#include "mri.h"
#include "version.h"
#include "PublicDataRequest.h"
+#include "AppendFileStream.h"
#include "FileStream.h"
#include "checksumm.h"
#include "PublicData.h"
#include "Gcode.h"
-//#include "StepTicker.h"
-
-#include "modules/tools/temperaturecontrol/TemperatureControlPublicAccess.h"
-#include "modules/robot/RobotPublicAccess.h"
+#include "Robot.h"
+#include "ToolManagerPublicAccess.h"
+#include "GcodeDispatch.h"
+#include "BaseSolution.h"
+#include "StepperMotor.h"
+#include "Configurator.h"
+
+#include "TemperatureControlPublicAccess.h"
+#include "EndstopsPublicAccess.h"
#include "NetworkPublicAccess.h"
#include "platform_memory.h"
#include "SwitchPublicAccess.h"
#include "SDFAT.h"
+#include "Thermistor.h"
+#include "md5.h"
+#include "utils.h"
#include "system_LPC17xx.h"
#include "LPC17xx.h"
+#include "mbed.h" // for wait_ms()
+
extern unsigned int g_maximumHeapAddress;
#include <malloc.h>
{"load", SimpleShell::load_command},
{"save", SimpleShell::save_command},
{"remount", SimpleShell::remount_command},
+ {"calc_thermistor", SimpleShell::calc_thermistor_command},
+ {"thermistors", SimpleShell::print_thermistors_command},
+ {"md5sum", SimpleShell::md5sum_command},
// unknown command
{NULL, NULL}
if (gcode->has_m) {
if (gcode->m == 20) { // list sd card
- gcode->mark_as_taken();
gcode->stream->printf("Begin file list\r\n");
ls_command("/sd", gcode->stream);
gcode->stream->printf("End file list\r\n");
} else if (gcode->m == 30) { // remove file
- gcode->mark_as_taken();
- rm_command("/sd/" + args, gcode->stream);
-
- } else if(gcode->m == 501) { // load config override
- gcode->mark_as_taken();
- if(args.empty()) {
- load_command("/sd/config-override", gcode->stream);
- } else {
- load_command("/sd/config-override." + args, gcode->stream);
- }
-
- } else if(gcode->m == 504) { // save to specific config override file
- gcode->mark_as_taken();
- if(args.empty()) {
- save_command("/sd/config-override", gcode->stream);
- } else {
- save_command("/sd/config-override." + args, gcode->stream);
- }
+ if(!args.empty() && !THEKERNEL->is_grbl_mode())
+ rm_command("/sd/" + args, gcode->stream);
}
}
}
void SimpleShell::on_console_line_received( void *argument )
{
SerialMessage new_message = *static_cast<SerialMessage *>(argument);
+ string possible_command = new_message.message;
- // ignore comments and blank lines and if this is a G code then also ignore it
- char first_char = new_message.message[0];
- if(strchr(";( \n\rGMTN", first_char) != NULL) return;
+ // ignore anything that is not lowercase or a $ as it is not a command
+ if(possible_command.size() == 0 || (!islower(possible_command[0]) && possible_command[0] != '$')) {
+ return;
+ }
- string possible_command = new_message.message;
+ // it is a grbl compatible command
+ if(possible_command[0] == '$' && possible_command.size() >= 2) {
+ switch(possible_command[1]) {
+ case 'G':
+ // issue get state
+ get_command("state", new_message.stream);
+ new_message.stream->printf("ok\n");
+ break;
+
+ case 'X':
+ THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
+ new_message.stream->printf("[Caution: Unlocked]\nok\n");
+ break;
+
+ case '#':
+ grblDP_command("", new_message.stream);
+ new_message.stream->printf("ok\n");
+ break;
+
+ case 'H':
+ if(THEKERNEL->is_grbl_mode()) {
+ THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
+ // issue G28.2 which is force homing cycle
+ Gcode gcode("G28.2", new_message.stream);
+ THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode);
+ }else{
+ new_message.stream->printf("error:only supported in GRBL mode\n");
+ }
+ break;
- //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
- string cmd = shift_parameter(possible_command);
+ default:
+ new_message.stream->printf("error:Invalid statement\n");
+ break;
+ }
- // find command and execute it
- parse_command(cmd.c_str(), possible_command, new_message.stream);
+ }else{
+
+ //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
+ string cmd = shift_parameter(possible_command);
+
+ // Configurator commands
+ if (cmd == "config-get"){
+ THEKERNEL->configurator->config_get_command( possible_command, new_message.stream );
+
+ } else if (cmd == "config-set"){
+ THEKERNEL->configurator->config_set_command( possible_command, new_message.stream );
+
+ } else if (cmd == "config-load"){
+ THEKERNEL->configurator->config_load_command( possible_command, new_message.stream );
+
+ } else if (cmd == "play" || cmd == "progress" || cmd == "abort" || cmd == "suspend" || cmd == "resume") {
+ // these are handled by Player module
+
+ } else if (cmd == "ok") {
+ // probably an echo so reply ok
+ new_message.stream->printf("ok\n");
+
+ }else if(!parse_command(cmd.c_str(), possible_command, new_message.stream)) {
+ new_message.stream->printf("error:Unsupported command - %s\n", cmd.c_str());
+ }
+ }
}
// Act upon an ls command
void SimpleShell::mv_command( string parameters, StreamOutput *stream )
{
string from = absolute_from_relative(shift_parameter( parameters ));
- string to = shift_parameter(parameters);
+ string to = absolute_from_relative(shift_parameter(parameters));
int s = rename(from.c_str(), to.c_str());
if (s != 0) stream->printf("Could not rename %s to %s\r\n", from.c_str(), to.c_str());
else stream->printf("renamed %s to %s\r\n", from.c_str(), to.c_str());
{
// Get parameters ( filename and line limit )
string filename = absolute_from_relative(shift_parameter( parameters ));
- string limit_paramater = shift_parameter( parameters );
+ string limit_parameter = shift_parameter( parameters );
int limit = -1;
- if ( limit_paramater != "" ) {
+ int delay= 0;
+ bool send_eof= false;
+ if ( limit_parameter == "-d" ) {
+ string d= shift_parameter( parameters );
+ char *e = NULL;
+ delay = strtol(d.c_str(), &e, 10);
+ if (e <= d.c_str()) {
+ delay = 0;
+
+ } else {
+ send_eof= true; // we need to terminate file send with an eof
+ }
+
+ }else if ( limit_parameter != "" ) {
char *e = NULL;
- limit = strtol(limit_paramater.c_str(), &e, 10);
- if (e <= limit_paramater.c_str())
+ limit = strtol(limit_parameter.c_str(), &e, 10);
+ if (e <= limit_parameter.c_str())
limit = -1;
}
+ // we have been asked to delay before cat, probably to allow time to issue upload command
+ if(delay > 0) {
+ safe_delay(delay*1000);
+ }
+
// Open file
FILE *lp = fopen(filename.c_str(), "r");
if (lp == NULL) {
// Print each line of the file
while ((c = fgetc (lp)) != EOF) {
buffer.append((char *)&c, 1);
- if ( char(c) == '\n' || ++linecnt > 80) {
- newlines++;
+ if ( c == '\n' || ++linecnt > 80) {
+ if(c == '\n') newlines++;
stream->puts(buffer.c_str());
buffer.clear();
