Commit | Line | Data |
---|---|---|
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 AW |
9 | #include "libs/Kernel.h" |
10 | #include "SimpleShell.h" | |
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" |
0325af12 | 20 | |
47339e4a | 21 | #include "modules/tools/temperaturecontrol/TemperatureControlPublicAccess.h" |
5647f709 | 22 | #include "modules/robot/RobotPublicAccess.h" |
d4ee6ee2 | 23 | #include "NetworkPublicAccess.h" |
a200fc31 | 24 | #include "platform_memory.h" |
47339e4a | 25 | |
6187a020 JM |
26 | extern unsigned int g_maximumHeapAddress; |
27 | ||
ecc610a4 JM |
28 | #include <malloc.h> |
29 | #include <mri.h> | |
30 | #include <stdio.h> | |
31 | #include <stdint.h> | |
32 | ||
33 | extern "C" uint32_t __end__; | |
34 | extern "C" uint32_t __malloc_free_list; | |
35 | extern "C" uint32_t _sbrk(int size); | |
36 | ||
9e403697 JM |
37 | #define get_temp_command_checksum CHECKSUM("temp") |
38 | #define get_pos_command_checksum CHECKSUM("pos") | |
39 | ||
40 | // command lookup table | |
41 | SimpleShell::ptentry_t SimpleShell::commands_table[] = { | |
42 | {CHECKSUM("ls"), &SimpleShell::ls_command}, | |
43 | {CHECKSUM("cd"), &SimpleShell::cd_command}, | |
44 | {CHECKSUM("pwd"), &SimpleShell::pwd_command}, | |
45 | {CHECKSUM("cat"), &SimpleShell::cat_command}, | |
46 | {CHECKSUM("rm"), &SimpleShell::rm_command}, | |
47 | {CHECKSUM("reset"), &SimpleShell::reset_command}, | |
48 | {CHECKSUM("dfu"), &SimpleShell::dfu_command}, | |
49 | {CHECKSUM("break"), &SimpleShell::break_command}, | |
50 | {CHECKSUM("help"), &SimpleShell::help_command}, | |
d4ee6ee2 | 51 | {CHECKSUM("?"), &SimpleShell::help_command}, |
9e403697 JM |
52 | {CHECKSUM("version"), &SimpleShell::version_command}, |
53 | {CHECKSUM("mem"), &SimpleShell::mem_command}, | |
54 | {CHECKSUM("get"), &SimpleShell::get_command}, | |
55 | {CHECKSUM("set_temp"), &SimpleShell::set_temp_command}, | |
d4ee6ee2 | 56 | {CHECKSUM("net"), &SimpleShell::net_command}, |
9e403697 JM |
57 | |
58 | // unknown command | |
59 | {0, NULL} | |
60 | }; | |
ecc610a4 JM |
61 | |
62 | // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556 | |
0c683b26 | 63 | static uint32_t heapWalk(StreamOutput *stream, bool verbose) |
ecc610a4 JM |
64 | { |
65 | uint32_t chunkNumber = 1; | |
66 | // The __end__ linker symbol points to the beginning of the heap. | |
67 | uint32_t chunkCurr = (uint32_t)&__end__; | |
68 | // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks. | |
69 | uint32_t freeCurr = __malloc_free_list; | |
70 | // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap. | |
71 | uint32_t heapEnd = _sbrk(0); | |
72 | // accumulate totals | |
9e403697 JM |
73 | uint32_t freeSize = 0; |
74 | uint32_t usedSize = 0; | |
ecc610a4 JM |
75 | |
76 | stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr); | |
77 | ||
78 | // Walk through the chunks until we hit the end of the heap. | |
9e403697 | 79 | while (chunkCurr < heapEnd) { |
ecc610a4 JM |
80 | // Assume the chunk is in use. Will update later. |
81 | int isChunkFree = 0; | |
82 | // The first 32-bit word in a chunk is the size of the allocation. newlib-nano over allocates by 8 bytes. | |
83 | // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer. | |
9e403697 | 84 | uint32_t chunkSize = *(uint32_t *)chunkCurr; |
ecc610a4 JM |
85 | // The start of the next chunk is right after the end of this one. |
86 | uint32_t chunkNext = chunkCurr + chunkSize; | |
87 | ||
88 | // The free list is sorted by address. | |
89 | // Check to see if we have found the next free chunk in the heap. | |
9e403697 | 90 | if (chunkCurr == freeCurr) { |
ecc610a4 JM |
91 | // Chunk is free so flag it as such. |
92 | isChunkFree = 1; | |
