Commit | Line | Data |
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58baeec1 MM |
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/>. | |
cd011f58 AW |
6 | */ |
7 | ||
8 | ||
0325af12 | 9 | #include "SimpleShell.h" |
ba8da804 | 10 | #include "libs/Kernel.h" |
0325af12 AW |
11 | #include "libs/nuts_bolts.h" |
12 | #include "libs/utils.h" | |
423df6df | 13 | #include "libs/SerialMessage.h" |
838b33b4 | 14 | #include "libs/StreamOutput.h" |
3fceb8eb | 15 | #include "modules/robot/Conveyor.h" |
172d42d9 | 16 | #include "DirHandle.h" |
0f0b1656 | 17 | #include "mri.h" |
582559c6 | 18 | #include "version.h" |
8293d443 | 19 | #include "PublicDataRequest.h" |
4fed9ba1 | 20 | #include "AppendFileStream.h" |
618c9b0f | 21 | #include "FileStream.h" |
61134a65 JM |
22 | #include "checksumm.h" |
23 | #include "PublicData.h" | |
24 | #include "Gcode.h" | |
564cf1f0 | 25 | #include "Robot.h" |
40843ebc JM |
26 | #include "ToolManagerPublicAccess.h" |
27 | #include "GcodeDispatch.h" | |
2577a122 | 28 | #include "BaseSolution.h" |
586cc733 | 29 | #include "StepperMotor.h" |
3e54c9fc | 30 | #include "Configurator.h" |
61134a65 | 31 | |
40843ebc | 32 | #include "TemperatureControlPublicAccess.h" |
9339253b | 33 | #include "EndstopsPublicAccess.h" |
d4ee6ee2 | 34 | #include "NetworkPublicAccess.h" |
a200fc31 | 35 | #include "platform_memory.h" |
ae91dea4 | 36 | #include "SwitchPublicAccess.h" |
3704585b | 37 | #include "SDFAT.h" |
1f8dab1a | 38 | #include "Thermistor.h" |
d55d551b | 39 | #include "md5.h" |
1aa3d42f | 40 | #include "utils.h" |
47339e4a | 41 | |
61134a65 JM |
42 | #include "system_LPC17xx.h" |
43 | #include "LPC17xx.h" | |
44 | ||
23eb804b JM |
45 | #include "mbed.h" // for wait_ms() |
46 | ||
6187a020 JM |
47 | extern unsigned int g_maximumHeapAddress; |
48 | ||
ecc610a4 JM |
49 | #include <malloc.h> |
50 | #include <mri.h> | |
51 | #include <stdio.h> | |
52 | #include <stdint.h> | |
53 | ||
54 | extern "C" uint32_t __end__; | |
55 | extern "C" uint32_t __malloc_free_list; | |
56 | extern "C" uint32_t _sbrk(int size); | |
57 | ||
9e403697 | 58 | // command lookup table |
7e81f138 JM |
59 | const SimpleShell::ptentry_t SimpleShell::commands_table[] = { |
60 | {"ls", SimpleShell::ls_command}, | |
61 | {"cd", SimpleShell::cd_command}, | |
62 | {"pwd", SimpleShell::pwd_command}, | |
63 | {"cat", SimpleShell::cat_command}, | |
64 | {"rm", SimpleShell::rm_command}, | |
6d877d9b JM |
65 | {"mv", SimpleShell::mv_command}, |
66 | {"upload", SimpleShell::upload_command}, | |
7e81f138 JM |
67 | {"reset", SimpleShell::reset_command}, |
68 | {"dfu", SimpleShell::dfu_command}, | |
69 | {"break", SimpleShell::break_command}, | |
70 | {"help", SimpleShell::help_command}, | |
71 | {"?", SimpleShell::help_command}, | |
72 | {"version", SimpleShell::version_command}, | |
73 | {"mem", SimpleShell::mem_command}, | |
74 | {"get", SimpleShell::get_command}, | |
75 | {"set_temp", SimpleShell::set_temp_command}, | |
ae91dea4 | 76 | {"switch", SimpleShell::switch_command}, |
7e81f138 JM |
77 | {"net", SimpleShell::net_command}, |
78 | {"load", SimpleShell::load_command}, | |
79 | {"save", SimpleShell::save_command}, | |
6d877d9b | 80 | {"remount", SimpleShell::remount_command}, |
1f8dab1a | 81 | {"calc_thermistor", SimpleShell::calc_thermistor_command}, |
4c8f5447 | 82 | {"thermistors", SimpleShell::print_thermistors_command}, |
d55d551b | 83 | {"md5sum", SimpleShell::md5sum_command}, |
