src/modules/utils/simpleshell/SimpleShell.cpp

   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 "libs/Kernel.h"
  10 #include "SimpleShell.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
  21 #include "modules/tools/temperaturecontrol/TemperatureControlPublicAccess.h"
  22
  23 void SimpleShell::on_module_loaded(){
  24     this->current_path = "/";
  25     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  26     this->reset_delay_secs= 0;
  27
  28     register_for_event(ON_SECOND_TICK);
  29 }
  30
  31 void SimpleShell::on_second_tick(void*) {
  32     // we are timing out for the reset
  33     if (this->reset_delay_secs > 0) {
  34         if(--this->reset_delay_secs == 0){
  35             system_reset(false);
  36         }
  37     }
  38 }
  39
  40 // When a new line is received, check if it is a command, and if it is, act upon it
  41 void SimpleShell::on_console_line_received( void* argument ){
  42     SerialMessage new_message = *static_cast<SerialMessage*>(argument);
  43     string possible_command = new_message.message;
  44
  45     //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
  46
  47     // We don't compare to a string but to a checksum of that string, this saves some space in flash memory
  48     unsigned short check_sum = get_checksum( possible_command.substr(0,possible_command.find_first_of(" \r\n")) );  // todo: put this method somewhere more convenient
  49
  50     // Act depending on command
  51     if (check_sum == ls_command_checksum)
  52         this->ls_command(  get_arguments(possible_command), new_message.stream );
  53     else if (check_sum == cd_command_checksum)
  54         this->cd_command(  get_arguments(possible_command), new_message.stream );
  55     else if (check_sum == pwd_command_checksum)
  56         this->pwd_command( get_arguments(possible_command), new_message.stream );
  57     else if (check_sum == cat_command_checksum)
  58         this->cat_command( get_arguments(possible_command), new_message.stream );
  59     else if (check_sum == break_command_checksum)
  60         this->break_command(get_arguments(possible_command),new_message.stream );
  61     else if (check_sum == reset_command_checksum)
  62         this->reset_command(get_arguments(possible_command),new_message.stream );
  63     else if (check_sum == dfu_command_checksum)
  64         this->dfu_command(get_arguments(possible_command),new_message.stream );
  65     else if (check_sum == help_command_checksum)
  66         this->help_command(get_arguments(possible_command),new_message.stream );
  67     else if (check_sum == version_command_checksum)
  68         this->version_command(get_arguments(possible_command),new_message.stream );
  69     else if (check_sum == get_temp_command_checksum)
  70         this->get_temp_command(get_arguments(possible_command),new_message.stream );
  71 }
  72
  73 // Convert a path indication ( absolute or relative ) into a path ( absolute )
  74 string SimpleShell::absolute_from_relative( string path ){
  75     if( path[0] == '/' ){ return path; }
  76     if( path[0] == '.' ){ return this->current_path; }
  77     return this->current_path + path;
  78 }
  79
  80 // Act upon an ls command
  81 // Convert the first parameter into an absolute path, then list the files in that path
  82 void SimpleShell::ls_command( string parameters, StreamOutput* stream ){
  83     string folder = this->absolute_from_relative( parameters );
  84     DIR* d;
  85     struct dirent* p;
  86     d = opendir(folder.c_str());
  87     if(d != NULL) {
  88         while((p = readdir(d)) != NULL) { stream->printf("%s\r\n", lc(string(p->d_name)).c_str()); }
  89         closedir(d);
  90     } else {
  91         stream->printf("Could not open directory %s \r\n", folder.c_str());
  92     }
  93 }
  94
  95 // Change current absolute path to provided path
  96 void SimpleShell::cd_command( string parameters, StreamOutput* stream ){
  97     string folder = this->absolute_from_relative( parameters );
  98     if( folder[folder.length()-1] != '/' ){ folder += "/"; }
  99     DIR *d;
 100     d = opendir(folder.c_str());
 101     if(d == NULL) {