93 | // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address). | |
9e403697 | 94 | freeCurr = *(uint32_t *)(freeCurr + 4); |
ecc610a4 JM |
95 | } |
96 | ||
97 | // Skip past the 32-bit size field in the chunk header. | |
98 | chunkCurr += 4; | |
99 | // 8-byte align the data pointer. | |
100 | chunkCurr = (chunkCurr + 7) & ~7; | |
101 | // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8 | |
102 | // byte-alignment of the returned pointer. | |
103 | chunkSize -= 8; | |
9e403697 | 104 | if (verbose) |
ecc610a4 JM |
105 | stream->printf(" Chunk: %lu Address: 0x%08lX Size: %lu %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : ""); |
106 | ||
9e403697 | 107 | if (isChunkFree) freeSize += chunkSize; |
ecc610a4 JM |
108 | else usedSize += chunkSize; |
109 | ||
110 | chunkCurr = chunkNext; | |
111 | chunkNumber++; | |
112 | } | |
113 | stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize); | |
0c683b26 | 114 | return freeSize; |
ecc610a4 JM |
115 | } |
116 | ||
117 | ||
9e403697 JM |
118 | void SimpleShell::on_module_loaded() |
119 | { | |
0325af12 AW |
120 | this->current_path = "/"; |
121 | this->register_for_event(ON_CONSOLE_LINE_RECEIVED); | |
d4ee6ee2 JM |
122 | this->register_for_event(ON_GCODE_RECEIVED); |
123 | this->register_for_event(ON_SECOND_TICK); | |
c4e56997 | 124 | |
d4ee6ee2 | 125 | this->reset_delay_secs = 0; |
ead17727 JM |
126 | } |
127 | ||
9e403697 JM |
128 | void SimpleShell::on_second_tick(void *) |
129 | { | |
ead17727 | 130 | // we are timing out for the reset |
5895ead3 | 131 | if (this->reset_delay_secs > 0) { |
9e403697 | 132 | if (--this->reset_delay_secs == 0) { |
ead17727 JM |
133 | system_reset(false); |
134 | } | |
135 | } | |
0325af12 AW |
136 | } |
137 | ||
9e403697 JM |
138 | void SimpleShell::on_gcode_received(void *argument) |
139 | { | |
140 | Gcode *gcode = static_cast<Gcode *>(argument); | |
3a238fdc | 141 | string args= get_arguments(gcode->command); |
c4e56997 JM |
142 | |
143 | if (gcode->has_m) { | |
144 | if (gcode->m == 20) { // list sd card | |
145 | gcode->mark_as_taken(); | |
146 | gcode->stream->printf("Begin file list\r\n"); | |
147 | ls_command("/sd", gcode->stream); | |
148 | gcode->stream->printf("End file list\r\n"); | |
d4ee6ee2 JM |
149 | |
150 | } else if (gcode->m == 30) { // remove file | |
3a238fdc CG |
151 | gcode->mark_as_taken(); |
152 | rm_command("/sd/" + args, gcode->stream); | |
153 | } | |
c4e56997 JM |
154 | } |
155 | } | |
156 | ||
9e403697 JM |
157 | bool SimpleShell::parse_command(unsigned short cs, string args, StreamOutput *stream) |
158 | { | |
159 | for (ptentry_t *p = commands_table; p->pfunc != NULL; ++p) { | |
160 | if (cs == p->command_cs) { | |
161 | PFUNC fnc= p->pfunc; | |
162 | (this->*fnc)(args, stream); | |
163 | return true; | |
164 | } | |
165 | } | |
166 | ||
167 | return false; | |
168 | } | |
169 | ||
0325af12 | 170 | // When a new line is received, check if it is a command, and if it is, act upon it |
9e403697 JM |
171 | void SimpleShell::on_console_line_received( void *argument ) |
172 | { | |
173 | SerialMessage new_message = *static_cast<SerialMessage *>(argument); | |
7f613782 JM |
174 | |
175 | // ignore comments | |
9e403697 | 176 | if (new_message.message[0] == ';') return; |
7f613782 | 177 | |
b6c86164 | 178 | string possible_command = new_message.message; |
0325af12 | 179 | |
3add9a23 AW |
180 | //new_message.stream->printf("Received %s\r\n", possible_command.c_str()); |
181 | ||
9e403697 | 182 | unsigned short check_sum = get_checksum( possible_command.substr(0, possible_command.find_first_of(" \r\n")) ); // todo: put this method somewhere more convenient |
6187a020 | 183 | |
9e403697 JM |
