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 #include "modules/robot/RobotPublicAccess.h"
  23
  24 extern unsigned int g_maximumHeapAddress;
  25
  26 #include <malloc.h>
  27 #include <mri.h>
  28 #include <stdio.h>
  29 #include <stdint.h>
  30
  31 extern "C" uint32_t  __end__;
  32 extern "C" uint32_t  __malloc_free_list;
  33 extern "C" uint32_t  _sbrk(int size);
  34
  35 #define get_temp_command_checksum CHECKSUM("temp")
  36 #define get_pos_command_checksum  CHECKSUM("pos")
  37
  38 // command lookup table
  39 SimpleShell::ptentry_t SimpleShell::commands_table[] = {
  40     {CHECKSUM("ls"),       &SimpleShell::ls_command},
  41     {CHECKSUM("cd"),       &SimpleShell::cd_command},
  42     {CHECKSUM("pwd"),      &SimpleShell::pwd_command},
  43     {CHECKSUM("cat"),      &SimpleShell::cat_command},
  44     {CHECKSUM("rm"),       &SimpleShell::rm_command},
  45     {CHECKSUM("reset"),    &SimpleShell::reset_command},
  46     {CHECKSUM("dfu"),      &SimpleShell::dfu_command},
  47     {CHECKSUM("break"),    &SimpleShell::break_command},
  48     {CHECKSUM("help"),     &SimpleShell::help_command},
  49     {CHECKSUM("version"),  &SimpleShell::version_command},
  50     {CHECKSUM("mem"),      &SimpleShell::mem_command},
  51     {CHECKSUM("get"),      &SimpleShell::get_command},
  52     {CHECKSUM("set_temp"), &SimpleShell::set_temp_command},
  53     {CHECKSUM("test"),     &SimpleShell::test_command},
  54
  55     // unknown command
  56     {0, NULL}
  57 };
  58
  59 // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556
  60 static void heapWalk(StreamOutput *stream, bool verbose)
  61 {
  62     uint32_t chunkNumber = 1;
  63     // The __end__ linker symbol points to the beginning of the heap.
  64     uint32_t chunkCurr = (uint32_t)&__end__;
  65     // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks.
  66     uint32_t freeCurr = __malloc_free_list;
  67     // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap.
  68     uint32_t heapEnd = _sbrk(0);
  69     // accumulate totals
  70     uint32_t freeSize = 0;
  71     uint32_t usedSize = 0;
  72
  73     stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr);
  74
  75     // Walk through the chunks until we hit the end of the heap.
  76     while (chunkCurr < heapEnd) {
  77         // Assume the chunk is in use.  Will update later.
  78         int      isChunkFree = 0;
  79         // The first 32-bit word in a chunk is the size of the allocation.  newlib-nano over allocates by 8 bytes.
  80         // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer.
  81         uint32_t chunkSize = *(uint32_t *)chunkCurr;
  82         // The start of the next chunk is right after the end of this one.
  83         uint32_t chunkNext = chunkCurr + chunkSize;
  84
  85         // The free list is sorted by address.
  86         // Check to see if we have found the next free chunk in the heap.
  87         if (chunkCurr == freeCurr) {
  88             // Chunk is free so flag it as such.
  89             isChunkFree = 1;
  90             // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address).
  91             freeCurr = *(uint32_t *)(freeCurr + 4);
  92         }
  93
  94         // Skip past the 32-bit size field in the chunk header.
  95         chunkCurr += 4;
  96         // 8-byte align the data pointer.
  97         chunkCurr = (chunkCurr + 7) & ~7;
  98         // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8
  99         // byte-alignment of the returned pointer.