 102         stream->printf("Could not open directory %s \r\n", folder.c_str() );
 103     }else{
 104         this->current_path = folder;
 105         closedir(d);
 106     }
 107 }
 108
 109 // Responds with the present working directory
 110 void SimpleShell::pwd_command( string parameters, StreamOutput* stream ){
 111     stream->printf("%s\r\n", this->current_path.c_str());
 112 }
 113
 114 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
 115 void SimpleShell::cat_command( string parameters, StreamOutput* stream ){
 116
 117     // Get parameters ( filename and line limit )
 118     string filename          = this->absolute_from_relative(shift_parameter( parameters ));
 119     string limit_paramater   = shift_parameter( parameters );
 120     int limit = -1;
 121     if( limit_paramater != "" )
 122     {
 123         char* e = NULL;
 124         limit = strtol(limit_paramater.c_str(), &e, 10);
 125         if (e <= limit_paramater.c_str())
 126             limit = -1;
 127     }
 128
 129     // Open file
 130     FILE *lp = fopen(filename.c_str(), "r");
 131     if(lp == NULL) {
 132         stream->printf("File not found: %s\r\n", filename.c_str());
 133         return;
 134     }
 135     string buffer;
 136     int c;
 137     int newlines = 0;
 138
 139     // Print each line of the file
 140     while ((c = fgetc (lp)) != EOF){
 141         buffer.append((char *)&c, 1);
 142         if( char(c) == '\n' ){
 143             newlines++;
 144             stream->puts(buffer.c_str());
 145             buffer.clear();
 146         }
 147         if( newlines == limit ){ break; }
 148     };
 149     fclose(lp);
 150
 151 }
 152
 153 // print out build version
 154 void SimpleShell::version_command( string parameters, StreamOutput* stream){
 155     Version vers;
 156     stream->printf("Build version: %s, Build date: %s,  System Clock: %ldMHz\r\n", vers.get_build(), vers.get_build_date(), SystemCoreClock / 1000000);
 157 }
 158
 159 // Reset the system
 160 void SimpleShell::reset_command( string parameters, StreamOutput* stream){
 161     stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
 162     this->reset_delay_secs= 5; // reboot in 5 seconds
 163 }
 164
 165 // go into dfu boot mode
 166 void SimpleShell::dfu_command( string parameters, StreamOutput* stream){
 167     stream->printf("Entering boot mode...\r\n");
 168     system_reset(true);
 169 }
 170
 171 // Break out into the MRI debugging system
 172 void SimpleShell::break_command( string parameters, StreamOutput* stream){
 173     stream->printf("Entering MRI debug mode...\r\n");
 174     __debugbreak();
 175 }
 176
 177 // used to test out the get public data events
 178 void SimpleShell::get_temp_command( string parameters, StreamOutput* stream){
 179     string type= shift_parameter( parameters );
 180     void *returned_data;
 181     bool ok= this->kernel->public_data->get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data );
 182
 183     if(ok) {
 184         struct pad_temperature temp=  *static_cast<struct pad_temperature*>(returned_data);
 185         stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
 186     }else{
 187         stream->printf("%s is not a known temperature device\r\n", type.c_str());
 188     }
 189 }
 190
 191 void SimpleShell::help_command( string parameters, StreamOutput* stream ){
 192     stream->printf("Commands:\r\n");
 193     stream->printf("version\r\n");
 194     stream->printf("ls [folder]\r\n");
 195     stream->printf("cd folder\r\n");
 196     stream->printf("pwd\r\n");
 197     stream->printf("cat file [limit]\r\n");
 198     stream->printf("play file [-q]\r\n");
 199     stream->printf("progress - shows progress of current play\r\n");
 200     stream->printf("abort - abort currently playing file\r\n");
 201     stream->printf("reset - reset smoothie\r\n");
 202     stream->printf("dfu - enter dfu boot loader\r\n");
 203     stream->printf("break - break into debugger\r\n");
 204     stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
 205     stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
 206     stream->printf("config-load [<file_name>]\r\n");
 207 }
 208