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" | |
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" |
47339e4a | 42 | |
61134a65 JM |
43 | #include "system_LPC17xx.h" |
44 | #include "LPC17xx.h" | |
45 | ||
23eb804b JM |
46 | #include "mbed.h" // for wait_ms() |
47 | ||
6187a020 JM |
48 | extern unsigned int g_maximumHeapAddress; |
49 | ||
ecc610a4 JM |
50 | #include <malloc.h> |
51 | #include <mri.h> | |
52 | #include <stdio.h> | |
53 | #include <stdint.h> | |
54 | ||
55 | extern "C" uint32_t __end__; | |
56 | extern "C" uint32_t __malloc_free_list; | |
57 | extern "C" uint32_t _sbrk(int size); | |
58 | ||
9e403697 | 59 | // command lookup table |
7e81f138 JM |
60 | const SimpleShell::ptentry_t SimpleShell::commands_table[] = { |
61 | {"ls", SimpleShell::ls_command}, | |
62 | {"cd", SimpleShell::cd_command}, | |
63 | {"pwd", SimpleShell::pwd_command}, | |
64 | {"cat", SimpleShell::cat_command}, | |
65 | {"rm", SimpleShell::rm_command}, | |
6d877d9b JM |
66 | {"mv", SimpleShell::mv_command}, |
67 | {"upload", SimpleShell::upload_command}, | |
7e81f138 JM |
68 | {"reset", SimpleShell::reset_command}, |
69 | {"dfu", SimpleShell::dfu_command}, | |
70 | {"break", SimpleShell::break_command}, | |
71 | {"help", SimpleShell::help_command}, | |
72 | {"?", SimpleShell::help_command}, | |
73 | {"version", SimpleShell::version_command}, | |
74 | {"mem", SimpleShell::mem_command}, | |
75 | {"get", SimpleShell::get_command}, | |
76 | {"set_temp", SimpleShell::set_temp_command}, | |
ae91dea4 | 77 | {"switch", SimpleShell::switch_command}, |
7e81f138 JM |
78 | {"net", SimpleShell::net_command}, |
79 | {"load", SimpleShell::load_command}, | |
80 | {"save", SimpleShell::save_command}, | |
6d877d9b | 81 | {"remount", SimpleShell::remount_command}, |
1f8dab1a | 82 | {"calc_thermistor", SimpleShell::calc_thermistor_command}, |
4c8f5447 | 83 | {"thermistors", SimpleShell::print_thermistors_command}, |
d55d551b | 84 | {"md5sum", SimpleShell::md5sum_command}, |
b03317ea | 85 | #ifdef CNC |
518b5c4c | 86 | {"test", SimpleShell::test_command}, |
b03317ea | 87 | #endif |
9e403697 | 88 | // unknown command |
7e81f138 | 89 | {NULL, NULL} |
9e403697 | 90 | }; |
ecc610a4 | 91 | |
6d877d9b | 92 | int SimpleShell::reset_delay_secs = 0; |
7e81f138 | 93 | |
ecc610a4 | 94 | // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556 |
0c683b26 | 95 | static uint32_t heapWalk(StreamOutput *stream, bool verbose) |
ecc610a4 JM |
96 | { |
97 | uint32_t chunkNumber = 1; | |
98 | // The __end__ linker symbol points to the beginning of the heap. | |
99 | uint32_t chunkCurr = (uint32_t)&__end__; | |
100 | // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks. | |
101 | uint32_t freeCurr = __malloc_free_list; | |
102 | // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap. | |
103 | uint32_t heapEnd = _sbrk(0); | |
104 | // accumulate totals | |
9e403697 JM |
105 | uint32_t freeSize = 0; |
106 | uint32_t usedSize = 0; | |
ecc610a4 JM |
107 | |
108 | stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr); | |
109 | ||
110 | // Walk through the chunks until we hit the end of the heap. | |
9e403697 | 111 | while (chunkCurr < heapEnd) { |
ecc610a4 JM |
112 | // Assume the chunk is in use. Will update later. |
113 | int isChunkFree = 0; | |
114 | // The first 32-bit word in a chunk is the size of the allocation. newlib-nano over allocates by 8 bytes. | |
115 | // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer. | |
9e403697 | 116 | uint32_t chunkSize = *(uint32_t *)chunkCurr; |
ecc610a4 JM |
117 | // The start of the next chunk is right after the end of this one. |
118 | uint32_t chunkNext = chunkCurr + chunkSize; | |
119 | ||
120 | // The free list is sorted by address. | |
121 | // Check to see if we have found the next free chunk in the heap. | |
9e403697 | 122 | if (chunkCurr == freeCurr) { |
ecc610a4 JM |
123 | // Chunk is free so flag it as such. |
124 | isChunkFree = 1; | |
125 | // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address). | |
9e403697 | 126 | freeCurr = *(uint32_t *)(freeCurr + 4); |
ecc610a4 JM |
127 | } |
128 | ||
129 | // Skip past the 32-bit size field in the chunk header. | |
130 | chunkCurr += 4; | |
131 | // 8-byte align the data pointer. | |
132 | chunkCurr = (chunkCurr + 7) & ~7; | |
133 | // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8 | |
134 | // byte-alignment of the returned pointer. | |
135 | chunkSize -= 8; | |
9e403697 | 136 | if (verbose) |
ecc610a4 JM |
137 | stream->printf(" Chunk: %lu Address: 0x%08lX Size: %lu %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : ""); |
138 | ||
9e403697 | 139 | if (isChunkFree) freeSize += chunkSize; |
ecc610a4 JM |
140 | else usedSize += chunkSize; |
141 | ||
142 | chunkCurr = chunkNext; | |
143 | chunkNumber++; | |
144 | } | |
145 | stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize); | |
0c683b26 | 146 | return freeSize; |
ecc610a4 JM |
147 | } |
148 | ||
149 | ||
9e403697 JM |
150 | void SimpleShell::on_module_loaded() |
151 | { | |
0325af12 | 152 | this->register_for_event(ON_CONSOLE_LINE_RECEIVED); |
48afc62a | 153 | this->register_for_event(ON_GCODE_RECEIVED); |
154 | this->register_for_event(ON_SECOND_TICK); | |
c4e56997 | 155 | |
7e81f138 | 156 | reset_delay_secs = 0; |
ead17727 JM |
157 | } |
158 | ||
9e403697 JM |
159 | void SimpleShell::on_second_tick(void *) |
160 | { | |
ead17727 | 161 | // we are timing out for the reset |
7e81f138 JM |
162 | if (reset_delay_secs > 0) { |
163 | if (--reset_delay_secs == 0) { | |
ead17727 JM |
164 | system_reset(false); |
165 | } | |
166 | } | |
0325af12 AW |
167 | } |
168 | ||
9e403697 JM |
169 | void SimpleShell::on_gcode_received(void *argument) |
170 | { | |
171 | Gcode *gcode = static_cast<Gcode *>(argument); | |
