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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" |
d4ee6ee2 | 30 | #include "NetworkPublicAccess.h" |
a200fc31 | 31 | #include "platform_memory.h" |
ae91dea4 | 32 | #include "SwitchPublicAccess.h" |
3704585b | 33 | #include "SDFAT.h" |
1f8dab1a | 34 | #include "Thermistor.h" |
d55d551b | 35 | #include "md5.h" |
47339e4a | 36 | |
61134a65 JM |
37 | #include "system_LPC17xx.h" |
38 | #include "LPC17xx.h" | |
39 | ||
23eb804b JM |
40 | #include "mbed.h" // for wait_ms() |
41 | ||
6187a020 JM |
42 | extern unsigned int g_maximumHeapAddress; |
43 | ||
ecc610a4 JM |
44 | #include <malloc.h> |
45 | #include <mri.h> | |
46 | #include <stdio.h> | |
47 | #include <stdint.h> | |
48 | ||
49 | extern "C" uint32_t __end__; | |
50 | extern "C" uint32_t __malloc_free_list; | |
51 | extern "C" uint32_t _sbrk(int size); | |
52 | ||
9e403697 | 53 | // command lookup table |
7e81f138 JM |
54 | const SimpleShell::ptentry_t SimpleShell::commands_table[] = { |
55 | {"ls", SimpleShell::ls_command}, | |
56 | {"cd", SimpleShell::cd_command}, | |
57 | {"pwd", SimpleShell::pwd_command}, | |
58 | {"cat", SimpleShell::cat_command}, | |
59 | {"rm", SimpleShell::rm_command}, | |
6d877d9b JM |
60 | {"mv", SimpleShell::mv_command}, |
61 | {"upload", SimpleShell::upload_command}, | |
7e81f138 JM |
62 | {"reset", SimpleShell::reset_command}, |
63 | {"dfu", SimpleShell::dfu_command}, | |
64 | {"break", SimpleShell::break_command}, | |
65 | {"help", SimpleShell::help_command}, | |
66 | {"?", SimpleShell::help_command}, | |
67 | {"version", SimpleShell::version_command}, | |
68 | {"mem", SimpleShell::mem_command}, | |
69 | {"get", SimpleShell::get_command}, | |
70 | {"set_temp", SimpleShell::set_temp_command}, | |
ae91dea4 | 71 | {"switch", SimpleShell::switch_command}, |
7e81f138 JM |
72 | {"net", SimpleShell::net_command}, |
73 | {"load", SimpleShell::load_command}, | |
74 | {"save", SimpleShell::save_command}, | |
6d877d9b | 75 | {"remount", SimpleShell::remount_command}, |
1f8dab1a | 76 | {"calc_thermistor", SimpleShell::calc_thermistor_command}, |
4c8f5447 | 77 | {"thermistors", SimpleShell::print_thermistors_command}, |
d55d551b | 78 | {"md5sum", SimpleShell::md5sum_command}, |
9e403697 JM |
79 | |
80 | // unknown command | |
7e81f138 | 81 | {NULL, NULL} |
9e403697 | 82 | }; |
ecc610a4 | 83 | |
6d877d9b | 84 | int SimpleShell::reset_delay_secs = 0; |
7e81f138 | 85 | |
ecc610a4 | 86 | // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556 |
0c683b26 | 87 | static uint32_t heapWalk(StreamOutput *stream, bool verbose) |
ecc610a4 JM |
88 | { |
89 | uint32_t chunkNumber = 1; | |
90 | // The __end__ linker symbol points to the beginning of the heap. | |
91 | uint32_t chunkCurr = (uint32_t)&__end__; | |
92 | // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks. | |
93 | uint32_t freeCurr = __malloc_free_list; | |
94 | // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap. | |
95 | uint32_t heapEnd = _sbrk(0); | |
96 | // accumulate totals | |
9e403697 JM |
97 | uint32_t freeSize = 0; |
98 | uint32_t usedSize = 0; | |
ecc610a4 JM |
99 | |
100 | stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr); | |
101 | ||
102 | // Walk through the chunks until we hit the end of the heap. | |
9e403697 | 103 | while (chunkCurr < heapEnd) { |
ecc610a4 JM |
104 | // Assume the chunk is in use. Will update later. |
105 | int isChunkFree = 0; | |
106 | // The first 32-bit word in a chunk is the size of the allocation. newlib-nano over allocates by 8 bytes. | |
107 | // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer. | |
9e403697 | 108 | uint32_t chunkSize = *(uint32_t *)chunkCurr; |
ecc610a4 JM |
109 | // The start of the next chunk is right after the end of this one. |
110 | uint32_t chunkNext = chunkCurr + chunkSize; | |
111 | ||
112 | // The free list is sorted by address. | |
113 | // Check to see if we have found the next free chunk in the heap. | |
9e403697 | 114 | if (chunkCurr == freeCurr) { |
ecc610a4 JM |
115 | // Chunk is free so flag it as such. |
116 | isChunkFree = 1; | |
117 | // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address). | |
