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/>.
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"
19 #include "PublicDataRequest.h"
20 #include "AppendFileStream.h"
21 #include "FileStream.h"
22 #include "checksumm.h"
23 #include "PublicData.h"
26 #include "ToolManagerPublicAccess.h"
27 #include "GcodeDispatch.h"
28 #include "BaseSolution.h"
29 #include "StepperMotor.h"
30 #include "Configurator.h"
33 #include "TemperatureControlPublicAccess.h"
34 #include "EndstopsPublicAccess.h"
35 #include "NetworkPublicAccess.h"
36 #include "platform_memory.h"
37 #include "SwitchPublicAccess.h"
39 #include "Thermistor.h"
42 #include "AutoPushPop.h"
44 #include "system_LPC17xx.h"
47 #include "mbed.h" // for wait_ms()
49 extern unsigned int g_maximumHeapAddress
;
57 extern "C" uint32_t __end__
;
58 extern "C" uint32_t __malloc_free_list
;
59 extern "C" uint32_t _sbrk(int size
);
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
},
95 int SimpleShell::reset_delay_secs
= 0;
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
)
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);
108 uint32_t freeSize
= 0;
109 uint32_t usedSize
= 0;
111 stream
->printf("Used Heap Size: %lu\n", heapEnd
- chunkCurr
);
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.
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
;
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.
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);
132 // Skip past the 32-bit size field in the chunk header.
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.
140 stream
->printf(" Chunk: %lu Address: 0x%08lX Size: %lu %s\n", chunkNumber
, chunkCurr
, chunkSize
, isChunkFree
? "CHUNK FREE" : "");
142 if (isChunkFree
) freeSize
+= chunkSize
;
143 else usedSize
+= chunkSize
;
145 chunkCurr
= chunkNext
;
148 stream
->printf("Allocated: %lu, Free: %lu\r\n", usedSize
, freeSize
);
153 void SimpleShell::on_module_loaded()
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
);
159 reset_delay_secs
= 0;
162 void SimpleShell::on_second_tick(void *)
164 // we are timing out for the reset
165 if (reset_delay_secs
> 0) {
166 if (--reset_delay_secs
== 0) {
172 void SimpleShell::on_gcode_received(void *argument
)
174 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
175 string args
= get_arguments(gcode
->get_command());
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");
183 } else if (gcode
->m
== 30) { // remove file
184 if(!args
.empty() && !THEKERNEL
->is_grbl_mode())
185 rm_command("/sd/" + args
, gcode
->stream
);
190 bool SimpleShell::parse_command(const char *cmd
, string args
, StreamOutput
*stream
)
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
);
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
)
205 SerialMessage new_message
= *static_cast<SerialMessage
*>(argument
);
206 string possible_command
= new_message
.message
;
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] != '$')) {
213 // it is a grbl compatible command
214 if(possible_command
[0] == '$' && possible_command
.size() >= 2) {
215 switch(possible_command
[1]) {
218 get_command("state", new_message
.stream
);
219 new_message
.stream
->printf("ok\n");
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");
230 grblDP_command("", new_message
.stream
);
231 new_message
.stream
->printf("ok\n");
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
);
241 Gcode
gcode("G28", new_message
.stream
);
242 THEKERNEL
->call_event(ON_GCODE_RECEIVED
, &gcode
);
244 new_message
.stream
->printf("ok\n");
248 new_message
.stream
->printf("error:Invalid statement\n");
254 //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
255 string cmd
= shift_parameter(possible_command
);
257 // Configurator commands
258 if (cmd
== "config-get"){
259 THEKERNEL
->configurator
->config_get_command( possible_command
, new_message
.stream
);
261 } else if (cmd
== "config-set"){
262 THEKERNEL
->configurator
->config_set_command( possible_command
, new_message
.stream
);
264 } else if (cmd
== "config-load"){
265 THEKERNEL
->configurator
->config_load_command( possible_command
, new_message
.stream
);
267 } else if (cmd
== "play" || cmd
== "progress" || cmd