6d877d9b | 172 | string args = get_arguments(gcode->get_command()); |
c4e56997 JM |
173 | |
174 | if (gcode->has_m) { | |
175 | if (gcode->m == 20) { // list sd card | |
c4e56997 JM |
176 | gcode->stream->printf("Begin file list\r\n"); |
177 | ls_command("/sd", gcode->stream); | |
178 | gcode->stream->printf("End file list\r\n"); | |
d4ee6ee2 JM |
179 | |
180 | } else if (gcode->m == 30) { // remove file | |
01a8d21a JM |
181 | if(!args.empty() && !THEKERNEL->is_grbl_mode()) |
182 | rm_command("/sd/" + args, gcode->stream); | |
3a238fdc | 183 | } |
c4e56997 JM |
184 | } |
185 | } | |
186 | ||
7e81f138 | 187 | bool SimpleShell::parse_command(const char *cmd, string args, StreamOutput *stream) |
9e403697 | 188 | { |
7e81f138 JM |
189 | for (const ptentry_t *p = commands_table; p->command != NULL; ++p) { |
190 | if (strncasecmp(cmd, p->command, strlen(p->command)) == 0) { | |
191 | p->func(args, stream); | |
9e403697 JM |
192 | return true; |
193 | } | |
194 | } | |
195 | ||
196 | return false; | |
197 | } | |
198 | ||
0325af12 | 199 | // When a new line is received, check if it is a command, and if it is, act upon it |
9e403697 JM |
200 | void SimpleShell::on_console_line_received( void *argument ) |
201 | { | |
202 | SerialMessage new_message = *static_cast<SerialMessage *>(argument); | |
6c0193b3 | 203 | string possible_command = new_message.message; |
7f613782 | 204 | |
6c0193b3 JM |
205 | // ignore anything that is not lowercase or a $ as it is not a command |
206 | if(possible_command.size() == 0 || (!islower(possible_command[0]) && possible_command[0] != '$')) { | |
207 | return; | |
208 | } | |
7f613782 | 209 | |
6c0193b3 JM |
210 | // it is a grbl compatible command |
211 | if(possible_command[0] == '$' && possible_command.size() >= 2) { | |
212 | switch(possible_command[1]) { | |
213 | case 'G': | |
214 | // issue get state | |
215 | get_command("state", new_message.stream); | |
543c4b6d | 216 | new_message.stream->printf("ok\n"); |
6c0193b3 JM |
217 | break; |
218 | ||
219 | case 'X': | |
220 | THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt | |
543c4b6d | 221 | new_message.stream->printf("[Caution: Unlocked]\nok\n"); |
6c0193b3 JM |
222 | break; |
223 | ||
224 | case '#': | |
225 | grblDP_command("", new_message.stream); | |
543c4b6d | 226 | new_message.stream->printf("ok\n"); |
6c0193b3 JM |
227 | break; |
228 | ||
229 | case 'H': | |
07186543 | 230 | if(THEKERNEL->is_grbl_mode()) { |
31c6c2c2 | 231 | THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt |
8ad60a4c | 232 | // issue G28.2 which is force homing cycle |
53ece53b | 233 | Gcode gcode("G28.2", new_message.stream); |
6c0193b3 | 234 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode); |
07186543 JM |
235 | }else{ |
236 | new_message.stream->printf("error:only supported in GRBL mode\n"); | |
6c0193b3 JM |
237 | } |
238 | break; | |
0325af12 | 239 | |
6c0193b3 | 240 | default: |
07186543 | 241 | new_message.stream->printf("error:Invalid statement\n"); |
6c0193b3 JM |
242 | break; |
243 | } | |
244 | ||
245 | }else{ | |
6187a020 | 246 | |
6c0193b3 JM |
247 | //new_message.stream->printf("Received %s\r\n", possible_command.c_str()); |
248 | string cmd = shift_parameter(possible_command); | |
249 | ||
3e54c9fc JM |
250 | // Configurator commands |
251 | if (cmd == "config-get"){ | |
252 | THEKERNEL->configurator->config_get_command( possible_command, new_message.stream ); | |
253 | ||
254 | } else if (cmd == "config-set"){ | |
255 | THEKERNEL->configurator->config_set_command( possible_command, new_message.stream ); | |
256 | ||
257 | } else if (cmd == "config-load"){ | |
258 | THEKERNEL->configurator->config_load_command( possible_command, new_message.stream ); | |
259 | ||
260 | } else if (cmd == "play" || cmd == "progress" || cmd == "abort" || cmd == "suspend" || cmd == "resume") { | |
01a8d21a | 261 | // these are handled by Player module |
93f20a8c JM |
262 | |
263 | } else if (cmd == "ok") { | |
264 | // probably an echo so reply ok | |
265 | new_message.stream->printf("ok\n"); | |
3e54c9fc JM |
266 | |
267 | }else if(!parse_command(cmd.c_str(), possible_command, new_message.stream)) { | |
42bbc035 | 268 | new_message.stream->printf("error:Unsupported command - %s\n", cmd.c_str()); |
6c0193b3 JM |
269 | } |
270 | } | |
0325af12 AW |
271 | } |
272 | ||
0325af12 AW |
273 | // Act upon an ls command |
274 | // Convert the first parameter into an absolute path, then list the files in that path | |
9e403697 JM |
275 | void SimpleShell::ls_command( string parameters, StreamOutput *stream ) |
276 | { | |
3579deea JM |
277 | string path, opts; |
278 | while(!parameters.empty()) { | |
6d877d9b | 279 | string s = shift_parameter( parameters ); |
3579deea JM |
280 | if(s.front() == '-') { |
281 | opts.append(s); | |
282 | } else { | |
6d877d9b JM |
283 | path = s; |
284 | if(!parameters.empty()) { | |
3579deea JM |
285 | path.append(" "); |
286 | path.append(parameters); | |
287 | } | |
288 | break; | |
289 | } | |
290 | } | |
b557a801 | 291 | |
6d877d9b | 292 | path = absolute_from_relative(path); |
3579deea | 293 | |
9e403697 JM |
294 | DIR *d; |
295 | struct dirent *p; | |
3579deea | 296 | d = opendir(path.c_str()); |
9e403697 JM |
297 | if (d != NULL) { |
298 | while ((p = readdir(d)) != NULL) { | |
3579deea | 299 | stream->printf("%s", lc(string(p->d_name)).c_str()); |
6d877d9b | 300 | if(p->d_isdir) { |
3579deea | 301 | stream->printf("/"); |
6d877d9b | 302 | } else if(opts.find("-s", 0, 2) != string::npos) { |
3579deea JM |
303 | stream->printf(" %d", p->d_fsize); |
304 | } | |
305 | stream->printf("\r\n"); | |
9e403697 | 306 | } |
ed7c5844 | 307 | closedir(d); |
0325af12 | 308 | } else { |
3579deea | 309 | stream->printf("Could not open directory %s\r\n", path.c_str()); |