9e403697 | 118 | freeCurr = *(uint32_t *)(freeCurr + 4); |
ecc610a4 JM |
119 | } |
120 | ||
121 | // Skip past the 32-bit size field in the chunk header. | |
122 | chunkCurr += 4; | |
123 | // 8-byte align the data pointer. | |
124 | chunkCurr = (chunkCurr + 7) & ~7; | |
125 | // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8 | |
126 | // byte-alignment of the returned pointer. | |
127 | chunkSize -= 8; | |
9e403697 | 128 | if (verbose) |
ecc610a4 JM |
129 | stream->printf(" Chunk: %lu Address: 0x%08lX Size: %lu %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : ""); |
130 | ||
9e403697 | 131 | if (isChunkFree) freeSize += chunkSize; |
ecc610a4 JM |
132 | else usedSize += chunkSize; |
133 | ||
134 | chunkCurr = chunkNext; | |
135 | chunkNumber++; | |
136 | } | |
137 | stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize); | |
0c683b26 | 138 | return freeSize; |
ecc610a4 JM |
139 | } |
140 | ||
141 | ||
9e403697 JM |
142 | void SimpleShell::on_module_loaded() |
143 | { | |
0325af12 | 144 | this->register_for_event(ON_CONSOLE_LINE_RECEIVED); |
48afc62a | 145 | this->register_for_event(ON_GCODE_RECEIVED); |
146 | this->register_for_event(ON_SECOND_TICK); | |
c4e56997 | 147 | |
7e81f138 | 148 | reset_delay_secs = 0; |
ead17727 JM |
149 | } |
150 | ||
9e403697 JM |
151 | void SimpleShell::on_second_tick(void *) |
152 | { | |
ead17727 | 153 | // we are timing out for the reset |
7e81f138 JM |
154 | if (reset_delay_secs > 0) { |
155 | if (--reset_delay_secs == 0) { | |
ead17727 JM |
156 | system_reset(false); |
157 | } | |
158 | } | |
0325af12 AW |
159 | } |
160 | ||
9e403697 JM |
161 | void SimpleShell::on_gcode_received(void *argument) |
162 | { | |
163 | Gcode *gcode = static_cast<Gcode *>(argument); | |
6d877d9b | 164 | string args = get_arguments(gcode->get_command()); |
c4e56997 JM |
165 | |
166 | if (gcode->has_m) { | |
167 | if (gcode->m == 20) { // list sd card | |
c4e56997 JM |
168 | gcode->stream->printf("Begin file list\r\n"); |
169 | ls_command("/sd", gcode->stream); | |
170 | gcode->stream->printf("End file list\r\n"); | |
d4ee6ee2 JM |
171 | |
172 | } else if (gcode->m == 30) { // remove file | |
3a238fdc | 173 | rm_command("/sd/" + args, gcode->stream); |
618c9b0f | 174 | |
6d877d9b | 175 | } else if(gcode->m == 501) { // load config override |
618c9b0f JM |
176 | if(args.empty()) { |
177 | load_command("/sd/config-override", gcode->stream); | |
6d877d9b | 178 | } else { |
618c9b0f JM |
179 | load_command("/sd/config-override." + args, gcode->stream); |
180 | } | |
181 | ||
6d877d9b | 182 | } else if(gcode->m == 504) { // save to specific config override file |
618c9b0f JM |
183 | if(args.empty()) { |
184 | save_command("/sd/config-override", gcode->stream); | |
6d877d9b | 185 | } else { |
618c9b0f JM |
186 | save_command("/sd/config-override." + args, gcode->stream); |
187 | } | |
3a238fdc | 188 | } |
c4e56997 JM |
189 | } |
190 | } | |
191 | ||
7e81f138 | 192 | bool SimpleShell::parse_command(const char *cmd, string args, StreamOutput *stream) |
9e403697 | 193 | { |
7e81f138 JM |
194 | for (const ptentry_t *p = commands_table; p->command != NULL; ++p) { |
195 | if (strncasecmp(cmd, p->command, strlen(p->command)) == 0) { | |
196 | p->func(args, stream); | |
9e403697 JM |
197 | return true; |
198 | } | |
199 | } | |
200 | ||
201 | return false; | |
202 | } | |
203 | ||
0325af12 | 204 | // When a new line is received, check if it is a command, and if it is, act upon it |
9e403697 JM |
205 | void SimpleShell::on_console_line_received( void *argument ) |
206 | { | |
207 | SerialMessage new_message = *static_cast<SerialMessage *>(argument); | |
7f613782 | 208 | |
7e81f138 JM |
209 | // ignore comments and blank lines and if this is a G code then also ignore it |
210 | char first_char = new_message.message[0]; | |
211 | if(strchr(";( \n\rGMTN", first_char) != NULL) return; | |
7f613782 | 212 | |
b6c86164 | 213 | string possible_command = new_message.message; |
0325af12 | 214 | |
3add9a23 | 215 | //new_message.stream->printf("Received %s\r\n", possible_command.c_str()); |
7e81f138 | 216 | string cmd = shift_parameter(possible_command); |
6187a020 | 217 | |
9e403697 | 218 | // find command and execute it |