 100         chunkSize -= 8;
 101         if (verbose)
 102             stream->printf("  Chunk: %lu  Address: 0x%08lX  Size: %lu  %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : "");
 103
 104         if (isChunkFree) freeSize += chunkSize;
 105         else usedSize += chunkSize;
 106
 107         chunkCurr = chunkNext;
 108         chunkNumber++;
 109     }
 110     stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize);
 111 }
 112
 113
 114 void SimpleShell::on_module_loaded()
 115 {
 116     this->current_path = "/";
 117     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
 118     this->reset_delay_secs = 0;
 119
 120     this->register_for_event(ON_SECOND_TICK);
 121     this->register_for_event(ON_GCODE_RECEIVED);
 122 }
 123
 124 void SimpleShell::on_second_tick(void *)
 125 {
 126     // we are timing out for the reset
 127     if (this->reset_delay_secs > 0) {
 128         if (--this->reset_delay_secs == 0) {
 129             system_reset(false);
 130         }
 131     }
 132 }
 133
 134 void SimpleShell::on_gcode_received(void *argument)
 135 {
 136     Gcode *gcode = static_cast<Gcode *>(argument);
 137     string args= get_arguments(gcode->command);
 138
 139     if (gcode->has_m) {
 140         if (gcode->m == 20) { // list sd card
 141             gcode->mark_as_taken();
 142             gcode->stream->printf("Begin file list\r\n");
 143             ls_command("/sd", gcode->stream);
 144             gcode->stream->printf("End file list\r\n");
 145         }
 146         else if (gcode->m == 30) { // remove file
 147             gcode->mark_as_taken();
 148             rm_command("/sd/" + args, gcode->stream);
 149         }
 150     }
 151 }
 152
 153 bool SimpleShell::parse_command(unsigned short cs, string args, StreamOutput *stream)
 154 {
 155     for (ptentry_t *p = commands_table; p->pfunc != NULL; ++p) {
 156         if (cs == p->command_cs) {
 157             PFUNC fnc= p->pfunc;
 158             (this->*fnc)(args, stream);
 159             return true;
 160         }
 161     }
 162
 163     return false;
 164 }
 165
 166 // When a new line is received, check if it is a command, and if it is, act upon it
 167 void SimpleShell::on_console_line_received( void *argument )
 168 {
 169     SerialMessage new_message = *static_cast<SerialMessage *>(argument);
 170
 171     // ignore comments
 172     if (new_message.message[0] == ';') return;
 173
 174     string possible_command = new_message.message;
 175
 176     //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
 177
 178     // We don't compare to a string but to a checksum of that string, this saves some space in flash memory
 179     unsigned short check_sum = get_checksum( possible_command.substr(0, possible_command.find_first_of(" \r\n")) ); // todo: put this method somewhere more convenient
 180
 181     // find command and execute it
 182     parse_command(check_sum, get_arguments(possible_command), new_message.stream);
 183 }
 184
 185 // Convert a path indication ( absolute or relative ) into a path ( absolute )
 186 string SimpleShell::absolute_from_relative( string path )
 187 {
 188     if ( path[0] == '/' ) {
 189         return path;
 190     }
 191     if ( path[0] == '.' ) {
 192         return this->current_path;
 193     }
 194     return this->current_path + path;
 195 }
 196
 197 // Act upon an ls command
 198 // Convert the first parameter into an absolute path, then list the files in that path
 199 void SimpleShell::ls_command( string parameters, StreamOutput *stream )
 200 {
 201     string folder = this->absolute_from_relative( parameters );
 202     DIR *d;
 203     struct dirent *p;
 204     d = opendir(folder.c_str());
 205     if (d != NULL) {
 206         while ((p = readdir(d)) != NULL) {
 207             stream->printf("%s\r\n", lc(string(p->d_name)).c_str());
 208         }
 209         closedir(d);
 210     } else {
 211         stream->printf("Could not open directory %s \r\n", folder.c_str());
 212     }
 213 }
 214
 215 // Delete a file
 216 void SimpleShell::rm_command( string parameters, StreamOutput *stream )
 217 {
 218     const char *fn= this->absolute_from_relative(shift_parameter( parameters )).c_str();
 219     int s = remove(fn);
 220     if (s != 0) stream->printf("Could not delete %s \r\n", fn);
 221 }