0325af12 AW |
310 | } |
311 | } | |
312 | ||
3704585b | 313 | extern SDFAT mounter; |
314 | ||
315 | void SimpleShell::remount_command( string parameters, StreamOutput *stream ) | |
316 | { | |
317 | mounter.remount(); | |
48afc62a | 318 | stream->printf("remounted\r\n"); |
12fb447a | 319 | } |
3704585b | 320 | |
9e403697 JM |
321 | // Delete a file |
322 | void SimpleShell::rm_command( string parameters, StreamOutput *stream ) | |
323 | { | |
6d877d9b | 324 | const char *fn = absolute_from_relative(shift_parameter( parameters )).c_str(); |
9e403697 JM |
325 | int s = remove(fn); |
326 | if (s != 0) stream->printf("Could not delete %s \r\n", fn); | |
327 | } | |
328 | ||
6d877d9b JM |
329 | // Rename a file |
330 | void SimpleShell::mv_command( string parameters, StreamOutput *stream ) | |
331 | { | |
332 | string from = absolute_from_relative(shift_parameter( parameters )); | |
a940483b | 333 | string to = absolute_from_relative(shift_parameter(parameters)); |
6d877d9b JM |
334 | int s = rename(from.c_str(), to.c_str()); |
335 | if (s != 0) stream->printf("Could not rename %s to %s\r\n", from.c_str(), to.c_str()); | |
336 | else stream->printf("renamed %s to %s\r\n", from.c_str(), to.c_str()); | |
337 | } | |
338 | ||
0325af12 | 339 | // Change current absolute path to provided path |
9e403697 JM |
340 | void SimpleShell::cd_command( string parameters, StreamOutput *stream ) |
341 | { | |
75f4581c | 342 | string folder = absolute_from_relative( parameters ); |
6bcd4886 | 343 | |
0325af12 | 344 | DIR *d; |
0325af12 | 345 | d = opendir(folder.c_str()); |
9e403697 | 346 | if (d == NULL) { |
58baeec1 | 347 | stream->printf("Could not open directory %s \r\n", folder.c_str() ); |
9e403697 | 348 | } else { |
75f4581c | 349 | THEKERNEL->current_path = folder; |
ed7c5844 | 350 | closedir(d); |
0325af12 AW |
351 | } |
352 | } | |
353 | ||
b7250484 | 354 | // Responds with the present working directory |
9e403697 JM |
355 | void SimpleShell::pwd_command( string parameters, StreamOutput *stream ) |
356 | { | |
75f4581c | 357 | stream->printf("%s\r\n", THEKERNEL->current_path.c_str()); |
b7250484 L |
358 | } |
359 | ||
0325af12 | 360 | // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output ) |
9e403697 JM |
361 | void SimpleShell::cat_command( string parameters, StreamOutput *stream ) |
362 | { | |
58baeec1 | 363 | // Get parameters ( filename and line limit ) |
75f4581c | 364 | string filename = absolute_from_relative(shift_parameter( parameters )); |
1f61f177 | 365 | string limit_parameter = shift_parameter( parameters ); |
0325af12 | 366 | int limit = -1; |
1f61f177 | 367 | int delay= 0; |
2ab3fca6 | 368 | bool send_eof= false; |
1f61f177 JM |
369 | if ( limit_parameter == "-d" ) { |
370 | string d= shift_parameter( parameters ); | |
9e403697 | 371 | char *e = NULL; |
1f61f177 | 372 | delay = strtol(d.c_str(), &e, 10); |
01e97c58 | 373 | if (e <= d.c_str()) { |
1f61f177 JM |
374 | delay = 0; |
375 | ||
01e97c58 JM |
376 | } else { |
377 | send_eof= true; // we need to terminate file send with an eof | |
378 | } | |
379 | ||
1f61f177 JM |
380 | }else if ( limit_parameter != "" ) { |
381 | char *e = NULL; | |
382 | limit = strtol(limit_parameter.c_str(), &e, 10); | |
383 | if (e <= limit_parameter.c_str()) | |
f7e6f459 MM |
384 | limit = -1; |
385 | } | |
58baeec1 | 386 | |
1f61f177 | 387 | // we have been asked to delay before cat, probably to allow time to issue upload command |
1aa3d42f JM |
388 | if(delay > 0) { |
389 | safe_delay(delay*1000); | |
1f61f177 JM |
390 | } |
391 | ||
58baeec1 | 392 | // Open file |
0325af12 | 393 | FILE *lp = fopen(filename.c_str(), "r"); |
9e403697 | 394 | if (lp == NULL) { |
58baeec1 MM |
395 | stream->printf("File not found: %s\r\n", filename.c_str()); |
396 | return; | |
9ed670c5 | 397 | } |
0325af12 AW |
398 | string buffer; |
399 | int c; | |
58baeec1 | 400 | int newlines = 0; |
6d877d9b | 401 | int linecnt = 0; |
0325af12 | 402 | // Print each line of the file |
9e403697 | 403 | while ((c = fgetc (lp)) != EOF) { |
58baeec1 | 404 | buffer.append((char *)&c, 1); |
2ab3fca6 JM |
405 | if ( c == '\n' || ++linecnt > 80) { |
406 | if(c == '\n') newlines++; | |
d728799b | 407 | stream->puts(buffer.c_str()); |
58baeec1 | 408 | buffer.clear(); |
6d877d9b | 409 | if(linecnt > 80) linecnt = 0; |
6757ce1a JM |
410 | // we need to kick things or they die |
411 | THEKERNEL->call_event(ON_IDLE); | |
68b7afb4 | 412 | } |
9e403697 JM |
413 | if ( newlines == limit ) { |
414 | break; | |
415 | } | |
58baeec1 | 416 | }; |
0325af12 | 417 | fclose(lp); |
2ab3fca6 JM |
418 | |
419 | if(send_eof) { | |
420 | stream->puts("\032"); // ^Z terminates the upload | |
421 | } | |
6d877d9b JM |
422 | } |
423 | ||
424 | void SimpleShell::upload_command( string parameters, StreamOutput *stream ) | |
425 | { | |
426 | // this needs to be a hack. it needs to read direct from serial and not allow on_main_loop run until done | |
427 | // NOTE this will block all operation until the upload is complete, so do not do while printing | |
428 | if(!THEKERNEL->conveyor->is_queue_empty()) { | |
429 | stream->printf("upload not allowed while printing or busy\n"); | |
430 | return; | |
431 | } | |
432 | ||
433 | // open file to upload to | |
434 | string upload_filename = absolute_from_relative( parameters ); | |
435 | FILE *fd = fopen(upload_filename.c_str(), "w"); | |
436 | if(fd != NULL) { | |
437 | stream->printf("uploading to file: %s, send control-D or control-Z to finish\r\n", upload_filename.c_str()); | |
438 | } else { | |
439 | stream->printf("failed to open file: %s.\r\n", upload_filename.c_str()); | |
440 | return; | |
441 | } | |
0325af12 | 442 | |
6d877d9b JM |
443 | int cnt = 0; |