7e81f138 | 219 | parse_command(cmd.c_str(), possible_command, new_message.stream); |
0325af12 AW |
220 | } |
221 | ||
0325af12 AW |
222 | // Act upon an ls command |
223 | // Convert the first parameter into an absolute path, then list the files in that path | |
9e403697 JM |
224 | void SimpleShell::ls_command( string parameters, StreamOutput *stream ) |
225 | { | |
3579deea JM |
226 | string path, opts; |
227 | while(!parameters.empty()) { | |
6d877d9b | 228 | string s = shift_parameter( parameters ); |
3579deea JM |
229 | if(s.front() == '-') { |
230 | opts.append(s); | |
231 | } else { | |
6d877d9b JM |
232 | path = s; |
233 | if(!parameters.empty()) { | |
3579deea JM |
234 | path.append(" "); |
235 | path.append(parameters); | |
236 | } | |
237 | break; | |
238 | } | |
239 | } | |
b557a801 | 240 | |
6d877d9b | 241 | path = absolute_from_relative(path); |
3579deea | 242 | |
9e403697 JM |
243 | DIR *d; |
244 | struct dirent *p; | |
3579deea | 245 | d = opendir(path.c_str()); |
9e403697 JM |
246 | if (d != NULL) { |
247 | while ((p = readdir(d)) != NULL) { | |
3579deea | 248 | stream->printf("%s", lc(string(p->d_name)).c_str()); |
6d877d9b | 249 | if(p->d_isdir) { |
3579deea | 250 | stream->printf("/"); |
6d877d9b | 251 | } else if(opts.find("-s", 0, 2) != string::npos) { |
3579deea JM |
252 | stream->printf(" %d", p->d_fsize); |
253 | } | |
254 | stream->printf("\r\n"); | |
9e403697 | 255 | } |
ed7c5844 | 256 | closedir(d); |
0325af12 | 257 | } else { |
3579deea | 258 | stream->printf("Could not open directory %s\r\n", path.c_str()); |
0325af12 AW |
259 | } |
260 | } | |
261 | ||
3704585b | 262 | extern SDFAT mounter; |
263 | ||
264 | void SimpleShell::remount_command( string parameters, StreamOutput *stream ) | |
265 | { | |
266 | mounter.remount(); | |
48afc62a | 267 | stream->printf("remounted\r\n"); |
12fb447a | 268 | } |
3704585b | 269 | |
9e403697 JM |
270 | // Delete a file |
271 | void SimpleShell::rm_command( string parameters, StreamOutput *stream ) | |
272 | { | |
6d877d9b | 273 | const char *fn = absolute_from_relative(shift_parameter( parameters )).c_str(); |
9e403697 JM |
274 | int s = remove(fn); |
275 | if (s != 0) stream->printf("Could not delete %s \r\n", fn); | |
276 | } | |
277 | ||
6d877d9b JM |
278 | // Rename a file |
279 | void SimpleShell::mv_command( string parameters, StreamOutput *stream ) | |
280 | { | |
281 | string from = absolute_from_relative(shift_parameter( parameters )); | |
a940483b | 282 | string to = absolute_from_relative(shift_parameter(parameters)); |
6d877d9b JM |
283 | int s = rename(from.c_str(), to.c_str()); |
284 | if (s != 0) stream->printf("Could not rename %s to %s\r\n", from.c_str(), to.c_str()); | |
285 | else stream->printf("renamed %s to %s\r\n", from.c_str(), to.c_str()); | |
286 | } | |
287 | ||
0325af12 | 288 | // Change current absolute path to provided path |
9e403697 JM |
289 | void SimpleShell::cd_command( string parameters, StreamOutput *stream ) |
290 | { | |
75f4581c | 291 | string folder = absolute_from_relative( parameters ); |
6bcd4886 | 292 | |
0325af12 | 293 | DIR *d; |
0325af12 | 294 | d = opendir(folder.c_str()); |
9e403697 | 295 | if (d == NULL) { |
58baeec1 | 296 | stream->printf("Could not open directory %s \r\n", folder.c_str() ); |
9e403697 | 297 | } else { |
75f4581c | 298 | THEKERNEL->current_path = folder; |
ed7c5844 | 299 | closedir(d); |
0325af12 AW |
300 | } |
301 | } | |
302 | ||
b7250484 | 303 | // Responds with the present working directory |
9e403697 JM |
304 | void SimpleShell::pwd_command( string parameters, StreamOutput *stream ) |
305 | { | |
75f4581c | 306 | stream->printf("%s\r\n", THEKERNEL->current_path.c_str()); |
b7250484 L |
307 | } |
308 | ||
0325af12 | 309 | // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output ) |
9e403697 JM |
310 | void SimpleShell::cat_command( string parameters, StreamOutput *stream ) |
311 | { | |
58baeec1 | 312 | // Get parameters ( filename and line limit ) |
75f4581c | 313 | string filename = absolute_from_relative(shift_parameter( parameters )); |
1f61f177 | 314 | string limit_parameter = shift_parameter( parameters ); |
0325af12 | 315 | int limit = -1; |
