Merge remote-tracking branch 'upstream/edge' into feature/add-grbl-queries

diff --combined src/modules/utils/simpleshell/SimpleShell.cpp
index c5adf1a,b273b79..1014ec5
--- 1/src/modules/utils/simpleshell/SimpleShell.cpp
--- 2/src/modules/utils/simpleshell/SimpleShell.cpp
+++ b/src/modules/utils/simpleshell/SimpleShell.cpp
@@@ -27,7 -27,6 +27,7 @@@
  #include "GcodeDispatch.h"
  
  #include "TemperatureControlPublicAccess.h"
 +#include "EndstopsPublicAccess.h"
  #include "NetworkPublicAccess.h"
  #include "platform_memory.h"
  #include "SwitchPublicAccess.h"
@@@ -206,55 -205,18 +206,55 @@@ bool SimpleShell::parse_command(const c
  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);
 +                break;
 +
 +            case 'X':
 +                THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
 +                new_message.stream->printf("[Caution: Unlocked]\n");
 +                break;
 +
 +            case '#':
 +                grblDP_command("", new_message.stream);
 +                break;
 +
 +            case 'H':
 +                if(THEKERNEL->is_grbl_mode()) {
 +                    // 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;
 +        }
 +
 +    }else{
  
 -    // find command and execute it
 -    parse_command(cmd.c_str(), possible_command, new_message.stream);
 +        //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
 +        string cmd = shift_parameter(possible_command);
 +
 +        // find command and execute it
 +        if(!parse_command(cmd.c_str(), possible_command, new_message.stream)) {
 +            new_message.stream->printf("error:Unsupported command\n");
 +        }
 +    }
  }
  
  // Act upon an ls command
@@@ -636,41 -598,6 +636,41 @@@ static int get_active_tool(
      }
  }
  
 +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]
 +    */
 +    std::vector<Robot::wcs_t> v= THEKERNEL->robot->get_wcs_state();
 +    int n= std::get<1>(v[0]);
 +    for (int i = 1; i <= n; ++i) {
 +        stream->printf("[%s:%1.3f,%1.3f,%1.3f]\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:%1.3f,%1.3f,%1.3f]\n",  rd[0], rd[1], rd[2]);
 +    stream->printf("[G30:%1.3f,%1.3f,%1.3f]\n",  0.0F, 0.0F, 0.0F); // not implemented
 +
 +    stream->printf("[G92:%1.3f,%1.3f,%1.3f]\n", std::get<0>(v[n+1]), std::get<1>(v[n+1]), std::get<2>(v[n+1]));
 +    stream->printf("[TL0:%1.3f]\n", std::get<2>(v[n+2]));
 +
 +    // TODO this should be the last probe position, which will be this if probe was the last thing done
 +    float current_machine_pos[3];
 +    THEKERNEL->robot->get_axis_position(current_machine_pos);
 +    stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", current_machine_pos[X_AXIS], current_machine_pos[Y_AXIS], current_machine_pos[Z_AXIS], 0);
 +}
 +
  // used to test out the get public data events
  void SimpleShell::get_command( string parameters, StreamOutput *stream)
  {
@@@ -726,9 -653,8 +726,9 @@@
          stream->printf("ToolOffset: %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 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 T%d F%1.1f]\n",
 +        stream->printf("[G%d %s G%d G%d G%d G94 M0 M5 M9 T%d F%1.1f]\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 :
@@@ -738,9 -664,6 +738,9 @@@
              THEKERNEL->robot->absolute_mode ? 90 : 91,
              get_active_tool(),
              THEKERNEL->robot->get_feed_rate());
 +
 +    } else {
 +        stream->printf("error:unknown option %s\n", what.c_str());
      }
  }
  
@@@ -834,6 -757,7 +834,7 @@@ void SimpleShell::md5sum_command( strin
      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());
@@@ -850,7 -774,7 +851,7 @@@ void SimpleShell::help_command( string 
      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");
@@@ -865,8 -789,6 +866,8 @@@
      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("get wcs\r\n");
 +    stream->printf("get state\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");