if(linecnt > 80) linecnt = 0;
+ // we need to kick things or they die
+ THEKERNEL->call_event(ON_IDLE);
}
if ( newlines == limit ) {
break;
}
};
fclose(lp);
+
+ if(send_eof) {
+ stream->puts("\032"); // ^Z terminates the upload
+ }
}
void SimpleShell::upload_command( string parameters, StreamOutput *stream )
// HACK ALERT to get around fwrite corruption close and re open for append
fclose(fd);
fd = fopen(upload_filename.c_str(), "a");
+ // we need to kick things or they die
+ THEKERNEL->call_event(ON_IDLE);
}
}
}
while(fgets(buf, sizeof buf, fp) != NULL) {
stream->printf(" %s", buf);
if(buf[0] == ';') continue; // skip the comments
- struct SerialMessage message = {&(StreamOutput::NullStream), buf};
- THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
+ // NOTE only Gcodes and Mcodes can be in the config-override
+ Gcode *gcode = new Gcode(buf, &StreamOutput::NullStream);
+ THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode);
+ delete gcode;
+ THEKERNEL->call_event(ON_IDLE);
}
stream->printf("config override file executed\n");
fclose(fp);
filename = THEKERNEL->config_override_filename();
}
- // replace stream with one that writes to config-override file
- FileStream *gs = new FileStream(filename.c_str());
- if(!gs->is_open()) {
- stream->printf("Unable to open File %s for write\n", filename.c_str());
- return;
+ THEKERNEL->conveyor->wait_for_empty_queue(); //just to be safe as it can take a while to run
+
+ //remove(filename.c_str()); // seems to cause a hang every now and then
+ {
+ FileStream fs(filename.c_str());
+ fs.printf("; DO NOT EDIT THIS FILE\n");
+ // this also will truncate the existing file instead of deleting it
}
+ // stream that appends to file
+ AppendFileStream *gs = new AppendFileStream(filename.c_str());
+ // if(!gs->is_open()) {
+ // stream->printf("Unable to open File %s for write\n", filename.c_str());
+ // return;
+ // }
+
+ __disable_irq();
// issue a M500 which will store values in the file stream
Gcode *gcode = new Gcode("M500", gs);
THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
delete gs;
delete gcode;
+ __enable_irq();
stream->printf("Settings Stored to %s\r\n", filename.c_str());
}
// show free memory
void SimpleShell::mem_command( string parameters, StreamOutput *stream)
{
- bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos ;
+ bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos;
unsigned long heap = (unsigned long)_sbrk(0);
unsigned long m = g_maximumHeapAddress - heap;
stream->printf("Unused Heap: %lu bytes\r\n", m);
AHB0.debug(stream);
AHB1.debug(stream);
}
-
- //stream->printf("overruns: %lu\n", THEKERNEL->step_ticker->overruns);
}
static uint32_t getDeviceType()
__debugbreak();
}
-// used to test out the get public data events
+static int get_active_tool()
+{
+ void *returned_data;
+ bool ok = PublicData::get_value(tool_manager_checksum, get_active_tool_checksum, &returned_data);
+ if (ok) {
+ int active_tool= *static_cast<int *>(returned_data);
+ return active_tool;
+ } else {
+ return 0;
+ }
+}
+
+void SimpleShell::grblDP_command( string parameters, StreamOutput *stream)
+{
+ /*
+ [G54:95.000,40.000,-23.600]
+ [G55:0.000,0.000,0.000]
+ [G56:0.000,0.000,0.000]
+ [G57:0.000,0.000,0.000]
+ [G58:0.000,0.000,0.000]
+ [G59:0.000,0.000,0.000]
+ [G28:0.000,0.000,0.000]
+ [G30:0.000,0.000,0.000]