444 | bool uploading = true; | |
445 | while(uploading) { | |
446 | if(!stream->ready()) { | |
447 | // we need to kick things or they die | |
448 | THEKERNEL->call_event(ON_IDLE); | |
449 | continue; | |
450 | } | |
451 | ||
452 | char c = stream->_getc(); | |
453 | if( c == 4 || c == 26) { // ctrl-D or ctrl-Z | |
454 | uploading = false; | |
455 | // close file | |
456 | fclose(fd); | |
457 | stream->printf("uploaded %d bytes\n", cnt); | |
458 | return; | |
459 | ||
460 | } else { | |
461 | // write character to file | |
462 | cnt++; | |
463 | if(fputc(c, fd) != c) { | |
464 | // error writing to file | |
465 | stream->printf("error writing to file. ignoring all characters until EOF\r\n"); | |
466 | fclose(fd); | |
467 | fd = NULL; | |
468 | uploading= false; | |
469 | ||
470 | } else { | |
471 | if ((cnt%400) == 0) { | |
472 | // HACK ALERT to get around fwrite corruption close and re open for append | |
473 | fclose(fd); | |
474 | fd = fopen(upload_filename.c_str(), "a"); | |
6757ce1a JM |
475 | // we need to kick things or they die |
476 | THEKERNEL->call_event(ON_IDLE); | |
6d877d9b JM |
477 | } |
478 | } | |
479 | } | |
480 | } | |
481 | // we got an error so ignore everything until EOF | |
482 | char c; | |
483 | do { | |
484 | if(stream->ready()) { | |
485 | c= stream->_getc(); | |
486 | }else{ | |
487 | THEKERNEL->call_event(ON_IDLE); | |
488 | c= 0; | |
489 | } | |
490 | } while(c != 4 && c != 26); | |
0325af12 AW |
491 | } |
492 | ||
618c9b0f JM |
493 | // loads the specified config-override file |
494 | void SimpleShell::load_command( string parameters, StreamOutput *stream ) | |
495 | { | |
496 | // Get parameters ( filename ) | |
75f4581c | 497 | string filename = absolute_from_relative(parameters); |
618c9b0f JM |
498 | if(filename == "/") { |
499 | filename = THEKERNEL->config_override_filename(); | |
500 | } | |
501 | ||
6d877d9b | 502 | FILE *fp = fopen(filename.c_str(), "r"); |
618c9b0f JM |
503 | if(fp != NULL) { |
504 | char buf[132]; | |
505 | stream->printf("Loading config override file: %s...\n", filename.c_str()); | |
506 | while(fgets(buf, sizeof buf, fp) != NULL) { | |
507 | stream->printf(" %s", buf); | |
508 | if(buf[0] == ';') continue; // skip the comments | |
c0b50fa8 JM |
509 | // NOTE only Gcodes and Mcodes can be in the config-override |
510 | Gcode *gcode = new Gcode(buf, &StreamOutput::NullStream); | |
511 | THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode); | |
512 | delete gcode; | |
513 | THEKERNEL->call_event(ON_IDLE); | |
618c9b0f JM |
514 | } |
515 | stream->printf("config override file executed\n"); | |
516 | fclose(fp); | |
517 | ||
6d877d9b | 518 | } else { |
618c9b0f JM |
519 | stream->printf("File not found: %s\n", filename.c_str()); |
520 | } | |
521 | } | |
522 | ||
523 | // saves the specified config-override file | |
524 | void SimpleShell::save_command( string parameters, StreamOutput *stream ) | |
525 | { | |
526 | // Get parameters ( filename ) | |
75f4581c | 527 | string filename = absolute_from_relative(parameters); |
618c9b0f JM |
528 | if(filename == "/") { |
529 | filename = THEKERNEL->config_override_filename(); | |
530 | } | |
531 | ||
23eb804b JM |
532 | THEKERNEL->conveyor->wait_for_empty_queue(); //just to be safe as it can take a while to run |
533 | ||
06afe68b JM |
534 | //remove(filename.c_str()); // seems to cause a hang every now and then |
535 | { | |
536 | FileStream fs(filename.c_str()); | |
537 | fs.printf("; DO NOT EDIT THIS FILE\n"); | |
538 | // this also will truncate the existing file instead of deleting it | |
539 | } | |
540 | ||
23eb804b | 541 | // stream that appends to file |
4fed9ba1 JM |
542 | AppendFileStream *gs = new AppendFileStream(filename.c_str()); |
543 | // if(!gs->is_open()) { | |
544 | // stream->printf("Unable to open File %s for write\n", filename.c_str()); | |
545 | // return; | |
546 | // } | |
618c9b0f | 547 | |
7acfedab | 548 | __disable_irq(); |
618c9b0f JM |
549 | // issue a M500 which will store values in the file stream |
550 | Gcode *gcode = new Gcode("M500", gs); | |
551 | THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode ); | |
552 | delete gs; | |
553 | delete gcode; | |
7acfedab | 554 | __enable_irq(); |
618c9b0f JM |
555 | |
556 | stream->printf("Settings Stored to %s\r\n", filename.c_str()); | |
557 | } | |
558 | ||
6187a020 | 559 | // show free memory |
9e403697 JM |
560 | void SimpleShell::mem_command( string parameters, StreamOutput *stream) |
561 | { | |
078f76e0 | 562 | bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos; |
9e403697 JM |
563 | unsigned long heap = (unsigned long)_sbrk(0); |
564 | unsigned long m = g_maximumHeapAddress - heap; | |
ecc610a4 JM |
565 | stream->printf("Unused Heap: %lu bytes\r\n", m); |
566 | ||
6d877d9b | 567 | uint32_t f = heapWalk(stream, verbose); |
0c683b26 | 568 | stream->printf("Total Free RAM: %lu bytes\r\n", m + f); |
a200fc31 | 569 | |
0c683b26 | 570 | stream->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0.free(), AHB1.free()); |
6d877d9b | 571 | if (verbose) { |
1803076a MM |
572 | AHB0.debug(stream); |
573 | AHB1.debug(stream); | |
574 | } | |
8a9f9313 JM |
575 | |
576 | stream->printf("Block size: %u bytes\n", sizeof(Block)); | |
6187a020 JM |
577 | } |
578 | ||
9e403697 JM |
579 | static uint32_t getDeviceType() |
580 | { | |
581 | #define IAP_LOCATION 0x1FFF1FF1 | |
01f35bcc JM |
582 | uint32_t command[1]; |
583 | uint32_t result[5]; | |
9e403697 | 584 | typedef void (*IAP)(uint32_t *, uint32_t *); |
01f35bcc JM |
585 | IAP iap = (IAP) IAP_LOCATION; |
586 | ||
587 | __disable_irq(); | |
588 | ||
589 | command[0] = 54; | |
590 | iap(command, result); | |
591 | ||
592 | __enable_irq(); | |
593 | ||
594 | return result[1]; | |
595 | } | |
596 | ||