184 | // find command and execute it |
185 | parse_command(check_sum, get_arguments(possible_command), new_message.stream); | |
0325af12 AW |
186 | } |
187 | ||
0325af12 | 188 | // Convert a path indication ( absolute or relative ) into a path ( absolute ) |
9e403697 JM |
189 | string SimpleShell::absolute_from_relative( string path ) |
190 | { | |
191 | if ( path[0] == '/' ) { | |
192 | return path; | |
193 | } | |
194 | if ( path[0] == '.' ) { | |
195 | return this->current_path; | |
196 | } | |
0325af12 AW |
197 | return this->current_path + path; |
198 | } | |
199 | ||
200 | // Act upon an ls command | |
201 | // Convert the first parameter into an absolute path, then list the files in that path | |
9e403697 JM |
202 | void SimpleShell::ls_command( string parameters, StreamOutput *stream ) |
203 | { | |
0325af12 | 204 | string folder = this->absolute_from_relative( parameters ); |
9e403697 JM |
205 | DIR *d; |
206 | struct dirent *p; | |
0325af12 | 207 | d = opendir(folder.c_str()); |
9e403697 JM |
208 | if (d != NULL) { |
209 | while ((p = readdir(d)) != NULL) { | |
210 | stream->printf("%s\r\n", lc(string(p->d_name)).c_str()); | |
211 | } | |
ed7c5844 | 212 | closedir(d); |
0325af12 | 213 | } else { |
b6c86164 | 214 | stream->printf("Could not open directory %s \r\n", folder.c_str()); |
0325af12 AW |
215 | } |
216 | } | |
217 | ||
9e403697 JM |
218 | // Delete a file |
219 | void SimpleShell::rm_command( string parameters, StreamOutput *stream ) | |
220 | { | |
221 | const char *fn= this->absolute_from_relative(shift_parameter( parameters )).c_str(); | |
222 | int s = remove(fn); | |
223 | if (s != 0) stream->printf("Could not delete %s \r\n", fn); | |
224 | } | |
225 | ||
0325af12 | 226 | // Change current absolute path to provided path |
9e403697 JM |
227 | void SimpleShell::cd_command( string parameters, StreamOutput *stream ) |
228 | { | |
0325af12 | 229 | string folder = this->absolute_from_relative( parameters ); |
9e403697 JM |
230 | if ( folder[folder.length() - 1] != '/' ) { |
231 | folder += "/"; | |
232 | } | |
0325af12 | 233 | DIR *d; |
0325af12 | 234 | d = opendir(folder.c_str()); |
9e403697 | 235 | if (d == NULL) { |
58baeec1 | 236 | stream->printf("Could not open directory %s \r\n", folder.c_str() ); |
9e403697 | 237 | } else { |
ed7c5844 JM |
238 | this->current_path = folder; |
239 | closedir(d); | |
0325af12 AW |
240 | } |
241 | } | |
242 | ||
b7250484 | 243 | // Responds with the present working directory |
9e403697 JM |
244 | void SimpleShell::pwd_command( string parameters, StreamOutput *stream ) |
245 | { | |
b7250484 L |
246 | stream->printf("%s\r\n", this->current_path.c_str()); |
247 | } | |
248 | ||
0325af12 | 249 | // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output ) |
9e403697 JM |
250 | void SimpleShell::cat_command( string parameters, StreamOutput *stream ) |
251 | { | |
58baeec1 | 252 | // Get parameters ( filename and line limit ) |
0325af12 AW |
253 | string filename = this->absolute_from_relative(shift_parameter( parameters )); |
254 | string limit_paramater = shift_parameter( parameters ); | |
255 | int limit = -1; | |
9e403697 JM |
256 | if ( limit_paramater != "" ) { |
257 | char *e = NULL; | |
f7e6f459 MM |
258 | limit = strtol(limit_paramater.c_str(), &e, 10); |
259 | if (e <= limit_paramater.c_str()) | |
260 | limit = -1; | |
261 | } | |
58baeec1 MM |
262 | |
263 | // Open file | |
0325af12 | 264 | FILE *lp = fopen(filename.c_str(), "r"); |
9e403697 | 265 | if (lp == NULL) { |
58baeec1 MM |
266 | stream->printf("File not found: %s\r\n", filename.c_str()); |
267 | return; | |
9ed670c5 | 268 | } |
0325af12 AW |
269 | string buffer; |
270 | int c; | |
58baeec1 | 271 | int newlines = 0; |