1f61f177 | 316 | int delay= 0; |
2ab3fca6 | 317 | bool send_eof= false; |
1f61f177 JM |
318 | if ( limit_parameter == "-d" ) { |
319 | string d= shift_parameter( parameters ); | |
9e403697 | 320 | char *e = NULL; |
1f61f177 | 321 | delay = strtol(d.c_str(), &e, 10); |
2ab3fca6 | 322 | if (e <= d.c_str()) |
1f61f177 JM |
323 | delay = 0; |
324 | ||
325 | }else if ( limit_parameter != "" ) { | |
326 | char *e = NULL; | |
327 | limit = strtol(limit_parameter.c_str(), &e, 10); | |
328 | if (e <= limit_parameter.c_str()) | |
f7e6f459 MM |
329 | limit = -1; |
330 | } | |
58baeec1 | 331 | |
1f61f177 JM |
332 | // we have been asked to delay before cat, probably to allow time to issue upload command |
333 | while(delay-- > 0) { | |
334 | for (int i = 0; i < 10; ++i) { | |
335 | wait_ms(100); | |
336 | THEKERNEL->call_event(ON_IDLE); | |
337 | } | |
2ab3fca6 | 338 | send_eof= true; // we need to terminate file send with an eof |
1f61f177 JM |
339 | } |
340 | ||
58baeec1 | 341 | // Open file |
0325af12 | 342 | FILE *lp = fopen(filename.c_str(), "r"); |
9e403697 | 343 | if (lp == NULL) { |
58baeec1 MM |
344 | stream->printf("File not found: %s\r\n", filename.c_str()); |
345 | return; | |
9ed670c5 | 346 | } |
0325af12 AW |
347 | string buffer; |
348 | int c; | |
58baeec1 | 349 | int newlines = 0; |
6d877d9b | 350 | int linecnt = 0; |
0325af12 | 351 | // Print each line of the file |
9e403697 | 352 | while ((c = fgetc (lp)) != EOF) { |
58baeec1 | 353 | buffer.append((char *)&c, 1); |
2ab3fca6 JM |
354 | if ( c == '\n' || ++linecnt > 80) { |
355 | if(c == '\n') newlines++; | |
d728799b | 356 | stream->puts(buffer.c_str()); |
58baeec1 | 357 | buffer.clear(); |
6d877d9b | 358 | if(linecnt > 80) linecnt = 0; |
6757ce1a JM |
359 | // we need to kick things or they die |
360 | THEKERNEL->call_event(ON_IDLE); | |
68b7afb4 | 361 | } |
9e403697 JM |
362 | if ( newlines == limit ) { |
363 | break; | |
364 | } | |
58baeec1 | 365 | }; |
0325af12 | 366 | fclose(lp); |
2ab3fca6 JM |
367 | |
368 | if(send_eof) { | |
369 | stream->puts("\032"); // ^Z terminates the upload | |
370 | } | |
6d877d9b JM |
371 | } |
372 | ||
373 | void SimpleShell::upload_command( string parameters, StreamOutput *stream ) | |
374 | { | |
375 | // this needs to be a hack. it needs to read direct from serial and not allow on_main_loop run until done | |
376 | // NOTE this will block all operation until the upload is complete, so do not do while printing | |
377 | if(!THEKERNEL->conveyor->is_queue_empty()) { | |
378 | stream->printf("upload not allowed while printing or busy\n"); | |
379 | return; | |
380 | } | |
381 | ||
382 | // open file to upload to | |
383 | string upload_filename = absolute_from_relative( parameters ); | |
384 | FILE *fd = fopen(upload_filename.c_str(), "w"); | |
385 | if(fd != NULL) { | |
386 | stream->printf("uploading to file: %s, send control-D or control-Z to finish\r\n", upload_filename.c_str()); | |
387 | } else { | |
388 | stream->printf("failed to open file: %s.\r\n", upload_filename.c_str()); | |
389 | return; | |
390 | } | |
0325af12 | 391 | |
6d877d9b JM |
392 | int cnt = 0; |
393 | bool uploading = true; | |
394 | while(uploading) { | |
395 | if(!stream->ready()) { | |
396 | // we need to kick things or they die | |
397 | THEKERNEL->call_event(ON_IDLE); | |
398 | continue; | |
399 | } | |
400 | ||
401 | char c = stream->_getc(); | |
402 | if( c == 4 || c == 26) { // ctrl-D or ctrl-Z | |
403 | uploading = false; | |
404 | // close file | |
405 | fclose(fd); | |
406 | stream->printf("uploaded %d bytes\n", cnt); | |
407 | return; | |
408 | ||
409 | } else { | |
410 | // write character to file | |
411 | cnt++; | |
412 | if(fputc(c, fd) != c) { | |
413 | // error writing to file | |
414 | stream->printf("error writing to file. ignoring all characters until EOF\r\n"); | |
415 | fclose(fd); | |
416 | fd = NULL; | |
417 | uploading= false; | |
418 | ||
419 | } else { | |
420 | if ((cnt%400) == 0) { | |
421 | // HACK ALERT to get around fwrite corruption close and re open for append | |
422 | fclose(fd); | |
423 | fd = fopen(upload_filename.c_str(), "a"); | |
6757ce1a JM |
424 | // we need to kick things or they die |