+ [G92:0.000,0.000,0.000]
+ [TLO:0.000]
+ [PRB:0.000,0.000,0.000:0]
+ */
+
+ bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos;
+
+ std::vector<Robot::wcs_t> v= THEKERNEL->robot->get_wcs_state();
+ if(verbose) {
+ char current_wcs= std::get<0>(v[0]);
+ stream->printf("[current WCS: %s]\n", wcs2gcode(current_wcs).c_str());
+ }
+
+ int n= std::get<1>(v[0]);
+ for (int i = 1; i <= n; ++i) {
+ stream->printf("[%s:%1.4f,%1.4f,%1.4f]\n", wcs2gcode(i-1).c_str(), std::get<0>(v[i]), std::get<1>(v[i]), std::get<2>(v[i]));
+ }
+
+ float *rd;
+ PublicData::get_value( endstops_checksum, saved_position_checksum, &rd );
+ stream->printf("[G28:%1.4f,%1.4f,%1.4f]\n", rd[0], rd[1], rd[2]);
+ stream->printf("[G30:%1.4f,%1.4f,%1.4f]\n", 0.0F, 0.0F, 0.0F); // not implemented
+
+ stream->printf("[G92:%1.4f,%1.4f,%1.4f]\n", std::get<0>(v[n+1]), std::get<1>(v[n+1]), std::get<2>(v[n+1]));
+ if(verbose) {
+ stream->printf("[Tool Offset:%1.4f,%1.4f,%1.4f]\n", std::get<0>(v[n+2]), std::get<1>(v[n+2]), std::get<2>(v[n+2]));
+ }else{
+ stream->printf("[TL0:%1.4f]\n", std::get<2>(v[n+2]));
+ }
+
+ // this is the last probe position, updated when a probe completes, also stores the number of steps moved after a homing cycle
+ float px, py, pz;
+ uint8_t ps;
+ std::tie(px, py, pz, ps) = THEKERNEL->robot->get_last_probe_position();
+ stream->printf("[PRB:%1.4f,%1.4f,%1.4f:%d]\n", px, py, pz, ps);
+}
+
void SimpleShell::get_command( string parameters, StreamOutput *stream)
{
string what = shift_parameter( parameters );
- void *returned_data;
if (what == "temp") {
+ struct pad_temperature temp;
string type = shift_parameter( parameters );
- bool ok = PublicData::get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data );
+ if(type.empty()) {
+ // scan all temperature controls
+ std::vector<struct pad_temperature> controllers;
+ bool ok = PublicData::get_value(temperature_control_checksum, poll_controls_checksum, &controllers);
+ if (ok) {
+ for (auto &c : controllers) {
+ stream->printf("%s (%d) temp: %f/%f @%d\r\n", c.designator.c_str(), c.id, c.current_temperature, c.target_temperature, c.pwm);
+ }
- if (ok) {
- struct pad_temperature temp = *static_cast<struct pad_temperature *>(returned_data);
- stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
- } else {
- stream->printf("%s is not a known temperature device\r\n", type.c_str());
+ } else {
+ stream->printf("no heaters found\r\n");
+ }
+
+ }else{
+ bool ok = PublicData::get_value( temperature_control_checksum, current_temperature_checksum, get_checksum(type), &temp );
+
+ if (ok) {
+ stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
+ } else {
+ stream->printf("%s is not a known temperature device\r\n", type.c_str());
+ }
}
- } else if (what == "pos") {
- bool ok = PublicData::get_value( robot_checksum, current_position_checksum, &returned_data );
+ } else if (what == "fk" || what == "ik") {
+ string p= shift_parameter( parameters );
+ bool move= false;
+ if(p == "-m") {
+ move= true;
+ p= shift_parameter( parameters );
+ }
- if (ok) {
- float *pos = static_cast<float *>(returned_data);
- stream->printf("Position X: %f, Y: %f, Z: %f\r\n", pos[0], pos[1], pos[2]);
+ std::vector<float> v= parse_number_list(p.c_str());
+ if(p.empty() || v.size() < 1) {
+ stream->printf("error:usage: get [fk|ik] [-m] x[,y,z]\n");