b03317ea | 84 | #ifdef CNC |
518b5c4c | 85 | {"test", SimpleShell::test_command}, |
b03317ea | 86 | #endif |
9e403697 | 87 | // unknown command |
7e81f138 | 88 | {NULL, NULL} |
9e403697 | 89 | }; |
ecc610a4 | 90 | |
6d877d9b | 91 | int SimpleShell::reset_delay_secs = 0; |
7e81f138 | 92 | |
ecc610a4 | 93 | // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556 |
0c683b26 | 94 | static uint32_t heapWalk(StreamOutput *stream, bool verbose) |
ecc610a4 JM |
95 | { |
96 | uint32_t chunkNumber = 1; | |
97 | // The __end__ linker symbol points to the beginning of the heap. | |
98 | uint32_t chunkCurr = (uint32_t)&__end__; | |
99 | // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks. | |
100 | uint32_t freeCurr = __malloc_free_list; | |
101 | // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap. | |
102 | uint32_t heapEnd = _sbrk(0); | |
103 | // accumulate totals | |
9e403697 JM |
104 | uint32_t freeSize = 0; |
105 | uint32_t usedSize = 0; | |
ecc610a4 JM |
106 | |
107 | stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr); | |
108 | ||
109 | // Walk through the chunks until we hit the end of the heap. | |
9e403697 | 110 | while (chunkCurr < heapEnd) { |
ecc610a4 JM |
111 | // Assume the chunk is in use. Will update later. |
112 | int isChunkFree = 0; | |
113 | // The first 32-bit word in a chunk is the size of the allocation. newlib-nano over allocates by 8 bytes. | |
114 | // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer. | |
9e403697 | 115 | uint32_t chunkSize = *(uint32_t *)chunkCurr; |
ecc610a4 JM |
116 | // The start of the next chunk is right after the end of this one. |
117 | uint32_t chunkNext = chunkCurr + chunkSize; | |
118 | ||
119 | // The free list is sorted by address. | |
120 | // Check to see if we have found the next free chunk in the heap. | |
9e403697 | 121 | if (chunkCurr == freeCurr) { |
ecc610a4 JM |
122 | // Chunk is free so flag it as such. |
123 | isChunkFree = 1; | |
124 | // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address). | |
9e403697 | 125 | freeCurr = *(uint32_t *)(freeCurr + 4); |
ecc610a4 JM |
126 | } |
127 | ||
128 | // Skip past the 32-bit size field in the chunk header. | |
129 | chunkCurr += 4; | |
130 | // 8-byte align the data pointer. | |
131 | chunkCurr = (chunkCurr + 7) & ~7; | |
132 | // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8 | |
133 | // byte-alignment of the returned pointer. | |
134 | chunkSize -= 8; | |
9e403697 | 135 | if (verbose) |
ecc610a4 JM |
136 | stream->printf(" Chunk: %lu Address: 0x%08lX Size: %lu %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : ""); |
137 | ||
9e403697 | 138 | if (isChunkFree) freeSize += chunkSize; |
ecc610a4 JM |
139 | else usedSize += chunkSize; |
140 | ||
141 | chunkCurr = chunkNext; | |
142 | chunkNumber++; | |
143 | } | |
144 | stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize); | |
0c683b26 | 145 | return freeSize; |
ecc610a4 JM |
146 | } |
147 | ||
148 | ||
9e403697 JM |
149 | void SimpleShell::on_module_loaded() |
150 | { | |
0325af12 | 151 | this->register_for_event(ON_CONSOLE_LINE_RECEIVED); |
48afc62a | 152 | this->register_for_event(ON_GCODE_RECEIVED); |
153 | this->register_for_event(ON_SECOND_TICK); | |
c4e56997 | 154 | |
7e81f138 | 155 | reset_delay_secs = 0; |
ead17727 JM |
156 | } |
157 | ||
9e403697 JM |
158 | void SimpleShell::on_second_tick(void *) |
159 | { | |
ead17727 | 160 | // we are timing out for the reset |
