_AXIS && THEKERNEL->robot->plane_axis_1 == Y_AXIS && THEKERNEL->robot->plane_axis_2 == Z_AXIS ? 17 : | |
735 | THEKERNEL->robot->plane_axis_0 == X_AXIS && THEKERNEL->robot->plane_axis_1 == Z_AXIS && THEKERNEL->robot->plane_axis_2 == Y_AXIS ? 18 : | |
736 | THEKERNEL->robot->plane_axis_0 == Y_AXIS && THEKERNEL->robot->plane_axis_1 == Z_AXIS && THEKERNEL->robot->plane_axis_2 == X_AXIS ? 19 : 17, | |
737 | THEKERNEL->robot->inch_mode ? 20 : 21, | |
738 | THEKERNEL->robot->absolute_mode ? 90 : 91, | |
739 | get_active_tool(), | |
740 | THEKERNEL->robot->get_feed_rate()); | |
6c0193b3 JM |
741 | |
742 | } else { | |
07186543 | 743 | stream->printf("error:unknown option %s\n", what.c_str()); |
b55cfff1 | 744 | } |
8293d443 JM |
745 | } |
746 | ||
77047e76 | 747 | // used to test out the get public data events |
9e403697 JM |
748 | void SimpleShell::set_temp_command( string parameters, StreamOutput *stream) |
749 | { | |
750 | string type = shift_parameter( parameters ); | |
751 | string temp = shift_parameter( parameters ); | |
04211969 | 752 | float t = temp.empty() ? 0.0 : strtof(temp.c_str(), NULL); |
75e6428d | 753 | bool ok = PublicData::set_value( temperature_control_checksum, get_checksum(type), &t ); |
991d98cc | 754 | |
9e403697 | 755 | if (ok) { |
991d98cc | 756 | stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t); |
9e403697 | 757 | } else { |
991d98cc JM |
758 | stream->printf("%s is not a known temperature device\r\n", type.c_str()); |
759 | } | |
77047e76 JM |
760 | } |
761 | ||
4c8f5447 JM |
762 | void SimpleShell::print_thermistors_command( string parameters, StreamOutput *stream) |
763 | { | |
764 | Thermistor::print_predefined_thermistors(stream); | |
765 | } | |
766 | ||
1f8dab1a JM |
767 | void SimpleShell::calc_thermistor_command( string parameters, StreamOutput *stream) |
768 | { | |
bbb839c1 JM |
769 | string s = shift_parameter( parameters ); |
770 | int saveto= -1; | |
771 | // see if we have -sn as first argument | |
772 | if(s.find("-s", 0, 2) != string::npos) { | |
773 | // save the results to thermistor n | |
774 | saveto= strtol(s.substr(2).c_str(), nullptr, 10); | |
775 | }else{ | |
776 | parameters= s; | |
777 | } | |
778 | ||
1f8dab1a JM |
779 | std::vector<float> trl= parse_number_list(parameters.c_str()); |
780 | if(trl.size() == 6) { | |
781 | // calculate the coefficients | |
782 | float c1, c2, c3; | |
783 | std::tie(c1, c2, c3) = Thermistor::calculate_steinhart_hart_coefficients(trl[0], trl[1], trl[2], trl[3], trl[4], trl[5]); | |
784 | stream->printf("Steinhart Hart coefficients: I%1.18f J%1.18f K%1.18f\n", c1, c2, c3); | |
bbb839c1 JM |
785 | if(saveto == -1) { |
786 | stream->printf(" Paste the above in the M305 S0 command, then save with M500\n"); | |
787 | }else{ | |
788 | char buf[80]; | |
789 | int n = snprintf(buf, sizeof(buf), "M305 S%d I%1.18f J%1.18f K%1.18f", saveto, c1, c2, c3); | |
790 | string g(buf, n); | |
791 | Gcode gcode(g, &(StreamOutput::NullStream)); | |
792 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode ); | |
793 | stream->printf(" Setting Thermistor %d to those settings, save with M500\n", saveto); | |
794 | } | |
1f8dab1a JM |
795 | |
796 | }else{ | |
797 | // give help | |
798 | stream->printf("Usage: calc_thermistor T1,R1,T2,R2,T3,R3\n"); | |
799 | } | |
800 | } | |
801 | ||
ae91dea4 JM |
802 | // used to test out the get public data events for switch |
803 | void SimpleShell::switch_command( string parameters, StreamOutput *stream) | |
804 | { | |
805 | string type = shift_parameter( parameters ); | |
806 | string value = shift_parameter( parameters ); | |