d4ee6ee2 JM |
597 | // get network config |
598 | void SimpleShell::net_command( string parameters, StreamOutput *stream) | |
599 | { | |
600 | void *returned_data; | |
6d877d9b | 601 | bool ok = PublicData::get_value( network_checksum, get_ipconfig_checksum, &returned_data ); |
d4ee6ee2 | 602 | if(ok) { |
6d877d9b | 603 | char *str = (char *)returned_data; |
d4ee6ee2 JM |
604 | stream->printf("%s\r\n", str); |
605 | free(str); | |
606 | ||
6d877d9b | 607 | } else { |
d4ee6ee2 JM |
608 | stream->printf("No network detected\n"); |
609 | } | |
610 | } | |
611 | ||
582559c6 | 612 | // print out build version |
9e403697 JM |
613 | void SimpleShell::version_command( string parameters, StreamOutput *stream) |
614 | { | |
582559c6 | 615 | Version vers; |
9e403697 JM |
616 | uint32_t dev = getDeviceType(); |
617 | const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768"; | |
01f35bcc | 618 | 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 JM |
619 | #ifdef CNC |
620 | stream->printf(" CNC Build\r\n"); | |
621 | #endif | |
582559c6 JM |
622 | } |
623 | ||
77983aa1 | 624 | // Reset the system |
9e403697 JM |
625 | void SimpleShell::reset_command( string parameters, StreamOutput *stream) |
626 | { | |
ead17727 | 627 | stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n"); |
7e81f138 | 628 | reset_delay_secs = 5; // reboot in 5 seconds |
2742fca9 JM |
629 | } |
630 | ||
631 | // go into dfu boot mode | |
9e403697 JM |
632 | void SimpleShell::dfu_command( string parameters, StreamOutput *stream) |
633 | { | |
ed7c5844 JM |
634 | stream->printf("Entering boot mode...\r\n"); |
635 | system_reset(true); | |
77983aa1 L |
636 | } |
637 | ||
0f0b1656 | 638 | // Break out into the MRI debugging system |
9e403697 JM |
639 | void SimpleShell::break_command( string parameters, StreamOutput *stream) |
640 | { | |
0f0b1656 L |
641 | stream->printf("Entering MRI debug mode...\r\n"); |
642 | __debugbreak(); | |
643 | } | |
644 | ||
40843ebc JM |
645 | static int get_active_tool() |
646 | { | |
335957f5 | 647 | void *returned_data; |
40843ebc JM |
648 | bool ok = PublicData::get_value(tool_manager_checksum, get_active_tool_checksum, &returned_data); |
649 | if (ok) { | |
335957f5 JM |
650 | int active_tool= *static_cast<int *>(returned_data); |
651 | return active_tool; | |
40843ebc JM |
652 | } else { |
653 | return 0; | |
654 | } | |
655 | } | |
656 | ||
6c0193b3 JM |
657 | void SimpleShell::grblDP_command( string parameters, StreamOutput *stream) |
658 | { | |
659 | /* | |
660 | [G54:95.000,40.000,-23.600] | |
661 | [G55:0.000,0.000,0.000] | |
662 | [G56:0.000,0.000,0.000] | |
663 | [G57:0.000,0.000,0.000] | |
664 | [G58:0.000,0.000,0.000] | |
665 | [G59:0.000,0.000,0.000] | |
666 | [G28:0.000,0.000,0.000] | |
667 | [G30:0.000,0.000,0.000] | |
668 | [G92:0.000,0.000,0.000] | |
669 | [TLO:0.000] | |
670 | [PRB:0.000,0.000,0.000:0] | |
671 | */ | |
078f76e0 JM |
672 | |
673 | bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos; | |
674 | ||
c8bac202 | 675 | std::vector<Robot::wcs_t> v= THEROBOT->get_wcs_state(); |
078f76e0 JM |
676 | if(verbose) { |
677 | char current_wcs= std::get<0>(v[0]); | |
678 | stream->printf("[current WCS: %s]\n", wcs2gcode(current_wcs).c_str()); | |
679 | } | |
680 | ||
6c0193b3 JM |
681 | int n= std::get<1>(v[0]); |
682 | for (int i = 1; i <= n; ++i) { | |
32bc8b54 | 683 | stream->printf("[%s:%1.4f,%1.4f,%1.4f]\n", wcs2gcode(i-1).c_str(), |
c8bac202 JM |
684 | THEROBOT->from_millimeters(std::get<0>(v[i])), |
685 | THEROBOT->from_millimeters(std::get<1>(v[i])), | |
686 | THEROBOT->from_millimeters(std::get<2>(v[i]))); | |
6c0193b3 JM |
687 | } |
688 | ||
9339253b JM |
689 | float *rd; |
690 | PublicData::get_value( endstops_checksum, saved_position_checksum, &rd ); | |
32bc8b54 | 691 | stream->printf("[G28:%1.4f,%1.4f,%1.4f]\n", |
c8bac202 JM |
692 | THEROBOT->from_millimeters(rd[0]), |
693 | THEROBOT->from_millimeters(rd[1]), | |
694 | THEROBOT->from_millimeters(rd[2])); | |
32bc8b54 | 695 | |
31c6c2c2 | 696 | stream->printf("[G30:%1.4f,%1.4f,%1.4f]\n", 0.0F, 0.0F, 0.0F); // not implemented |
9339253b | 697 | |
32bc8b54 | 698 | stream->printf("[G92:%1.4f,%1.4f,%1.4f]\n", |
c8bac202 JM |
699 | THEROBOT->from_millimeters(std::get<0>(v[n+1])), |
700 | THEROBOT->from_millimeters(std::get<1>(v[n+1])), | |
701 | THEROBOT->from_millimeters(std::get<2>(v[n+1]))); | |
32bc8b54 | 702 | |
078f76e0 | 703 | if(verbose) { |
32bc8b54 | 704 | stream->printf("[Tool Offset:%1.4f,%1.4f,%1.4f]\n", |
c8bac202 JM |
705 | THEROBOT->from_millimeters(std::get<0>(v[n+2])), |
706 | THEROBOT->from_millimeters(std::get<1>(v[n+2])), | |
707 | THEROBOT->from_millimeters(std::get<2>(v[n+2]))); | |
078f76e0 | 708 | }else{ |
c8bac202 | 709 | stream->printf("[TL0:%1.4f]\n", THEROBOT->from_millimeters(std::get<2>(v[n+2]))); |
078f76e0 | 710 | } |
6c0193b3 | 711 | |
4440e123 JM |
712 | // this is the last probe position, updated when a probe completes, also stores the number of steps moved after a homing cycle |
713 | float px, py, pz; | |
714 | uint8_t ps; | |
c8bac202 JM |
715 | std::tie(px, py, pz, ps) = THEROBOT->get_last_probe_position(); |
716 | 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 |
717 | } |
718 | ||
9e403697 JM |
719 | void SimpleShell::get_command( string parameters, StreamOutput *stream) |
720 | { | |
7e81f138 | 721 | string what = shift_parameter( parameters ); |
c4e56997 | 722 | |
7e81f138 | 723 | if (what == "temp") { |
3bfb2639 | 724 | struct pad_temperature temp; |
9e403697 | 725 | string type = shift_parameter( parameters ); |
56a6c8c1 JM |
726 | if(type.empty()) { |
727 | // scan all temperature controls | |
728 | std::vector<struct pad_temperature> controllers; | |