dfb15d68 | 272 | int linecnt= 0; |
0325af12 | 273 | // Print each line of the file |
9e403697 | 274 | while ((c = fgetc (lp)) != EOF) { |
58baeec1 | 275 | buffer.append((char *)&c, 1); |
dfb15d68 | 276 | if ( char(c) == '\n' || ++linecnt > 80) { |
58baeec1 | 277 | newlines++; |
d728799b | 278 | stream->puts(buffer.c_str()); |
58baeec1 | 279 | buffer.clear(); |
dfb15d68 | 280 | if(linecnt > 80) linecnt= 0; |
68b7afb4 | 281 | } |
9e403697 JM |
282 | if ( newlines == limit ) { |
283 | break; | |
284 | } | |
58baeec1 | 285 | }; |
0325af12 AW |
286 | fclose(lp); |
287 | ||
288 | } | |
289 | ||
6187a020 | 290 | // show free memory |
9e403697 JM |
291 | void SimpleShell::mem_command( string parameters, StreamOutput *stream) |
292 | { | |
293 | bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos ; | |
294 | unsigned long heap = (unsigned long)_sbrk(0); | |
295 | unsigned long m = g_maximumHeapAddress - heap; | |
ecc610a4 JM |
296 | stream->printf("Unused Heap: %lu bytes\r\n", m); |
297 | ||
0c683b26 JM |
298 | uint32_t f= heapWalk(stream, verbose); |
299 | stream->printf("Total Free RAM: %lu bytes\r\n", m + f); | |
a200fc31 | 300 | |
0c683b26 | 301 | stream->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0.free(), AHB1.free()); |
1803076a MM |
302 | if (verbose) |
303 | { | |
304 | AHB0.debug(stream); | |
305 | AHB1.debug(stream); | |
306 | } | |
6187a020 JM |
307 | } |
308 | ||
9e403697 JM |
309 | static uint32_t getDeviceType() |
310 | { | |
311 | #define IAP_LOCATION 0x1FFF1FF1 | |
01f35bcc JM |
312 | uint32_t command[1]; |
313 | uint32_t result[5]; | |
9e403697 | 314 | typedef void (*IAP)(uint32_t *, uint32_t *); |
01f35bcc JM |
315 | IAP iap = (IAP) IAP_LOCATION; |
316 | ||
317 | __disable_irq(); | |
318 | ||
319 | command[0] = 54; | |
320 | iap(command, result); | |
321 | ||
322 | __enable_irq(); | |
323 | ||
324 | return result[1]; | |
325 | } | |
326 | ||
d4ee6ee2 JM |
327 | // get network config |
328 | void SimpleShell::net_command( string parameters, StreamOutput *stream) | |
329 | { | |
330 | void *returned_data; | |
331 | bool ok= THEKERNEL->public_data->get_value( network_checksum, get_ipconfig_checksum, &returned_data ); | |
332 | if(ok) { | |
333 | char *str= (char *)returned_data; | |
334 | stream->printf("%s\r\n", str); | |
335 | free(str); | |
336 | ||
337 | }else{ | |
338 | stream->printf("No network detected\n"); | |
339 | } | |
340 | } | |
341 | ||
582559c6 | 342 | // print out build version |
9e403697 JM |
343 | void SimpleShell::version_command( string parameters, StreamOutput *stream) |
344 | { | |
582559c6 | 345 | Version vers; |
9e403697 JM |
346 | uint32_t dev = getDeviceType(); |
347 | const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768"; | |
01f35bcc | 348 | 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 |
349 | } |
350 | ||
77983aa1 | 351 | // Reset the system |
9e403697 JM |
352 | void SimpleShell::reset_command( string parameters, StreamOutput *stream) |
353 | { | |
ead17727 | 354 | stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n"); |
9e403697 | 355 | this->reset_delay_secs = 5; // reboot in 5 seconds |
2742fca9 JM |
356 | } |
357 | ||
358 | // go into dfu boot mode | |
9e403697 JM |
359 | void SimpleShell::dfu_command( string parameters, StreamOutput *stream) |
360 | { | |
ed7c5844 JM |
361 | stream->printf("Entering boot mode...\r\n"); |
362 | system_reset(true); | |
77983aa1 L |
363 | } |
364 | ||
0f0b1656 | 365 | // Break out into the MRI debugging system |
9e403697 JM |
366 | void SimpleShell::break_command( string parameters, StreamOutput *stream) |
367 | { | |
0f0b1656 L |
368 | stream->printf("Entering MRI debug mode...\r\n"); |