6d877d9b | 807 | bool ok = false; |
ae91dea4 | 808 | if(value == "on" || value == "off") { |
6d877d9b | 809 | bool b = value == "on"; |
ae91dea4 | 810 | ok = PublicData::set_value( switch_checksum, get_checksum(type), state_checksum, &b ); |
6d877d9b | 811 | } else { |
ae91dea4 JM |
812 | float v = strtof(value.c_str(), NULL); |
813 | ok = PublicData::set_value( switch_checksum, get_checksum(type), value_checksum, &v ); | |
814 | } | |
815 | if (ok) { | |
816 | stream->printf("switch %s set to: %s\r\n", type.c_str(), value.c_str()); | |
817 | } else { | |
818 | stream->printf("%s is not a known switch device\r\n", type.c_str()); | |
819 | } | |
820 | } | |
821 | ||
d55d551b JM |
822 | void SimpleShell::md5sum_command( string parameters, StreamOutput *stream ) |
823 | { | |
824 | string filename = absolute_from_relative(parameters); | |
825 | ||
826 | // Open file | |
827 | FILE *lp = fopen(filename.c_str(), "r"); | |
828 | if (lp == NULL) { | |
829 | stream->printf("File not found: %s\r\n", filename.c_str()); | |
830 | return; | |
831 | } | |
832 | MD5 md5; | |
833 | uint8_t buf[64]; | |
834 | do { | |
835 | size_t n= fread(buf, 1, sizeof buf, lp); | |
836 | if(n > 0) md5.update(buf, n); | |
2a95b07e | 837 | THEKERNEL->call_event(ON_IDLE); |
d55d551b JM |
838 | } while(!feof(lp)); |
839 | ||
840 | stream->printf("%s %s\n", md5.finalize().hexdigest().c_str(), filename.c_str()); | |
841 | fclose(lp); | |
842 | } | |
843 | ||
844 | ||
845 | ||
9e403697 JM |
846 | void SimpleShell::help_command( string parameters, StreamOutput *stream ) |
847 | { | |
ed7c5844 | 848 | stream->printf("Commands:\r\n"); |
582559c6 | 849 | stream->printf("version\r\n"); |
ecc610a4 | 850 | stream->printf("mem [-v]\r\n"); |
3579deea | 851 | stream->printf("ls [-s] [folder]\r\n"); |
ed7c5844 | 852 | stream->printf("cd folder\r\n"); |
c4e56997 | 853 | stream->printf("pwd\r\n"); |
6c0193b3 | 854 | stream->printf("cat file [limit] [-d 10]\r\n"); |
9e403697 | 855 | stream->printf("rm file\r\n"); |
6d877d9b | 856 | stream->printf("mv file newfile\r\n"); |
12fb447a | 857 | stream->printf("remount\r\n"); |
4eb0e279 | 858 | stream->printf("play file [-v]\r\n"); |
ed7c5844 JM |
859 | stream->printf("progress - shows progress of current play\r\n"); |
860 | stream->printf("abort - abort currently playing file\r\n"); | |
c4e56997 JM |
861 | stream->printf("reset - reset smoothie\r\n"); |
862 | stream->printf("dfu - enter dfu boot loader\r\n"); | |
863 | stream->printf("break - break into debugger\r\n"); | |
ed7c5844 JM |
864 | stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n"); |
865 | stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n"); | |
5647f709 | 866 | stream->printf("get temp [bed|hotend]\r\n"); |
991d98cc | 867 | stream->printf("set_temp bed|hotend 185\r\n"); |
b55cfff1 | 868 | stream->printf("get pos\r\n"); |
6c0193b3 JM |
869 | stream->printf("get wcs\r\n"); |
870 | stream->printf("get state\r\n"); | |
d4ee6ee2 | 871 | stream->printf("net\r\n"); |
618c9b0f JM |
872 | stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n"); |
873 | stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n"); | |
bbb839c1 JM |
874 | stream->printf("upload filename - saves a stream of text to the named file\r\n"); |
875 | stream->printf("calc_thermistor [-s0] T1,R1,T2,R2,T3,R3 - calculate the Steinhart Hart coefficients for a thermistor\r\n"); | |
4c8f5447 | 876 | stream->printf("thermistors - print out the predefined thermistors\r\n"); |
d55d551b | 877 | stream->printf("md5sum file - prints md5 sum of the given file\r\n"); |
235a7435 JM |
878 | } |
879 |