 222
 223 // Change current absolute path to provided path
 224 void SimpleShell::cd_command( string parameters, StreamOutput *stream )
 225 {
 226     string folder = this->absolute_from_relative( parameters );
 227     if ( folder[folder.length() - 1] != '/' ) {
 228         folder += "/";
 229     }
 230     DIR *d;
 231     d = opendir(folder.c_str());
 232     if (d == NULL) {
 233         stream->printf("Could not open directory %s \r\n", folder.c_str() );
 234     } else {
 235         this->current_path = folder;
 236         closedir(d);
 237     }
 238 }
 239
 240 // Responds with the present working directory
 241 void SimpleShell::pwd_command( string parameters, StreamOutput *stream )
 242 {
 243     stream->printf("%s\r\n", this->current_path.c_str());
 244 }
 245
 246 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
 247 void SimpleShell::cat_command( string parameters, StreamOutput *stream )
 248 {
 249
 250     // Get parameters ( filename and line limit )
 251     string filename          = this->absolute_from_relative(shift_parameter( parameters ));
 252     string limit_paramater   = shift_parameter( parameters );
 253     int limit = -1;
 254     if ( limit_paramater != "" ) {
 255         char *e = NULL;
 256         limit = strtol(limit_paramater.c_str(), &e, 10);
 257         if (e <= limit_paramater.c_str())
 258             limit = -1;
 259     }
 260
 261     // Open file
 262     FILE *lp = fopen(filename.c_str(), "r");
 263     if (lp == NULL) {
 264         stream->printf("File not found: %s\r\n", filename.c_str());
 265         return;
 266     }
 267     string buffer;
 268     int c;
 269     int newlines = 0;
 270     int linecnt= 0;
 271     // Print each line of the file
 272     while ((c = fgetc (lp)) != EOF) {
 273         buffer.append((char *)&c, 1);
 274         if ( char(c) == '\n' || ++linecnt > 80) {
 275             newlines++;
 276             stream->puts(buffer.c_str());
 277             buffer.clear();
 278             if(linecnt > 80) linecnt= 0;
 279         }
 280         if ( newlines == limit ) {
 281             break;
 282         }
 283     };
 284     fclose(lp);
 285
 286 }
 287
 288 // show free memory
 289 void SimpleShell::mem_command( string parameters, StreamOutput *stream)
 290 {
 291     bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos ;
 292     unsigned long heap = (unsigned long)_sbrk(0);
 293     unsigned long m = g_maximumHeapAddress - heap;
 294     stream->printf("Unused Heap: %lu bytes\r\n", m);
 295
 296     heapWalk(stream, verbose);
 297 }
 298
 299 static uint32_t getDeviceType()
 300 {
 301 #define IAP_LOCATION 0x1FFF1FF1
 302     uint32_t command[1];
 303     uint32_t result[5];
 304     typedef void (*IAP)(uint32_t *, uint32_t *);
 305     IAP iap = (IAP) IAP_LOCATION;
 306
 307     __disable_irq();
 308
 309     command[0] = 54;
 310     iap(command, result);
 311
 312     __enable_irq();
 313
 314     return result[1];
 315 }
 316
 317 // print out build version
 318 void SimpleShell::version_command( string parameters, StreamOutput *stream)
 319 {
 320     Version vers;
 321     uint32_t dev = getDeviceType();
 322     const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768";
 323     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);
 324 }
 325
 326 // Reset the system
 327 void SimpleShell::reset_command( string parameters, StreamOutput *stream)
 328 {
 329     stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
 330     this->reset_delay_secs = 5; // reboot in 5 seconds
 331 }
 332
 333 // go into dfu boot mode
 334 void SimpleShell::dfu_command( string parameters, StreamOutput *stream)
 335 {
 336     stream->printf("Entering boot mode...\r\n");
 337     system_reset(true);
 338 }
 339
 340 // Break out into the MRI debugging system
 341 void SimpleShell::break_command( string parameters, StreamOutput *stream)
 342 {
 343     stream->printf("Entering MRI debug mode...\r\n");
 344     __debugbreak();
 345 }
 346
 347 // used to test out the get public data events
 348 void SimpleShell::get_command( string parameters, StreamOutput *stream)
 349 {
 350     int what = get_checksum(shift_parameter( parameters ));
 351     void *returned_data;
 352
 353     if (what == get_temp_command_checksum) {
 354         string type = shift_parameter( parameters );