== "abort" || cmd
== "suspend" || cmd
== "resume") {
268 // these are handled by Player module
270 } else if (cmd
== "fire") {
271 // these are handled by Laser module
273 } else if (cmd
== "ok") {
274 // probably an echo so reply ok
275 new_message
.stream
->printf("ok\n");
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());
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
)
288 while(!parameters
.empty()) {
289 string s
= shift_parameter( parameters
);
290 if(s
.front() == '-') {
294 if(!parameters
.empty()) {
296 path
.append(parameters
);
302 path
= absolute_from_relative(path
);
306 d
= opendir(path
.c_str());
308 while ((p
= readdir(d
)) != NULL
) {
309 stream
->printf("%s", lc(string(p
->d_name
)).c_str());
312 } else if(opts
.find("-s", 0, 2) != string::npos
) {
313 stream
->printf(" %d", p
->d_fsize
);
315 stream
->printf("\r\n");
319 stream
->printf("Could not open directory %s\r\n", path
.c_str());
323 extern SDFAT mounter
;
325 void SimpleShell::remount_command( string parameters
, StreamOutput
*stream
)
328 stream
->printf("remounted\r\n");
332 void SimpleShell::rm_command( string parameters
, StreamOutput
*stream
)
334 const char *fn
= absolute_from_relative(shift_parameter( parameters
)).c_str();
336 if (s
!= 0) stream
->printf("Could not delete %s \r\n", fn
);
340 void SimpleShell::mv_command( string parameters
, StreamOutput
*stream
)
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());
349 // Create a new directory
350 void SimpleShell::mkdir_command( string parameters
, StreamOutput
*stream
)
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());
358 // Change current absolute path to provided path
359 void SimpleShell::cd_command( string parameters
, StreamOutput
*stream
)
361 string folder
= absolute_from_relative( parameters
);
364 d
= opendir(folder
.c_str());
366 stream
->printf("Could not open directory %s \r\n", folder
.c_str() );
368 THEKERNEL
->current_path
= folder
;
373 // Responds with the present working directory
374 void SimpleShell::pwd_command( string parameters
, StreamOutput
*stream
)
376 stream
->printf("%s\r\n", THEKERNEL
->current_path
.c_str());
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
)
382 // Get parameters ( filename and line limit )
383 string filename
= absolute_from_relative(shift_parameter( parameters
));
384 string limit_parameter
= shift_parameter( parameters
);
387 bool send_eof
= false;
388 if ( limit_parameter
== "-d" ) {
389 string d
= shift_parameter( parameters
);
391 delay
= strtol(d
.c_str(), &e
, 10);
392 if (e
<= d
.c_str()) {
396 send_eof
= true; // we need to terminate file send with an eof
399 }else if ( limit_parameter
!= "" ) {
401 limit
= strtol(limit_parameter
.c_str(), &e
, 10);
402 if (e
<= limit_parameter
.c_str())
406 // we have been asked to delay before cat, probably to allow time to issue upload command
408 safe_delay_ms(delay
*1000);
412 FILE *lp
= fopen(filename
.c_str(), "r");
414 stream
->printf("File not found: %s\r\n", filename
.c_str());
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());
428 if(linecnt
> 80) linecnt
= 0;
429 // we need to kick things or they die
430 THEKERNEL
->call_event(ON_IDLE
);
432 if ( newlines
== limit
) {
439 stream
->puts("\032"); // ^Z terminates the upload
443 void SimpleShell::upload_command( string parameters
, StreamOutput
*stream
)
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");
452 // open file to upload to
453 string upload_filename
= absolute_from_relative( parameters
);
454 FILE *fd
= fopen(upload_filename
.c_str(), "w");
456 stream
->printf("uploading to file: %s, send control-D or control-Z to finish\r\n", upload_filename
.c_str());
458 stream
->printf("failed to open file: %s.\r\n", upload_filename
.c_str());
463 bool uploading
= true;
465 if(!stream
->ready()) {
466 // we need to kick things or they die
467 THEKERNEL
->call_event(ON_IDLE
);
471 char c
= stream
->_getc();
472 if( c
== 4 || c
== 26) { // ctrl-D or ctrl-Z
476 stream
->printf("uploaded %d bytes\n", cnt
);
480 // write character to file
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");
490 if ((cnt
%1000) == 0) {
491 // we need to kick things or they die