729 | bool ok = PublicData::get_value(temperature_control_checksum, poll_controls_checksum, &controllers); | |
730 | if (ok) { | |
731 | for (auto &c : controllers) { | |
732 | stream->printf("%s (%d) temp: %f/%f @%d\r\n", c.designator.c_str(), c.id, c.current_temperature, c.target_temperature, c.pwm); | |
733 | } | |
b55cfff1 | 734 | |
56a6c8c1 JM |
735 | } else { |
736 | stream->printf("no heaters found\r\n"); | |
737 | } | |
738 | ||
739 | }else{ | |
740 | bool ok = PublicData::get_value( temperature_control_checksum, current_temperature_checksum, get_checksum(type), &temp ); | |
741 | ||
742 | if (ok) { | |
743 | stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm); | |
744 | } else { | |
745 | stream->printf("%s is not a known temperature device\r\n", type.c_str()); | |
746 | } | |
b55cfff1 | 747 | } |
c4e56997 | 748 | |
70021ec9 | 749 | } else if (what == "fk" || what == "ik") { |
2577a122 | 750 | string p= shift_parameter( parameters ); |
70021ec9 | 751 | bool move= false; |
8ff7a960 | 752 | if(p == "-m") { |
70021ec9 JM |
753 | move= true; |
754 | p= shift_parameter( parameters ); | |
755 | } | |
756 | ||
757 | std::vector<float> v= parse_number_list(p.c_str()); | |
586cc733 JM |
758 | if(p.empty() || v.size() < 1) { |
759 | stream->printf("error:usage: get [fk|ik] [-m] x[,y,z]\n"); | |
70021ec9 JM |
760 | return; |
761 | } | |
2577a122 | 762 | |
70021ec9 | 763 | float x= v[0]; |
586cc733 JM |
764 | float y= (v.size() > 1) ? v[1] : x; |
765 | float z= (v.size() > 2) ? v[2] : y; | |
70021ec9 JM |
766 | |
767 | if(what == "fk") { | |
8ff7a960 | 768 | // do forward kinematics on the given actuator position and display the cartesian coordinates |
70021ec9 JM |
769 | ActuatorCoordinates apos{x, y, z}; |
770 | float pos[3]; | |
c8bac202 | 771 | THEROBOT->arm_solution->actuator_to_cartesian(apos, pos); |
586cc733 JM |
772 | stream->printf("cartesian= X %f, Y %f, Z %f, Steps= A %lu, B %lu, C %lu\n", |
773 | pos[0], pos[1], pos[2], | |
c8bac202 JM |
774 | lroundf(x*THEROBOT->actuators[0]->get_steps_per_mm()), |
775 | lroundf(y*THEROBOT->actuators[1]->get_steps_per_mm()), | |
776 | lroundf(z*THEROBOT->actuators[2]->get_steps_per_mm())); | |
70021ec9 JM |
777 | x= pos[0]; |
778 | y= pos[1]; | |
779 | z= pos[2]; | |
8ff7a960 | 780 | |
70021ec9 | 781 | }else{ |
8ff7a960 | 782 | // do inverse kinematics on the given cartesian position and display the actuator coordinates |
70021ec9 JM |
783 | float pos[3]{x, y, z}; |
784 | ActuatorCoordinates apos; | |
c8bac202 | 785 | THEROBOT->arm_solution->cartesian_to_actuator(pos, apos); |
70021ec9 JM |
786 | stream->printf("actuator= A %f, B %f, C %f\n", apos[0], apos[1], apos[2]); |
787 | } | |
788 | ||
789 | if(move) { | |
8ff7a960 | 790 | // move to the calculated, or given, XYZ |
70021ec9 JM |
791 | char cmd[64]; |
792 | snprintf(cmd, sizeof(cmd), "G53 G0 X%f Y%f Z%f", x, y, z); | |
793 | struct SerialMessage message; | |
794 | message.message = cmd; | |
795 | message.stream = &(StreamOutput::NullStream); | |
796 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
797 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
798 | } | |
2577a122 JM |
799 | |
800 | } else if (what == "pos") { | |
e03f2747 JM |
801 | // convenience to call all the various M114 variants |
802 | char buf[64]; | |
c8bac202 JM |
803 | THEROBOT->print_position(0, buf, sizeof buf); stream->printf("last %s\n", buf); |
804 | THEROBOT->print_position(1, buf, sizeof buf); stream->printf("realtime %s\n", buf); | |
805 | THEROBOT->print_position(2, buf, sizeof buf); stream->printf("%s\n", buf); | |
806 | THEROBOT->print_position(3, buf, sizeof buf); stream->printf("%s\n", buf); | |
807 | THEROBOT->print_position(4, buf, sizeof buf); stream->printf("%s\n", buf); | |
808 | THEROBOT->print_position(5, buf, sizeof buf); stream->printf("%s\n", buf); | |
34210908 JM |
809 | |
810 | } else if (what == "wcs") { | |
811 | // print the wcs state | |
078f76e0 | 812 | grblDP_command("-v", stream); |
40843ebc JM |
813 | |
814 | } else if (what == "state") { | |
6c0193b3 | 815 | // also $G |
40843ebc | 816 | // [G0 G54 G17 G21 G90 G94 M0 M5 M9 T0 F0.] |
31c6c2c2 | 817 | stream->printf("[G%d %s G%d G%d G%d G94 M0 M5 M9 T%d F%1.4f]\n", |
40843ebc | 818 | THEKERNEL->gcode_dispatch->get_modal_command(), |
c8bac202 JM |
819 | wcs2gcode(THEROBOT->get_current_wcs()).c_str(), |
820 | THEROBOT->plane_axis_0 == X_AXIS && THEROBOT->plane_axis_1 == Y_AXIS && THEROBOT->plane_axis_2 == Z_AXIS ? 17 : | |
821 | THEROBOT->plane_axis_0 == X_AXIS && THEROBOT->plane_axis_1 == Z_AXIS && THEROBOT->plane_axis_2 == Y_AXIS ? 18 : | |
822 | THEROBOT->plane_axis_0 == Y_AXIS && THEROBOT->plane_axis_1 == Z_AXIS && THEROBOT->plane_axis_2 == X_AXIS ? 19 : 17, | |
823 | THEROBOT->inch_mode ? 20 : 21, | |
824 | THEROBOT->absolute_mode ? 90 : 91, | |
40843ebc | 825 | get_active_tool(), |
c8bac202 | 826 | THEROBOT->from_millimeters(THEROBOT->get_feed_rate())); |
6c0193b3 | 827 | |
a9e8c04b JM |
828 | } else if (what == "status") { |
829 | // also ? on serial and usb | |
830 | stream->printf("%s\n", THEKERNEL->get_query_string().c_str()); | |
831 | ||
6c0193b3 | 832 | } else { |
07186543 | 833 | stream->printf("error:unknown option %s\n", what.c_str()); |
b55cfff1 | 834 | } |
8293d443 JM |
835 | } |
836 | ||
77047e76 | 837 | // used to test out the get public data events |
9e403697 JM |
838 | void SimpleShell::set_temp_command( string parameters, StreamOutput *stream) |
839 | { | |
840 | string type = shift_parameter( parameters ); | |
841 | string temp = shift_parameter( parameters ); | |
04211969 | 842 | float t = temp.empty() ? 0.0 : strtof(temp.c_str(), NULL); |
75e6428d | 843 | bool ok = PublicData::set_value( temperature_control_checksum, get_checksum(type), &t ); |
991d98cc | 844 | |
9e403697 | 845 | if (ok) { |