7e81f138 JM |
161 | if (reset_delay_secs > 0) { |
162 | if (--reset_delay_secs == 0) { | |
ead17727 JM |
163 | system_reset(false); |
164 | } | |
165 | } | |
0325af12 AW |
166 | } |
167 | ||
9e403697 JM |
168 | void SimpleShell::on_gcode_received(void *argument) |
169 | { | |
170 | Gcode *gcode = static_cast<Gcode *>(argument); | |
6d877d9b | 171 | string args = get_arguments(gcode->get_command()); |
c4e56997 JM |
172 | |
173 | if (gcode->has_m) { | |
174 | if (gcode->m == 20) { // list sd card | |
c4e56997 JM |
175 | gcode->stream->printf("Begin file list\r\n"); |
176 | ls_command("/sd", gcode->stream); | |
177 | gcode->stream->printf("End file list\r\n"); | |
d4ee6ee2 JM |
178 | |
179 | } else if (gcode->m == 30) { // remove file | |
01a8d21a JM |
180 | if(!args.empty() && !THEKERNEL->is_grbl_mode()) |
181 | rm_command("/sd/" + args, gcode->stream); | |
3a238fdc | 182 | } |
c4e56997 JM |
183 | } |
184 | } | |
185 | ||
7e81f138 | 186 | bool SimpleShell::parse_command(const char *cmd, string args, StreamOutput *stream) |
9e403697 | 187 | { |
7e81f138 JM |
188 | for (const ptentry_t *p = commands_table; p->command != NULL; ++p) { |
189 | if (strncasecmp(cmd, p->command, strlen(p->command)) == 0) { | |
190 | p->func(args, stream); | |
9e403697 JM |
191 | return true; |
192 | } | |
193 | } | |
194 | ||
195 | return false; | |
196 | } | |
197 | ||
0325af12 | 198 | // When a new line is received, check if it is a command, and if it is, act upon it |
9e403697 JM |
199 | void SimpleShell::on_console_line_received( void *argument ) |
200 | { | |
201 | SerialMessage new_message = *static_cast<SerialMessage *>(argument); | |
6c0193b3 | 202 | string possible_command = new_message.message; |
7f613782 | 203 | |
6c0193b3 JM |
204 | // ignore anything that is not lowercase or a $ as it is not a command |
205 | if(possible_command.size() == 0 || (!islower(possible_command[0]) && possible_command[0] != '$')) { | |
206 | return; | |
207 | } | |
7f613782 | 208 | |
6c0193b3 JM |
209 | // it is a grbl compatible command |
210 | if(possible_command[0] == '$' && possible_command.size() >= 2) { | |
211 | switch(possible_command[1]) { | |
212 | case 'G': | |
213 | // issue get state | |
214 | get_command("state", new_message.stream); | |
543c4b6d | 215 | new_message.stream->printf("ok\n"); |
6c0193b3 JM |
216 | break; |
217 | ||
218 | case 'X': | |
219 | THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt | |
543c4b6d | 220 | new_message.stream->printf("[Caution: Unlocked]\nok\n"); |
6c0193b3 JM |
221 | break; |
222 | ||
223 | case '#': | |
224 | grblDP_command("", new_message.stream); | |
543c4b6d | 225 | new_message.stream->printf("ok\n"); |
6c0193b3 JM |
226 | break; |
227 | ||
228 | case 'H': | |
07186543 | 229 | if(THEKERNEL->is_grbl_mode()) { |
31c6c2c2 | 230 | THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt |
8ad60a4c | 231 | // issue G28.2 which is force homing cycle |
53ece53b | 232 | Gcode gcode("G28.2", new_message.stream); |
6c0193b3 | 233 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode); |
07186543 JM |
234 | }else{ |
235 | new_message.stream->printf("error:only supported in GRBL mode\n"); | |
6c0193b3 JM |
236 | } |
237 | break; | |
0325af12 | 238 | |
6c0193b3 | 239 | default: |
07186543 | 240 | new_message.stream->printf("error:Invalid statement\n"); |
6c0193b3 JM |
241 | break; |
242 | } | |
243 | ||
244 | }else{ | |