492 THEKERNEL
->call_event(ON_IDLE
);
497 // we got an error so ignore everything until EOF
500 if(stream
->ready()) {
503 THEKERNEL
->call_event(ON_IDLE
);
506 } while(c
!= 4 && c
!= 26);
509 // loads the specified config-override file
510 void SimpleShell::load_command( string parameters
, StreamOutput
*stream
)
512 // Get parameters ( filename )
513 string filename
= absolute_from_relative(parameters
);
514 if(filename
== "/") {
515 filename
= THEKERNEL
->config_override_filename();
518 FILE *fp
= fopen(filename
.c_str(), "r");
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
);
529 THEKERNEL
->call_event(ON_IDLE
);
531 stream
->printf("config override file executed\n");
535 stream
->printf("File not found: %s\n", filename
.c_str());
539 // saves the specified config-override file
540 void SimpleShell::save_command( string parameters
, StreamOutput
*stream
)
542 // Get parameters ( filename )
543 string filename
= absolute_from_relative(parameters
);
544 if(filename
== "/") {
545 filename
= THEKERNEL
->config_override_filename();
548 THECONVEYOR
->wait_for_idle(); //just to be safe as it can take a while to run
550 //remove(filename.c_str()); // seems to cause a hang every now and then
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
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());
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
);
572 stream
->printf("Settings Stored to %s\r\n", filename
.c_str());
576 void SimpleShell::mem_command( string parameters
, StreamOutput
*stream
)
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
);
583 uint32_t f
= heapWalk(stream
, verbose
);
584 stream
->printf("Total Free RAM: %lu bytes\r\n", m
+ f
);
586 stream
->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0
.free(), AHB1
.free());
592 stream
->printf("Block size: %u bytes, Tickinfo size: %u bytes\n", sizeof(Block
), sizeof(Block::tickinfo_t
) * Block::n_actuators
);
595 static uint32_t getDeviceType()
597 #define IAP_LOCATION 0x1FFF1FF1
600 typedef void (*IAP
)(uint32_t *, uint32_t *);
601 IAP iap
= (IAP
) IAP_LOCATION
;
606 iap(command
, result
);
613 // get network config
614 void SimpleShell::net_command( string parameters
, StreamOutput
*stream
)
617 bool ok
= PublicData::get_value( network_checksum
, get_ipconfig_checksum
, &returned_data
);
619 char *str
= (char *)returned_data
;
620 stream
->printf("%s\r\n", str
);
624 stream
->printf("No network detected\n");
628 // print out build version
629 void SimpleShell::version_command( string parameters
, StreamOutput
*stream
)
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);
636 stream
->printf(" CNC Build ");
639 stream
->printf(" NOMSD Build\r\n");
641 stream
->printf("%d axis\n", MAX_ROBOT_ACTUATORS
);
645 void SimpleShell::reset_command( string parameters
, StreamOutput
*stream
)
647 stream
->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
648 reset_delay_secs
= 5; // reboot in 5 seconds
651 // go into dfu boot mode
652 void SimpleShell::dfu_command( string parameters
, StreamOutput
*stream
)
654 stream
->printf("Entering boot mode...\r\n");
658 // Break out into the MRI debugging system
659 void SimpleShell::break_command( string parameters
, StreamOutput
*stream
)
661 stream
->printf("Entering MRI debug mode...\r\n");
665 static int get_active_tool()
668 bool ok
= PublicData::get_value(tool_manager_checksum
, get_active_tool_checksum
, &returned_data
);
670 int active_tool
= *static_cast<int *>(returned_data
);
677 void SimpleShell::grblDP_command( string parameters
, StreamOutput
*stream
)
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]
690 [PRB:0.000,0.000,0.000:0]
693 bool verbose
= shift_parameter( parameters
).find_first_of("Vv") != string::npos
;
695 std::vector
<Robot::wcs_t
> v
= THEROBOT
->get_wcs_state();
697 char current_wcs
= std::get
<0>(v
[0]);
698 stream
->printf("[current WCS: %s]\n", wcs2gcode(current_wcs
).c_str());
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
])));
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]));
716 stream
->printf("[G30:%1.4f,%1.4f,%1.4f]\n", 0.0F
, 0.0F
, 0.0F
); // not implemented
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])));