425 | THEKERNEL->call_event(ON_IDLE); | |
6d877d9b JM |
426 | } |
427 | } | |
428 | } | |
429 | } | |
430 | // we got an error so ignore everything until EOF | |
431 | char c; | |
432 | do { | |
433 | if(stream->ready()) { | |
434 | c= stream->_getc(); | |
435 | }else{ | |
436 | THEKERNEL->call_event(ON_IDLE); | |
437 | c= 0; | |
438 | } | |
439 | } while(c != 4 && c != 26); | |
0325af12 AW |
440 | } |
441 | ||
618c9b0f JM |
442 | // loads the specified config-override file |
443 | void SimpleShell::load_command( string parameters, StreamOutput *stream ) | |
444 | { | |
445 | // Get parameters ( filename ) | |
75f4581c | 446 | string filename = absolute_from_relative(parameters); |
618c9b0f JM |
447 | if(filename == "/") { |
448 | filename = THEKERNEL->config_override_filename(); | |
449 | } | |
450 | ||
6d877d9b | 451 | FILE *fp = fopen(filename.c_str(), "r"); |
618c9b0f JM |
452 | if(fp != NULL) { |
453 | char buf[132]; | |
454 | stream->printf("Loading config override file: %s...\n", filename.c_str()); | |
455 | while(fgets(buf, sizeof buf, fp) != NULL) { | |
456 | stream->printf(" %s", buf); | |
457 | if(buf[0] == ';') continue; // skip the comments | |
6d877d9b | 458 | struct SerialMessage message = {&(StreamOutput::NullStream), buf}; |
618c9b0f JM |
459 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message); |
460 | } | |
461 | stream->printf("config override file executed\n"); | |
462 | fclose(fp); | |
463 | ||
6d877d9b | 464 | } else { |
618c9b0f JM |
465 | stream->printf("File not found: %s\n", filename.c_str()); |
466 | } | |
467 | } | |
468 | ||
469 | // saves the specified config-override file | |
470 | void SimpleShell::save_command( string parameters, StreamOutput *stream ) | |
471 | { | |
472 | // Get parameters ( filename ) | |
75f4581c | 473 | string filename = absolute_from_relative(parameters); |
618c9b0f JM |
474 | if(filename == "/") { |
475 | filename = THEKERNEL->config_override_filename(); | |
476 | } | |
477 | ||
23eb804b JM |
478 | THEKERNEL->conveyor->wait_for_empty_queue(); //just to be safe as it can take a while to run |
479 | ||
06afe68b JM |
480 | //remove(filename.c_str()); // seems to cause a hang every now and then |
481 | { | |
482 | FileStream fs(filename.c_str()); | |
483 | fs.printf("; DO NOT EDIT THIS FILE\n"); | |
484 | // this also will truncate the existing file instead of deleting it | |
485 | } | |
486 | ||
23eb804b | 487 | // stream that appends to file |
4fed9ba1 JM |
488 | AppendFileStream *gs = new AppendFileStream(filename.c_str()); |
489 | // if(!gs->is_open()) { | |
490 | // stream->printf("Unable to open File %s for write\n", filename.c_str()); | |
491 | // return; | |
492 | // } | |
618c9b0f | 493 | |
7acfedab | 494 | __disable_irq(); |
618c9b0f JM |
495 | // issue a M500 which will store values in the file stream |
496 | Gcode *gcode = new Gcode("M500", gs); | |
497 | THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode ); | |
498 | delete gs; | |
499 | delete gcode; | |
7acfedab | 500 | __enable_irq(); |
618c9b0f JM |
501 | |
502 | stream->printf("Settings Stored to %s\r\n", filename.c_str()); | |
503 | } | |
504 | ||
6187a020 | 505 | // show free memory |
9e403697 JM |
506 | void SimpleShell::mem_command( string parameters, StreamOutput *stream) |
507 | { | |
508 | bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos ; | |
509 | unsigned long heap = (unsigned long)_sbrk(0); | |
510 | unsigned long m = g_maximumHeapAddress - heap; | |
ecc610a4 JM |
511 | stream->printf("Unused Heap: %lu bytes\r\n", m); |
512 | ||
6d877d9b | 513 | uint32_t f = heapWalk(stream, verbose); |
0c683b26 | 514 | stream->printf("Total Free RAM: %lu bytes\r\n", m + f); |
a200fc31 | 515 | |
0c683b26 | 516 | stream->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0.free(), AHB1.free()); |
6d877d9b | 517 | if (verbose) { |
1803076a MM |
518 | AHB0.debug(stream); |
519 | AHB1.debug(stream); | |
520 | } | |
6187a020 JM |
521 | } |
522 | ||
9e403697 JM |
523 | static uint32_t getDeviceType() |
524 | { | |
525 | #define IAP_LOCATION 0x1FFF1FF1 | |
01f35bcc JM |
526 | uint32_t command[1]; |
527 | uint32_t result[5]; | |
9e403697 | 528 | typedef void (*IAP)(uint32_t *, uint32_t *); |