+ return;
+ }
- } else {
- stream->printf("get pos command failed\r\n");
+ float x= v[0];
+ float y= (v.size() > 1) ? v[1] : x;
+ float z= (v.size() > 2) ? v[2] : y;
+
+ if(what == "fk") {
+ // do forward kinematics on the given actuator position and display the cartesian coordinates
+ ActuatorCoordinates apos{x, y, z};
+ float pos[3];
+ THEKERNEL->robot->arm_solution->actuator_to_cartesian(apos, pos);
+ stream->printf("cartesian= X %f, Y %f, Z %f, Steps= A %lu, B %lu, C %lu\n",
+ pos[0], pos[1], pos[2],
+ lroundf(x*THEKERNEL->robot->actuators[0]->get_steps_per_mm()),
+ lroundf(y*THEKERNEL->robot->actuators[1]->get_steps_per_mm()),
+ lroundf(z*THEKERNEL->robot->actuators[2]->get_steps_per_mm()));
+ x= pos[0];
+ y= pos[1];
+ z= pos[2];
+
+ }else{
+ // do inverse kinematics on the given cartesian position and display the actuator coordinates
+ float pos[3]{x, y, z};
+ ActuatorCoordinates apos;
+ THEKERNEL->robot->arm_solution->cartesian_to_actuator(pos, apos);
+ stream->printf("actuator= A %f, B %f, C %f\n", apos[0], apos[1], apos[2]);
}
+
+ if(move) {
+ // move to the calculated, or given, XYZ
+ char cmd[64];
+ snprintf(cmd, sizeof(cmd), "G53 G0 X%f Y%f Z%f", x, y, z);
+ struct SerialMessage message;
+ message.message = cmd;
+ message.stream = &(StreamOutput::NullStream);
+ THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
+ THEKERNEL->conveyor->wait_for_empty_queue();
+ }
+
+ } else if (what == "pos") {
+ // convenience to call all the various M114 variants
+ char buf[64];
+ THEKERNEL->robot->print_position(0, buf, sizeof buf); stream->printf("last %s\n", buf);
+ THEKERNEL->robot->print_position(1, buf, sizeof buf); stream->printf("realtime %s\n", buf);
+ THEKERNEL->robot->print_position(2, buf, sizeof buf); stream->printf("%s\n", buf);
+ THEKERNEL->robot->print_position(3, buf, sizeof buf); stream->printf("%s\n", buf);
+ THEKERNEL->robot->print_position(4, buf, sizeof buf); stream->printf("%s\n", buf);
+ THEKERNEL->robot->print_position(5, buf, sizeof buf); stream->printf("%s\n", buf);
+
+ } else if (what == "wcs") {
+ // print the wcs state
+ grblDP_command("-v", stream);
+
+ } else if (what == "state") {
+ // also $G
+ // [G0 G54 G17 G21 G90 G94 M0 M5 M9 T0 F0.]
+ stream->printf("[G%d %s G%d G%d G%d G94 M0 M5 M9 T%d F%1.4f]\n",
+ THEKERNEL->gcode_dispatch->get_modal_command(),
+ wcs2gcode(THEKERNEL->robot->get_current_wcs()).c_str(),
+ THEKERNEL->robot->plane_axis_0 == X_AXIS && THEKERNEL->robot->plane_axis_1 == Y_AXIS && THEKERNEL->robot->plane_axis_2 == Z_AXIS ? 17 :
+ THEKERNEL->robot->plane_axis_0 == X_AXIS && THEKERNEL->robot->plane_axis_1 == Z_AXIS && THEKERNEL->robot->plane_axis_2 == Y_AXIS ? 18 :
+ THEKERNEL->robot->plane_axis_0 == Y_AXIS && THEKERNEL->robot->plane_axis_1 == Z_AXIS && THEKERNEL->robot->plane_axis_2 == X_AXIS ? 19 : 17,
+ THEKERNEL->robot->inch_mode ? 20 : 21,
+ THEKERNEL->robot->absolute_mode ? 90 : 91,
+ get_active_tool(),
+ THEKERNEL->robot->get_feed_rate());
+
+ } else if (what == "status") {
+ // also ? on serial and usb
+ stream->printf("%s\n", THEKERNEL->get_query_string().c_str());
+
+ } else {
+ stream->printf("error:unknown option %s\n", what.c_str());
}
}
}
}
+void SimpleShell::print_thermistors_command( string parameters, StreamOutput *stream)
+{
+ #ifndef NO_TOOLS_TEMPERATURECONTROL