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])));
729 stream
->printf("[TL0:%1.4f]\n", THEROBOT
->from_millimeters(std::get
<2>(v
[n
+2])));
732 // this is the last probe position, updated when a probe completes, also stores the number of steps moved after a homing cycle
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
);
739 void SimpleShell::get_command( string parameters
, StreamOutput
*stream
)
741 string what
= shift_parameter( parameters
);
743 if (what
== "temp") {
744 struct pad_temperature temp
;
745 string type
= shift_parameter( parameters
);
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
);
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
);
756 stream
->printf("no heaters found\r\n");
760 bool ok
= PublicData::get_value( temperature_control_checksum
, current_temperature_checksum
, get_checksum(type
), &temp
);
763 stream
->printf("%s temp: %f/%f @%d\r\n", type
.c_str(), temp
.current_temperature
, temp
.target_temperature
, temp
.pwm
);
765 stream
->printf("%s is not a known temperature device\r\n", type
.c_str());
769 } else if (what
== "fk" || what
== "ik") {
770 string p
= shift_parameter( parameters
);
774 p
= shift_parameter( parameters
);
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");
784 float y
= (v
.size() > 1) ? v
[1] : x
;
785 float z
= (v
.size() > 2) ? v
[2] : y
;
788 // do forward kinematics on the given actuator position and display the cartesian coordinates
789 ActuatorCoordinates apos
{x
, y
, z
};
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]);
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]);
806 // move to the calculated, or given, XYZ
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();
816 } else if (what
== "pos") {
817 // convenience to call all the various M114 variants, shows ABC axis where relevant
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();
826 } else if (what
== "wcs") {
827 // print the wcs state
828 grblDP_command("-v", stream
);
830 } else if (what
== "state") {
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,
842 THEROBOT
->from_millimeters(THEROBOT
->get_feed_rate()),
843 THEROBOT
->get_s_value());
845 } else if (what
== "status") {
846 // also ? on serial and usb
847 stream
->printf("%s\n", THEKERNEL
->get_query_string().c_str());
850 stream
->printf("error:unknown option %s\n", what
.c_str());
854 // used to test out the get public data events
855 void SimpleShell::set_temp_command( string parameters
, StreamOutput
*stream
)
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
);
863 stream
->printf("%s temp set to: %3.1f\r\n", type
.c_str(), t
);
865 stream
->printf("%s is not a known temperature device\r\n", type
.c_str());
869 void SimpleShell::print_thermistors_command( string parameters
, StreamOutput
*stream
)
871 #ifndef NO_TOOLS_TEMPERATURECONTROL
872 Thermistor::print_predefined_thermistors(stream
);
876 void SimpleShell::calc_thermistor_command( string parameters
, StreamOutput
*stream
)
878 #ifndef NO_TOOLS_TEMPERATURECONTROL
879 string s
= shift_parameter( parameters
);
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);
889 std::vector
<float> trl
= parse_number_list(parameters
.c_str());
890 if(trl
.size() == 6) {
891 // calculate the coefficients
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
);
896 stream
->printf(" Paste the above in the M305 S0 command, then save with M500\n");
899 int n
= snprintf(buf
, sizeof(buf
), "M305 S%d I%1.18f J%1.18f K%1.18f", saveto
, c1
, c2
, c3
);
901 Gcode
gcode(g
, &(StreamOutput::NullStream
));
902 THEKERNEL
->call_event(ON_GCODE_RECEIVED
, &gcode
);
903 stream
->printf(" Setting Thermistor %d to those settings, save with M500\n", saveto
);
908 stream
->printf("Usage: calc_thermistor T1,R1,T2,R2,T3,R3\n");
913 // set or get switch state for a named switch
914 void SimpleShell::switch_command( string parameters
, StreamOutput
*stream
)
916 string type
= shift_parameter( parameters
);
917 string value
= shift_parameter( parameters
);
921 struct pad_switch pad
;
922 bool ok
= PublicData::get_value(switch_checksum
, get_checksum(type
), 0, &pad
);
924 stream
->printf("unknown switch %s.\n", type
.c_str());
927 stream