01f35bcc JM |
529 | IAP iap = (IAP) IAP_LOCATION; |
530 | ||
531 | __disable_irq(); | |
532 | ||
533 | command[0] = 54; | |
534 | iap(command, result); | |
535 | ||
536 | __enable_irq(); | |
537 | ||
538 | return result[1]; | |
539 | } | |
540 | ||
d4ee6ee2 JM |
541 | // get network config |
542 | void SimpleShell::net_command( string parameters, StreamOutput *stream) | |
543 | { | |
544 | void *returned_data; | |
6d877d9b | 545 | bool ok = PublicData::get_value( network_checksum, get_ipconfig_checksum, &returned_data ); |
d4ee6ee2 | 546 | if(ok) { |
6d877d9b | 547 | char *str = (char *)returned_data; |
d4ee6ee2 JM |
548 | stream->printf("%s\r\n", str); |
549 | free(str); | |
550 | ||
6d877d9b | 551 | } else { |
d4ee6ee2 JM |
552 | stream->printf("No network detected\n"); |
553 | } | |
554 | } | |
555 | ||
582559c6 | 556 | // print out build version |
9e403697 JM |
557 | void SimpleShell::version_command( string parameters, StreamOutput *stream) |
558 | { | |
582559c6 | 559 | Version vers; |
9e403697 JM |
560 | uint32_t dev = getDeviceType(); |
561 | const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768"; | |
01f35bcc | 562 | 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 |
563 | } |
564 | ||
77983aa1 | 565 | // Reset the system |
9e403697 JM |
566 | void SimpleShell::reset_command( string parameters, StreamOutput *stream) |
567 | { | |
ead17727 | 568 | stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n"); |
7e81f138 | 569 | reset_delay_secs = 5; // reboot in 5 seconds |
2742fca9 JM |
570 | } |
571 | ||
572 | // go into dfu boot mode | |
9e403697 JM |
573 | void SimpleShell::dfu_command( string parameters, StreamOutput *stream) |
574 | { | |
ed7c5844 JM |
575 | stream->printf("Entering boot mode...\r\n"); |
576 | system_reset(true); | |
77983aa1 L |
577 | } |
578 | ||
0f0b1656 | 579 | // Break out into the MRI debugging system |
9e403697 JM |
580 | void SimpleShell::break_command( string parameters, StreamOutput *stream) |
581 | { | |
0f0b1656 L |
582 | stream->printf("Entering MRI debug mode...\r\n"); |
583 | __debugbreak(); | |
584 | } | |
585 | ||
40843ebc JM |
586 | static int get_active_tool() |
587 | { | |
335957f5 | 588 | void *returned_data; |
40843ebc JM |
589 | bool ok = PublicData::get_value(tool_manager_checksum, get_active_tool_checksum, &returned_data); |
590 | if (ok) { | |
335957f5 JM |
591 | int active_tool= *static_cast<int *>(returned_data); |
592 | return active_tool; | |
40843ebc JM |
593 | } else { |
594 | return 0; | |
595 | } | |
596 | } | |
597 | ||
8293d443 | 598 | // used to test out the get public data events |
9e403697 JM |
599 | void SimpleShell::get_command( string parameters, StreamOutput *stream) |
600 | { | |
7e81f138 | 601 | string what = shift_parameter( parameters ); |
c4e56997 | 602 | |
7e81f138 | 603 | if (what == "temp") { |
3bfb2639 | 604 | struct pad_temperature temp; |
9e403697 | 605 | string type = shift_parameter( parameters ); |
56a6c8c1 JM |
606 | if(type.empty()) { |
607 | // scan all temperature controls | |
608 | std::vector<struct pad_temperature> controllers; | |
609 | bool ok = PublicData::get_value(temperature_control_checksum, poll_controls_checksum, &controllers); | |
610 | if (ok) { | |
611 | for (auto &c : controllers) { | |
612 | stream->printf("%s (%d) temp: %f/%f @%d\r\n", c.designator.c_str(), c.id, c.current_temperature, c.target_temperature, c.pwm); | |
613 | } | |
b55cfff1 | 614 | |
56a6c8c1 JM |
615 | } else { |
616 | stream->printf("no heaters found\r\n"); | |
617 | } | |
618 | ||
619 | }else{ | |
620 | bool ok = PublicData::get_value( temperature_control_checksum, current_temperature_checksum, get_checksum(type), &temp ); | |
621 | ||
622 | if (ok) { | |
623 | stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm); | |
624 | } else { | |
625 | stream->printf("%s is not a known temperature device\r\n", type.c_str()); | |
626 | } | |
b55cfff1 | 627 | } |
c4e56997 | 628 | |
7e81f138 | 629 | } else if (what == "pos") { |
e03f2747 JM |
630 | // convenience to call all the various M114 variants |
631 | char buf[64]; | |
632 | THEKERNEL->robot->print_position(0, buf, sizeof buf); stream->printf("last %s\n", buf); | |