+ Thermistor::print_predefined_thermistors(stream);
+ #endif
+}
+
+void SimpleShell::calc_thermistor_command( string parameters, StreamOutput *stream)
+{
+ #ifndef NO_TOOLS_TEMPERATURECONTROL
+ string s = shift_parameter( parameters );
+ int saveto= -1;
+ // see if we have -sn as first argument
+ if(s.find("-s", 0, 2) != string::npos) {
+ // save the results to thermistor n
+ saveto= strtol(s.substr(2).c_str(), nullptr, 10);
+ }else{
+ parameters= s;
+ }
+
+ std::vector<float> trl= parse_number_list(parameters.c_str());
+ if(trl.size() == 6) {
+ // calculate the coefficients
+ float c1, c2, c3;
+ std::tie(c1, c2, c3) = Thermistor::calculate_steinhart_hart_coefficients(trl[0], trl[1], trl[2], trl[3], trl[4], trl[5]);
+ stream->printf("Steinhart Hart coefficients: I%1.18f J%1.18f K%1.18f\n", c1, c2, c3);
+ if(saveto == -1) {
+ stream->printf(" Paste the above in the M305 S0 command, then save with M500\n");
+ }else{
+ char buf[80];
+ int n = snprintf(buf, sizeof(buf), "M305 S%d I%1.18f J%1.18f K%1.18f", saveto, c1, c2, c3);
+ string g(buf, n);
+ Gcode gcode(g, &(StreamOutput::NullStream));
+ THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode );
+ stream->printf(" Setting Thermistor %d to those settings, save with M500\n", saveto);
+ }
+
+ }else{
+ // give help
+ stream->printf("Usage: calc_thermistor T1,R1,T2,R2,T3,R3\n");
+ }
+ #endif
+}
+
// used to test out the get public data events for switch
void SimpleShell::switch_command( string parameters, StreamOutput *stream)
{
}
}
+void SimpleShell::md5sum_command( string parameters, StreamOutput *stream )
+{
+ string filename = absolute_from_relative(parameters);
+
+ // Open file
+ FILE *lp = fopen(filename.c_str(), "r");
+ if (lp == NULL) {
+ stream->printf("File not found: %s\r\n", filename.c_str());
+ return;
+ }
+ MD5 md5;
+ uint8_t buf[64];
+ do {
+ size_t n= fread(buf, 1, sizeof buf, lp);
+ if(n > 0) md5.update(buf, n);
+ THEKERNEL->call_event(ON_IDLE);
+ } while(!feof(lp));
+
+ stream->printf("%s %s\n", md5.finalize().hexdigest().c_str(), filename.c_str());
+ fclose(lp);
+}
+
+
+
void SimpleShell::help_command( string parameters, StreamOutput *stream )
{
stream->printf("Commands:\r\n");
stream->printf("ls [-s] [folder]\r\n");
stream->printf("cd folder\r\n");
stream->printf("pwd\r\n");
- stream->printf("cat file [limit]\r\n");
+ stream->printf("cat file [limit] [-d 10]\r\n");
stream->printf("rm file\r\n");
stream->printf("mv file newfile\r\n");
stream->printf("remount\r\n");
stream->printf("break - break into debugger\r\n");
stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
+ stream->printf("get [pos|wcs|state|status|fk|ik]\r\n");
stream->printf("get temp [bed|hotend]\r\n");
stream->printf("set_temp bed|hotend 185\r\n");
- stream->printf("get pos\r\n");
stream->printf("net\r\n");
stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n");
stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n");
+ stream->printf("upload filename - saves a stream of text to the named file\r\n");
+ stream->printf("calc_thermistor [-s0] T1,R1,T2,R2,T3,R3 - calculate the Steinhart Hart coefficients for a thermistor\r\n");
+ stream->printf("thermistors - print out the predefined thermistors\r\n");
+ stream->printf("md5sum file - prints md5 sum of the given file\r\n");
}
HCoop / clinton / Smoothieware.git / blobdiff