->printf("switch %s is %d\n", type
.c_str(), pad
.state
);
931 if(value
== "on" || value
== "off") {
932 bool b
= value
== "on";
933 ok
= PublicData::set_value( switch_checksum
, get_checksum(type
), state_checksum
, &b
);
935 float v
= strtof(value
.c_str(), NULL
);
936 ok
= PublicData::set_value( switch_checksum
, get_checksum(type
), value_checksum
, &v
);
939 stream
->printf("switch %s set to: %s\n", type
.c_str(), value
.c_str());
941 stream
->printf("%s is not a known switch device\n", type
.c_str());
946 void SimpleShell::md5sum_command( string parameters
, StreamOutput
*stream
)
948 string filename
= absolute_from_relative(parameters
);
951 FILE *lp
= fopen(filename
.c_str(), "r");
953 stream
->printf("File not found: %s\r\n", filename
.c_str());
959 size_t n
= fread(buf
, 1, sizeof buf
, lp
);
960 if(n
> 0) md5
.update(buf
, n
);
961 THEKERNEL
->call_event(ON_IDLE
);
964 stream
->printf("%s %s\n", md5
.finalize().hexdigest().c_str(), filename
.c_str());
968 // runs several types of test on the mechanisms
969 void SimpleShell::test_command( string parameters
, StreamOutput
*stream
)
971 AutoPushPop app
; // this will save the state and restore it on exit
972 string what
= shift_parameter( parameters
);
975 // jogs back and forth usage: axis distance iterations [feedrate]
976 string axis
= shift_parameter( parameters
);
977 string dist
= shift_parameter( parameters
);
978 string iters
= shift_parameter( parameters
);
979 string speed
= shift_parameter( parameters
);
980 if(axis
.empty() || dist
.empty() || iters
.empty()) {
981 stream
->printf("error: Need axis distance iterations\n");
984 float d
= strtof(dist
.c_str(), NULL
);
985 float f
= speed
.empty() ? THEROBOT
->get_feed_rate() : strtof(speed
.c_str(), NULL
);
986 uint32_t n
= strtol(iters
.c_str(), NULL
, 10);
989 for (uint32_t i
= 0; i
< n
; ++i
) {
991 snprintf(cmd
, sizeof(cmd
), "G91 G0 %c%f F%f G90", toupper(axis
[0]), toggle
? -d
: d
, f
);
992 stream
->printf("%s\n", cmd
);
993 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
994 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
995 if(THEKERNEL
->is_halted()) break;
998 stream
->printf("done\n");
1000 }else if (what
== "circle") {
1001 // draws a circle around origin. usage: radius iterations [feedrate]
1002 string radius
= shift_parameter( parameters
);
1003 string iters
= shift_parameter( parameters
);
1004 string speed
= shift_parameter( parameters
);
1005 if(radius
.empty() || iters
.empty()) {
1006 stream
->printf("error: Need radius iterations\n");
1010 float r
= strtof(radius
.c_str(), NULL
);
1011 uint32_t n
= strtol(iters
.c_str(), NULL
, 10);
1012 float f
= speed
.empty() ? THEROBOT
->get_feed_rate() : strtof(speed
.c_str(), NULL
);
1014 THEROBOT
->push_state();
1016 snprintf(cmd
, sizeof(cmd
), "G91 G0 X%f F%f G90", -r
, f
);
1017 stream
->printf("%s\n", cmd
);
1018 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
1019 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
1021 for (uint32_t i
= 0; i
< n
; ++i
) {
1022 if(THEKERNEL
->is_halted()) break;
1023 snprintf(cmd
, sizeof(cmd
), "G2 I%f J0 F%f", r
, f
);
1024 stream
->printf("%s\n", cmd
);
1025 message
.message
= cmd
;
1026 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
1029 // leave it where it started
1030 if(!THEKERNEL
->is_halted()) {
1031 snprintf(cmd
, sizeof(cmd
), "G91 G0 X%f F%f G90", r
, f
);
1032 stream
->printf("%s\n", cmd
);
1033 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
1034 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
1037 THEROBOT
->pop_state();
1038 stream
->printf("done\n");
1040 }else if (what
== "square") {
1041 // draws a square usage: size iterations [feedrate]
1042 string size
= shift_parameter( parameters
);
1043 string iters
= shift_parameter( parameters
);
1044 string speed
= shift_parameter( parameters
);
1045 if(size
.empty() || iters
.empty()) {
1046 stream
->printf("error: Need size iterations\n");
1049 float d
= strtof(size
.c_str(), NULL
);
1050 float f
= speed
.empty() ? THEROBOT
->get_feed_rate() : strtof(speed
.c_str(), NULL
);
1051 uint32_t n
= strtol(iters
.c_str(), NULL
, 10);
1053 for (uint32_t i
= 0; i
< n
; ++i
) {