633 | THEKERNEL->robot->print_position(1, buf, sizeof buf); stream->printf("realtime %s\n", buf); | |
634 | THEKERNEL->robot->print_position(2, buf, sizeof buf); stream->printf("%s\n", buf); | |
635 | THEKERNEL->robot->print_position(3, buf, sizeof buf); stream->printf("%s\n", buf); | |
636 | THEKERNEL->robot->print_position(4, buf, sizeof buf); stream->printf("%s\n", buf); | |
637 | THEKERNEL->robot->print_position(5, buf, sizeof buf); stream->printf("%s\n", buf); | |
34210908 JM |
638 | |
639 | } else if (what == "wcs") { | |
640 | // print the wcs state | |
641 | std::vector<Robot::wcs_t> v= THEKERNEL->robot->get_wcs_state(); | |
642 | char current_wcs= std::get<0>(v[0]); | |
40fd5d98 | 643 | stream->printf("current WCS: %s\n", wcs2gcode(current_wcs).c_str()); |
34210908 JM |
644 | int n= std::get<1>(v[0]); |
645 | for (int i = 1; i <= n; ++i) { | |
40fd5d98 | 646 | 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 |
647 | } |
648 | ||
649 | 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])); | |
650 | 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 |
651 | |
652 | } else if (what == "state") { | |
653 | // [G0 G54 G17 G21 G90 G94 M0 M5 M9 T0 F0.] | |
654 | stream->printf("[G%d %s G%d G%d G%d G94 T%d F%1.1f]\n", | |
655 | THEKERNEL->gcode_dispatch->get_modal_command(), | |
656 | wcs2gcode(THEKERNEL->robot->get_current_wcs()).c_str(), | |
657 | THEKERNEL->robot->plane_axis_0 == X_AXIS && THEKERNEL->robot->plane_axis_1 == Y_AXIS && THEKERNEL->robot->plane_axis_2 == Z_AXIS ? 17 : | |
658 | THEKERNEL->robot->plane_axis_0 == X_AXIS && THEKERNEL->robot->plane_axis_1 == Z_AXIS && THEKERNEL->robot->plane_axis_2 == Y_AXIS ? 18 : | |
659 | THEKERNEL->robot->plane_axis_0 == Y_AXIS && THEKERNEL->robot->plane_axis_1 == Z_AXIS && THEKERNEL->robot->plane_axis_2 == X_AXIS ? 19 : 17, | |
660 | THEKERNEL->robot->inch_mode ? 20 : 21, | |
661 | THEKERNEL->robot->absolute_mode ? 90 : 91, | |
662 | get_active_tool(), | |
663 | THEKERNEL->robot->get_feed_rate()); | |
b55cfff1 | 664 | } |
8293d443 JM |
665 | } |
666 | ||
77047e76 | 667 | // used to test out the get public data events |
9e403697 JM |
668 | void SimpleShell::set_temp_command( string parameters, StreamOutput *stream) |
669 | { | |
670 | string type = shift_parameter( parameters ); | |
671 | string temp = shift_parameter( parameters ); | |
04211969 | 672 | float t = temp.empty() ? 0.0 : strtof(temp.c_str(), NULL); |
75e6428d | 673 | bool ok = PublicData::set_value( temperature_control_checksum, get_checksum(type), &t ); |
991d98cc | 674 | |
9e403697 | 675 | if (ok) { |
991d98cc | 676 | stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t); |
9e403697 | 677 | } else { |
991d98cc JM |
678 | stream->printf("%s is not a known temperature device\r\n", type.c_str()); |
679 | } | |
77047e76 JM |
680 | } |
681 | ||
4c8f5447 JM |
682 | void SimpleShell::print_thermistors_command( string parameters, StreamOutput *stream) |
683 | { | |
684 | Thermistor::print_predefined_thermistors(stream); | |
685 | } | |
686 | ||
1f8dab1a JM |
687 | void SimpleShell::calc_thermistor_command( string parameters, StreamOutput *stream) |
688 | { | |
bbb839c1 JM |
689 | string s = shift_parameter( parameters ); |
690 | int saveto= -1; | |
691 | // see if we have -sn as first argument | |
692 | if(s.find("-s", 0, 2) != string::npos) { | |
693 | // save the results to thermistor n | |
694 | saveto= strtol(s.substr(2).c_str(), nullptr, 10); | |
695 | }else{ | |
696 | parameters= s; | |
697 | } | |
698 | ||
1f8dab1a JM |
699 | std::vector<float> trl= parse_number_list(parameters.c_str()); |
700 | if(trl.size() == 6) { | |
701 | // calculate the coefficients | |
702 | float c1, c2, c3; | |
703 | std::tie(c1, c2, c3) = Thermistor::calculate_steinhart_hart_coefficients(trl[0], trl[1], trl[2], trl[3], trl[4], trl[5]); | |
704 | stream->printf("Steinhart Hart coefficients: I%1.18f J%1.18f K%1.18f\n", c1, c2, c3); | |
bbb839c1 JM |
705 | if(saveto == -1) { |
706 | stream->printf(" Paste the above in the M305 S0 command, then save with M500\n"); | |
707 | }else{ | |
708 | char buf[80]; | |
709 | int n = snprintf(buf, sizeof(buf), "M305 S%d I%1.18f J%1.18f K%1.18f", saveto, c1, c2, c3); | |