 355         bool ok = this->kernel->public_data->get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data );
 356
 357         if (ok) {
 358             struct pad_temperature temp =  *static_cast<struct pad_temperature *>(returned_data);
 359             stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
 360         } else {
 361             stream->printf("%s is not a known temperature device\r\n", type.c_str());
 362         }
 363
 364     } else if (what == get_pos_command_checksum) {
 365         bool ok = this->kernel->public_data->get_value( robot_checksum, current_position_checksum, &returned_data );
 366
 367         if (ok) {
 368             double *pos = static_cast<double *>(returned_data);
 369             stream->printf("Position X: %f, Y: %f, Z: %f\r\n", pos[0], pos[1], pos[2]);
 370
 371         } else {
 372             stream->printf("get pos command failed\r\n");
 373         }
 374     }
 375 }
 376
 377 // used to test out the get public data events
 378 void SimpleShell::set_temp_command( string parameters, StreamOutput *stream)
 379 {
 380     string type = shift_parameter( parameters );
 381     string temp = shift_parameter( parameters );
 382     double t = temp.empty() ? 0.0 : strtod(temp.c_str(), NULL);
 383     bool ok = this->kernel->public_data->set_value( temperature_control_checksum, get_checksum(type), &t );
 384
 385     if (ok) {
 386         stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t);
 387     } else {
 388         stream->printf("%s is not a known temperature device\r\n", type.c_str());
 389     }
 390 }
 391
 392 #if 0
 393 #include "mbed.h"
 394 #include "BaseSolution.h"
 395 #include "RostockSolution.h"
 396 #include "JohannKosselSolution.h"
 397 #endif
 398 void SimpleShell::test_command( string parameters, StreamOutput *stream)
 399 {
 400 #if 0
 401     double millimeters[3]= {100.0, 200.0, 300.0};
 402     int steps[3];
 403     BaseSolution* r= new RostockSolution(THEKERNEL->config);
 404     BaseSolution* k= new JohannKosselSolution(THEKERNEL->config);
 405     Timer timer;
 406     timer.start();
 407     for(int i=0;i<10;i++) r->millimeters_to_steps(millimeters, steps);
 408     timer.stop();
 409     float tr= timer.read();
 410     timer.reset();
 411     timer.start();
 412     for(int i=0;i<10;i++) k->millimeters_to_steps(millimeters, steps);
 413     timer.stop();
 414     float tk= timer.read();
 415     stream->printf("time RostockSolution: %f, time JohannKosselSolution: %f\n", tr, tk);
 416     delete kr;
 417     delete tk;
 418 #endif
 419 #if 0
 420 // time idle loop
 421 #include "mbed.h"
 422 static int tmin = 1000000;
 423 static int tmax = 0;
 424 void time_idle()
 425 void time_idle()
 426 {
 427     Timer timer;
 428     timer.start();
 429     int begin, end;
 430     for (int i = 0; i < 1000; ++i) {
 431         begin = timer.read_us();
 432         THEKERNEL->call_event(ON_IDLE);
 433         end = timer.read_us();
 434         int d = end - begin;
 435         if (d < tmin) tmin = d;
 436         if (d > tmax) tmax = d;
 437     }
 438 }
 439 static Timer timer;
 440 static int lastt = 0;
 441 #endif
 442 }
 443
 444 void SimpleShell::help_command( string parameters, StreamOutput *stream )
 445 {
 446     stream->printf("Commands:\r\n");
 447     stream->printf("version\r\n");
 448     stream->printf("mem [-v]\r\n");
 449     stream->printf("ls [folder]\r\n");
 450     stream->printf("cd folder\r\n");
 451     stream->printf("pwd\r\n");
 452     stream->printf("cat file [limit]\r\n");
 453     stream->printf("rm file\r\n");
 454     stream->printf("play file [-v]\r\n");
 455     stream->printf("progress - shows progress of current play\r\n");
 456     stream->printf("abort - abort currently playing file\r\n");
 457     stream->printf("reset - reset smoothie\r\n");
 458     stream->printf("dfu - enter dfu boot loader\r\n");
 459     stream->printf("break - break into debugger\r\n");
 460     stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
 461     stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
 462     stream->printf("config-load [<file_name>]\r\n");
 463     stream->printf("get temp [bed|hotend]\r\n");
 464     stream->printf("set_temp bed|hotend 185\r\n");
 465     stream->printf("get pos\r\n");
 466 }
 467