991d98cc | 846 | stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t); |
9e403697 | 847 | } else { |
991d98cc JM |
848 | stream->printf("%s is not a known temperature device\r\n", type.c_str()); |
849 | } | |
77047e76 JM |
850 | } |
851 | ||
4c8f5447 JM |
852 | void SimpleShell::print_thermistors_command( string parameters, StreamOutput *stream) |
853 | { | |
8b260c2c | 854 | #ifndef NO_TOOLS_TEMPERATURECONTROL |
4c8f5447 | 855 | Thermistor::print_predefined_thermistors(stream); |
8b260c2c | 856 | #endif |
4c8f5447 JM |
857 | } |
858 | ||
1f8dab1a JM |
859 | void SimpleShell::calc_thermistor_command( string parameters, StreamOutput *stream) |
860 | { | |
8b260c2c | 861 | #ifndef NO_TOOLS_TEMPERATURECONTROL |
bbb839c1 JM |
862 | string s = shift_parameter( parameters ); |
863 | int saveto= -1; | |
864 | // see if we have -sn as first argument | |
865 | if(s.find("-s", 0, 2) != string::npos) { | |
866 | // save the results to thermistor n | |
867 | saveto= strtol(s.substr(2).c_str(), nullptr, 10); | |
868 | }else{ | |
869 | parameters= s; | |
870 | } | |
871 | ||
1f8dab1a JM |
872 | std::vector<float> trl= parse_number_list(parameters.c_str()); |
873 | if(trl.size() == 6) { | |
874 | // calculate the coefficients | |
875 | float c1, c2, c3; | |
876 | std::tie(c1, c2, c3) = Thermistor::calculate_steinhart_hart_coefficients(trl[0], trl[1], trl[2], trl[3], trl[4], trl[5]); | |
877 | stream->printf("Steinhart Hart coefficients: I%1.18f J%1.18f K%1.18f\n", c1, c2, c3); | |
bbb839c1 JM |
878 | if(saveto == -1) { |
879 | stream->printf(" Paste the above in the M305 S0 command, then save with M500\n"); | |
880 | }else{ | |
881 | char buf[80]; | |
882 | int n = snprintf(buf, sizeof(buf), "M305 S%d I%1.18f J%1.18f K%1.18f", saveto, c1, c2, c3); | |
883 | string g(buf, n); | |
884 | Gcode gcode(g, &(StreamOutput::NullStream)); | |
885 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode ); | |
886 | stream->printf(" Setting Thermistor %d to those settings, save with M500\n", saveto); | |
887 | } | |
1f8dab1a JM |
888 | |
889 | }else{ | |
890 | // give help | |
891 | stream->printf("Usage: calc_thermistor T1,R1,T2,R2,T3,R3\n"); | |
892 | } | |
8b260c2c | 893 | #endif |
1f8dab1a JM |
894 | } |
895 | ||
ae91dea4 JM |
896 | // used to test out the get public data events for switch |
897 | void SimpleShell::switch_command( string parameters, StreamOutput *stream) | |
898 | { | |
899 | string type = shift_parameter( parameters ); | |
900 | string value = shift_parameter( parameters ); | |
6d877d9b | 901 | bool ok = false; |
ae91dea4 | 902 | if(value == "on" || value == "off") { |
6d877d9b | 903 | bool b = value == "on"; |
ae91dea4 | 904 | ok = PublicData::set_value( switch_checksum, get_checksum(type), state_checksum, &b ); |
6d877d9b | 905 | } else { |
ae91dea4 JM |
906 | float v = strtof(value.c_str(), NULL); |
907 | ok = PublicData::set_value( switch_checksum, get_checksum(type), value_checksum, &v ); | |
908 | } | |
909 | if (ok) { | |
910 | stream->printf("switch %s set to: %s\r\n", type.c_str(), value.c_str()); | |
911 | } else { | |
912 | stream->printf("%s is not a known switch device\r\n", type.c_str()); | |
913 | } | |
914 | } | |
915 | ||
d55d551b JM |
916 | void SimpleShell::md5sum_command( string parameters, StreamOutput *stream ) |
917 | { | |
918 | string filename = absolute_from_relative(parameters); | |
919 | ||
920 | // Open file | |
921 | FILE *lp = fopen(filename.c_str(), "r"); | |
922 | if (lp == NULL) { | |
923 | stream->printf("File not found: %s\r\n", filename.c_str()); | |
924 | return; | |
925 | } | |
926 | MD5 md5; | |
927 | uint8_t buf[64]; | |
928 | do { | |
929 | size_t n= fread(buf, 1, sizeof buf, lp); | |
930 | if(n > 0) md5.update(buf, n); | |
2a95b07e | 931 | THEKERNEL->call_event(ON_IDLE); |
d55d551b JM |
932 | } while(!feof(lp)); |
933 | ||
934 | stream->printf("%s %s\n", md5.finalize().hexdigest().c_str(), filename.c_str()); | |
935 | fclose(lp); | |
936 | } | |
937 | ||
b03317ea | 938 | #ifdef CNC |
518b5c4c JM |
939 | // runs several types of test on the mechanisms |
940 | void SimpleShell::test_command( string parameters, StreamOutput *stream) | |
941 | { | |
942 | string what = shift_parameter( parameters ); | |
943 | ||
944 | if (what == "jog") { | |
945 | // jogs back and forth usage: axis distance iterations [feedrate] | |
946 | string axis = shift_parameter( parameters ); | |
947 | string dist = shift_parameter( parameters ); | |
948 | string iters = shift_parameter( parameters ); | |
949 | string speed = shift_parameter( parameters ); | |
950 | if(axis.empty() || dist.empty() || iters.empty()) { | |
951 | stream->printf("error: Need axis distance iterations\n"); | |
952 | return; | |
953 | } | |
954 | float d= strtof(dist.c_str(), NULL); | |
c8bac202 | 955 | float f= speed.empty() ? THEROBOT->get_feed_rate() : strtof(speed.c_str(), NULL); |
518b5c4c JM |
956 | uint32_t n= strtol(iters.c_str(), NULL, 10); |
957 | ||
958 | bool toggle= false; | |
959 | for (uint32_t i = 0; i < n; ++i) { | |
960 | char cmd[64]; | |
a276de9c JM |
961 | snprintf(cmd, sizeof(cmd), "G91 G0 %c%f F%f G90", toupper(axis[0]), toggle ? -d : d, f); |
962 | stream->printf("%s\n", cmd); | |
518b5c4c JM |
963 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
964 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
a276de9c | 965 | if(THEKERNEL->is_halted()) break; |
e0b7aa0e | 966 | THEKERNEL->conveyor->wait_for_empty_queue(); |
518b5c4c JM |
967 | toggle= !toggle; |
968 | } | |
a276de9c | 969 | stream->printf("done\n"); |
518b5c4c JM |
970 | |
971 | }else if (what == "circle") { | |
fb4c9d09 | 972 | // draws a circle around origin. usage: radius iterations [feedrate] |
e0b7aa0e | 973 | string radius = shift_parameter( parameters ); |