710 | string g(buf, n); | |
711 | Gcode gcode(g, &(StreamOutput::NullStream)); | |
712 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode ); | |
713 | stream->printf(" Setting Thermistor %d to those settings, save with M500\n", saveto); | |
714 | } | |
1f8dab1a JM |
715 | |
716 | }else{ | |
717 | // give help | |
718 | stream->printf("Usage: calc_thermistor T1,R1,T2,R2,T3,R3\n"); | |
719 | } | |
720 | } | |
721 | ||
ae91dea4 JM |
722 | // used to test out the get public data events for switch |
723 | void SimpleShell::switch_command( string parameters, StreamOutput *stream) | |
724 | { | |
725 | string type = shift_parameter( parameters ); | |
726 | string value = shift_parameter( parameters ); | |
6d877d9b | 727 | bool ok = false; |
ae91dea4 | 728 | if(value == "on" || value == "off") { |
6d877d9b | 729 | bool b = value == "on"; |
ae91dea4 | 730 | ok = PublicData::set_value( switch_checksum, get_checksum(type), state_checksum, &b ); |
6d877d9b | 731 | } else { |
ae91dea4 JM |
732 | float v = strtof(value.c_str(), NULL); |
733 | ok = PublicData::set_value( switch_checksum, get_checksum(type), value_checksum, &v ); | |
734 | } | |
735 | if (ok) { | |
736 | stream->printf("switch %s set to: %s\r\n", type.c_str(), value.c_str()); | |
737 | } else { | |
738 | stream->printf("%s is not a known switch device\r\n", type.c_str()); | |
739 | } | |
740 | } | |
741 | ||
d55d551b JM |
742 | void SimpleShell::md5sum_command( string parameters, StreamOutput *stream ) |
743 | { | |
744 | string filename = absolute_from_relative(parameters); | |
745 | ||
746 | // Open file | |
747 | FILE *lp = fopen(filename.c_str(), "r"); | |
748 | if (lp == NULL) { | |
749 | stream->printf("File not found: %s\r\n", filename.c_str()); | |
750 | return; | |
751 | } | |
752 | MD5 md5; | |
753 | uint8_t buf[64]; | |
754 | do { | |
755 | size_t n= fread(buf, 1, sizeof buf, lp); | |
756 | if(n > 0) md5.update(buf, n); | |
757 | } while(!feof(lp)); | |
758 | ||
759 | stream->printf("%s %s\n", md5.finalize().hexdigest().c_str(), filename.c_str()); | |
760 | fclose(lp); | |
761 | } | |
762 | ||
763 | ||
764 | ||
9e403697 JM |
765 | void SimpleShell::help_command( string parameters, StreamOutput *stream ) |
766 | { | |
ed7c5844 | 767 | stream->printf("Commands:\r\n"); |
582559c6 | 768 | stream->printf("version\r\n"); |
ecc610a4 | 769 | stream->printf("mem [-v]\r\n"); |
3579deea | 770 | stream->printf("ls [-s] [folder]\r\n"); |
ed7c5844 | 771 | stream->printf("cd folder\r\n"); |
c4e56997 | 772 | stream->printf("pwd\r\n"); |
ed7c5844 | 773 | stream->printf("cat file [limit]\r\n"); |
9e403697 | 774 | stream->printf("rm file\r\n"); |
6d877d9b | 775 | stream->printf("mv file newfile\r\n"); |
12fb447a | 776 | stream->printf("remount\r\n"); |
4eb0e279 | 777 | stream->printf("play file [-v]\r\n"); |
ed7c5844 JM |
778 | stream->printf("progress - shows progress of current play\r\n"); |
779 | stream->printf("abort - abort currently playing file\r\n"); | |
c4e56997 JM |
780 | stream->printf("reset - reset smoothie\r\n"); |
781 | stream->printf("dfu - enter dfu boot loader\r\n"); | |
782 | stream->printf("break - break into debugger\r\n"); | |
ed7c5844 JM |
783 | stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n"); |
784 | stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n"); | |
5647f709 | 785 | stream->printf("get temp [bed|hotend]\r\n"); |
991d98cc | 786 | stream->printf("set_temp bed|hotend 185\r\n"); |
b55cfff1 | 787 | stream->printf("get pos\r\n"); |
d4ee6ee2 | 788 | stream->printf("net\r\n"); |
618c9b0f JM |
789 | stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n"); |
790 | stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n"); | |
bbb839c1 JM |
791 | stream->printf("upload filename - saves a stream of text to the named file\r\n"); |
792 | stream->printf("calc_thermistor [-s0] T1,R1,T2,R2,T3,R3 - calculate the Steinhart Hart coefficients for a thermistor\r\n"); | |
4c8f5447 | 793 | stream->printf("thermistors - print out the predefined thermistors\r\n"); |
d55d551b | 794 | stream->printf("md5sum file - prints md5 sum of the given file\r\n"); |
235a7435 JM |
795 | } |
796 |