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