e0b7aa0e JM |
974 | string iters = shift_parameter( parameters ); |
975 | string speed = shift_parameter( parameters ); | |
fb4c9d09 JM |
976 | if(radius.empty() || iters.empty()) { |
977 | stream->printf("error: Need radius iterations\n"); | |
e0b7aa0e JM |
978 | return; |
979 | } | |
980 | ||
981 | float r= strtof(radius.c_str(), NULL); | |
e0b7aa0e | 982 | uint32_t n= strtol(iters.c_str(), NULL, 10); |
c8bac202 | 983 | float f= speed.empty() ? THEROBOT->get_feed_rate() : strtof(speed.c_str(), NULL); |
fb4c9d09 | 984 | |
ee602f65 | 985 | char cmd[64]; |
fb4c9d09 JM |
986 | snprintf(cmd, sizeof(cmd), "G0 X%f Y0 F%f", -r, f); |
987 | stream->printf("%s\n", cmd); | |
ee602f65 JM |
988 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
989 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
e0b7aa0e JM |
990 | |
991 | for (uint32_t i = 0; i < n; ++i) { | |
a276de9c | 992 | if(THEKERNEL->is_halted()) break; |
fb4c9d09 JM |
993 | snprintf(cmd, sizeof(cmd), "G2 X%f Y0 I%f J0 F%f", -r, r, f); |
994 | stream->printf("%s\n", cmd); | |
995 | message.message= cmd; | |
996 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
e0b7aa0e JM |
997 | THEKERNEL->conveyor->wait_for_empty_queue(); |
998 | } | |
a276de9c | 999 | stream->printf("done\n"); |
518b5c4c JM |
1000 | |
1001 | }else if (what == "square") { | |
1002 | // draws a square usage: size iterations [feedrate] | |
1003 | string size = shift_parameter( parameters ); | |
1004 | string iters = shift_parameter( parameters ); | |
1005 | string speed = shift_parameter( parameters ); | |
1006 | if(size.empty() || iters.empty()) { | |
1007 | stream->printf("error: Need size iterations\n"); | |
1008 | return; | |
1009 | } | |
1010 | float d= strtof(size.c_str(), NULL); | |
c8bac202 | 1011 | float f= speed.empty() ? THEROBOT->get_feed_rate() : strtof(speed.c_str(), NULL); |
518b5c4c JM |
1012 | uint32_t n= strtol(iters.c_str(), NULL, 10); |
1013 | ||
1014 | for (uint32_t i = 0; i < n; ++i) { | |
1015 | char cmd[64]; | |
1016 | { | |
1017 | snprintf(cmd, sizeof(cmd), "G91 G0 X%f F%f", d, f); | |
a276de9c | 1018 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1019 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1020 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1021 | } | |
1022 | { | |
e0b7aa0e | 1023 | snprintf(cmd, sizeof(cmd), "G0 Y%f", d); |
a276de9c | 1024 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1025 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1026 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1027 | } | |
1028 | { | |
e0b7aa0e | 1029 | snprintf(cmd, sizeof(cmd), "G0 X%f", -d); |
a276de9c | 1030 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1031 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1032 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1033 | } | |
1034 | { | |
e0b7aa0e | 1035 | snprintf(cmd, sizeof(cmd), "G0 Y%f G90", -d); |
a276de9c | 1036 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1037 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1038 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1039 | } | |
a276de9c | 1040 | if(THEKERNEL->is_halted()) break; |
e0b7aa0e | 1041 | THEKERNEL->conveyor->wait_for_empty_queue(); |
518b5c4c | 1042 | } |
a276de9c | 1043 | stream->printf("done\n"); |
d55d551b | 1044 | |
a276de9c JM |
1045 | }else { |
1046 | stream->printf("usage:\n test jog axis distance iterations [feedrate]\n"); | |
1047 | stream->printf(" test square size iterations [feedrate]\n"); | |
fb4c9d09 | 1048 | stream->printf(" test circle radius iterations [feedrate]\n"); |
518b5c4c JM |
1049 | } |
1050 | } | |
b03317ea | 1051 | #endif |
d55d551b | 1052 | |
9e403697 JM |
1053 | void SimpleShell::help_command( string parameters, StreamOutput *stream ) |
1054 | { | |
ed7c5844 | 1055 | stream->printf("Commands:\r\n"); |
582559c6 | 1056 | stream->printf("version\r\n"); |
ecc610a4 | 1057 | stream->printf("mem [-v]\r\n"); |
3579deea | 1058 | stream->printf("ls [-s] [folder]\r\n"); |
ed7c5844 | 1059 | stream->printf("cd folder\r\n"); |
c4e56997 | 1060 | stream->printf("pwd\r\n"); |
6c0193b3 | 1061 | stream->printf("cat file [limit] [-d 10]\r\n"); |
9e403697 | 1062 | stream->printf("rm file\r\n"); |
6d877d9b | 1063 | stream->printf("mv file newfile\r\n"); |
12fb447a | 1064 | stream->printf("remount\r\n"); |
4eb0e279 | 1065 | stream->printf("play file [-v]\r\n"); |
ed7c5844 JM |
1066 | stream->printf("progress - shows progress of current play\r\n"); |
1067 | stream->printf("abort - abort currently playing file\r\n"); | |
c4e56997 JM |
1068 | stream->printf("reset - reset smoothie\r\n"); |
1069 | stream->printf("dfu - enter dfu boot loader\r\n"); | |
1070 | stream->printf("break - break into debugger\r\n"); | |
ed7c5844 JM |
1071 | stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n"); |
1072 | stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n"); | |
a9e8c04b | 1073 | stream->printf("get [pos|wcs|state|status|fk|ik]\r\n"); |
5647f709 | 1074 | stream->printf("get temp [bed|hotend]\r\n"); |
991d98cc | 1075 | stream->printf("set_temp bed|hotend 185\r\n"); |
d4ee6ee2 | 1076 | stream->printf("net\r\n"); |
618c9b0f JM |
1077 | stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n"); |
1078 | stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n"); | |
bbb839c1 JM |
1079 | stream->printf("upload filename - saves a stream of text to the named file\r\n"); |
1080 | stream->printf("calc_thermistor [-s0] T1,R1,T2,R2,T3,R3 - calculate the Steinhart Hart coefficients for a thermistor\r\n"); | |
4c8f5447 | 1081 | stream->printf("thermistors - print out the predefined thermistors\r\n"); |
d55d551b | 1082 | stream->printf("md5sum file - prints md5 sum of the given file\r\n"); |
235a7435 JM |
1083 | } |
1084 |