1056 snprintf(cmd
, sizeof(cmd
), "G91 G0 X%f F%f", d
, f
);
1057 stream
->printf("%s\n", cmd
);
1058 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
1059 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
1062 snprintf(cmd
, sizeof(cmd
), "G0 Y%f", d
);
1063 stream
->printf("%s\n", cmd
);
1064 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
1065 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
1068 snprintf(cmd
, sizeof(cmd
), "G0 X%f", -d
);
1069 stream
->printf("%s\n", cmd
);
1070 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
1071 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
1074 snprintf(cmd
, sizeof(cmd
), "G0 Y%f G90", -d
);
1075 stream
->printf("%s\n", cmd
);
1076 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
1077 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
1079 if(THEKERNEL
->is_halted()) break;
1081 stream
->printf("done\n");
1083 }else if (what
== "raw") {
1084 // issues raw steps to the specified axis usage: axis steps steps/sec
1085 string axis
= shift_parameter( parameters
);
1086 string stepstr
= shift_parameter( parameters
);
1087 string stepspersec
= shift_parameter( parameters
);
1088 if(axis
.empty() || stepstr
.empty() || stepspersec
.empty()) {
1089 stream
->printf("error: Need axis steps steps/sec\n");
1093 char ax
= toupper(axis
[0]);
1094 uint8_t a
= ax
>= 'X' ? ax
- 'X' : ax
- 'A' + 3;
1095 int steps
= strtol(stepstr
.c_str(), NULL
, 10);
1096 bool dir
= steps
>= 0;
1097 steps
= std::abs(steps
);
1100 stream
->printf("error: axis must be x, y, z, a, b, c\n");
1104 if(a
>= THEROBOT
->get_number_registered_motors()) {
1105 stream
->printf("error: axis is out of range\n");
1109 uint32_t sps
= strtol(stepspersec
.c_str(), NULL
, 10);
1110 sps
= std::max(sps
, 1UL);
1112 uint32_t delayus
= 1000000.0F
/ sps
;
1113 for(int s
= 0;s
<steps
;s
++) {
1114 if(THEKERNEL
->is_halted()) break;
1115 THEROBOT
->actuators
[a
]->manual_step(dir
);
1116 // delay but call on_idle
1117 safe_delay_us(delayus
);
1120 // reset the position based on current actuator position
1121 THEROBOT
->reset_position_from_current_actuator_position();
1123 stream
->printf("done\n");
1126 stream
->printf("usage:\n test jog axis distance iterations [feedrate]\n");
1127 stream
->printf(" test square size iterations [feedrate]\n");
1128 stream
->printf(" test circle radius iterations [feedrate]\n");
1129 stream
->printf(" test raw axis steps steps/sec\n");
1133 void SimpleShell::help_command( string parameters
, StreamOutput
*stream
)
1135 stream
->printf("Commands:\r\n");
1136 stream
->printf("version\r\n");
1137 stream
->printf("mem [-v]\r\n");
1138 stream
->printf("ls [-s] [folder]\r\n");
1139 stream
->printf("cd folder\r\n");
1140 stream
->printf("pwd\r\n");
1141 stream
->printf("cat file [limit] [-d 10]\r\n");
1142 stream
->printf("rm file\r\n");
1143 stream
->printf("mv file newfile\r\n");
1144 stream
->printf("remount\r\n");
1145 stream
->printf("play file [-v]\r\n");
1146 stream
->printf("progress - shows progress of current play\r\n");
1147 stream
->printf("abort - abort currently playing file\r\n");
1148 stream
->printf("reset - reset smoothie\r\n");
1149 stream
->printf("dfu - enter dfu boot loader\r\n");
1150 stream
->printf("break - break into debugger\r\n");
1151 stream
->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
1152 stream
->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
1153 stream
->printf("get [pos|wcs|state|status|fk|ik]\r\n");
1154 stream
->printf("get temp [bed|hotend]\r\n");
1155 stream
->printf("set_temp bed|hotend 185\r\n");
1156 stream
->printf("switch name [value]\r\n");
1157 stream
->printf("net\r\n");
1158 stream
->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n");
1159 stream
->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n");
1160 stream
->printf("upload filename - saves a stream of text to the named file\r\n");
1161 stream
->printf("calc_thermistor [-s0] T1,R1,T2,R2,T3,R3 - calculate the Steinhart Hart coefficients for a thermistor\r\n");
1162 stream
->printf("thermistors - print out the predefined thermistors\r\n");
1163 stream
->printf("md5sum file - prints md5 sum of the given file\r\n");