369 | __debugbreak(); | |
370 | } | |
371 | ||
8293d443 | 372 | // used to test out the get public data events |
9e403697 JM |
373 | void SimpleShell::get_command( string parameters, StreamOutput *stream) |
374 | { | |
375 | int what = get_checksum(shift_parameter( parameters )); | |
b55cfff1 | 376 | void *returned_data; |
c4e56997 | 377 | |
9e403697 JM |
378 | if (what == get_temp_command_checksum) { |
379 | string type = shift_parameter( parameters ); | |
314ab8f7 | 380 | bool ok = THEKERNEL->public_data->get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data ); |
b55cfff1 | 381 | |
9e403697 JM |
382 | if (ok) { |
383 | struct pad_temperature temp = *static_cast<struct pad_temperature *>(returned_data); | |
b55cfff1 | 384 | stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm); |
9e403697 | 385 | } else { |
b55cfff1 JM |
386 | stream->printf("%s is not a known temperature device\r\n", type.c_str()); |
387 | } | |
c4e56997 | 388 | |
9e403697 | 389 | } else if (what == get_pos_command_checksum) { |
314ab8f7 | 390 | bool ok = THEKERNEL->public_data->get_value( robot_checksum, current_position_checksum, &returned_data ); |
b55cfff1 | 391 | |
9e403697 | 392 | if (ok) { |
1ad23cd3 | 393 | float *pos = static_cast<float *>(returned_data); |
b55cfff1 | 394 | stream->printf("Position X: %f, Y: %f, Z: %f\r\n", pos[0], pos[1], pos[2]); |
c4e56997 | 395 | |
9e403697 | 396 | } else { |
b55cfff1 JM |
397 | stream->printf("get pos command failed\r\n"); |
398 | } | |
399 | } | |
8293d443 JM |
400 | } |
401 | ||
77047e76 | 402 | // used to test out the get public data events |
9e403697 JM |
403 | void SimpleShell::set_temp_command( string parameters, StreamOutput *stream) |
404 | { | |
405 | string type = shift_parameter( parameters ); | |
406 | string temp = shift_parameter( parameters ); | |
04211969 | 407 | float t = temp.empty() ? 0.0 : strtof(temp.c_str(), NULL); |
314ab8f7 | 408 | bool ok = THEKERNEL->public_data->set_value( temperature_control_checksum, get_checksum(type), &t ); |
991d98cc | 409 | |
9e403697 | 410 | if (ok) { |
991d98cc | 411 | stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t); |
9e403697 | 412 | } else { |
991d98cc JM |
413 | stream->printf("%s is not a known temperature device\r\n", type.c_str()); |
414 | } | |
77047e76 JM |
415 | } |
416 | ||
9e403697 JM |
417 | void SimpleShell::help_command( string parameters, StreamOutput *stream ) |
418 | { | |
ed7c5844 | 419 | stream->printf("Commands:\r\n"); |
582559c6 | 420 | stream->printf("version\r\n"); |
ecc610a4 | 421 | stream->printf("mem [-v]\r\n"); |
ed7c5844 JM |
422 | stream->printf("ls [folder]\r\n"); |
423 | stream->printf("cd folder\r\n"); | |
c4e56997 | 424 | stream->printf("pwd\r\n"); |
ed7c5844 | 425 | stream->printf("cat file [limit]\r\n"); |
9e403697 | 426 | stream->printf("rm file\r\n"); |
4eb0e279 | 427 | stream->printf("play file [-v]\r\n"); |
ed7c5844 JM |
428 | stream->printf("progress - shows progress of current play\r\n"); |
429 | stream->printf("abort - abort currently playing file\r\n"); | |
c4e56997 JM |
430 | stream->printf("reset - reset smoothie\r\n"); |
431 | stream->printf("dfu - enter dfu boot loader\r\n"); | |
432 | stream->printf("break - break into debugger\r\n"); | |
ed7c5844 JM |
433 | stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n"); |
434 | stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n"); | |
435 | stream->printf("config-load [<file_name>]\r\n"); | |
5647f709 | 436 | stream->printf("get temp [bed|hotend]\r\n"); |
991d98cc | 437 | stream->printf("set_temp bed|hotend 185\r\n"); |
b55cfff1 | 438 | stream->printf("get pos\r\n"); |
d4ee6ee2 | 439 | stream->printf("net\r\n"); |
235a7435 JM |
440 | } |
441 |