6187a020 | 245 | |
6c0193b3 JM |
246 | //new_message.stream->printf("Received %s\r\n", possible_command.c_str()); |
247 | string cmd = shift_parameter(possible_command); | |
248 | ||
3e54c9fc JM |
249 | // Configurator commands |
250 | if (cmd == "config-get"){ | |
251 | THEKERNEL->configurator->config_get_command( possible_command, new_message.stream ); | |
252 | ||
253 | } else if (cmd == "config-set"){ | |
254 | THEKERNEL->configurator->config_set_command( possible_command, new_message.stream ); | |
255 | ||
256 | } else if (cmd == "config-load"){ | |
257 | THEKERNEL->configurator->config_load_command( possible_command, new_message.stream ); | |
258 | ||
259 | } else if (cmd == "play" || cmd == "progress" || cmd == "abort" || cmd == "suspend" || cmd == "resume") { | |
01a8d21a | 260 | // these are handled by Player module |
93f20a8c JM |
261 | |
262 | } else if (cmd == "ok") { | |
263 | // probably an echo so reply ok | |
264 | new_message.stream->printf("ok\n"); | |
3e54c9fc JM |
265 | |
266 | }else if(!parse_command(cmd.c_str(), possible_command, new_message.stream)) { | |
42bbc035 | 267 | new_message.stream->printf("error:Unsupported command - %s\n", cmd.c_str()); |
6c0193b3 JM |
268 | } |
269 | } | |
0325af12 AW |
270 | } |
271 | ||
0325af12 AW |
272 | // Act upon an ls command |
273 | // Convert the first parameter into an absolute path, then list the files in that path | |
9e403697 JM |
274 | void SimpleShell::ls_command( string parameters, StreamOutput *stream ) |
275 | { | |
3579deea JM |
276 | string path, opts; |
277 | while(!parameters.empty()) { | |
6d877d9b | 278 | string s = shift_parameter( parameters ); |
3579deea JM |
279 | if(s.front() == '-') { |
280 | opts.append(s); | |
281 | } else { | |
6d877d9b JM |
282 | path = s; |
283 | if(!parameters.empty()) { | |
3579deea JM |
284 | path.append(" "); |
285 | path.append(parameters); | |
286 | } | |
287 | break; | |
288 | } | |
289 | } | |
b557a801 | 290 | |
6d877d9b | 291 | path = absolute_from_relative(path); |
3579deea | 292 | |
9e403697 JM |
293 | DIR *d; |
294 | struct dirent *p; | |
3579deea | 295 | d = opendir(path.c_str()); |
9e403697 JM |
296 | if (d != NULL) { |
297 | while ((p = readdir(d)) != NULL) { | |
3579deea | 298 | stream->printf("%s", lc(string(p->d_name)).c_str()); |
6d877d9b | 299 | if(p->d_isdir) { |
3579deea | 300 | stream->printf("/"); |
6d877d9b | 301 | } else if(opts.find("-s", 0, 2) != string::npos) { |
3579deea JM |
302 | stream->printf(" %d", p->d_fsize); |
303 | } | |
304 | stream->printf("\r\n"); | |
9e403697 | 305 | } |
ed7c5844 | 306 | closedir(d); |
0325af12 | 307 | } else { |
3579deea | 308 | stream->printf("Could not open directory %s\r\n", path.c_str()); |
0325af12 AW |
309 | } |
310 | } | |
311 | ||
3704585b | 312 | extern SDFAT mounter; |
313 | ||
314 | void SimpleShell::remount_command( string parameters, StreamOutput *stream ) | |
315 | { | |
316 | mounter.remount(); | |
48afc62a | 317 | stream->printf("remounted\r\n"); |
12fb447a | 318 | } |
3704585b | 319 | |
9e403697 JM |
320 | // Delete a file |
321 | void SimpleShell::rm_command( string parameters, StreamOutput *stream ) | |
322 | { | |
6d877d9b | 323 | const char *fn = absolute_from_relative(shift_parameter( parameters )).c_str(); |
9e403697 JM |
324 | int s = remove(fn); |
325 | if (s != 0) stream->printf("Could not delete %s \r\n", fn); | |
326 | } | |
327 | ||
6d877d9b JM |
328 | // Rename a file |
329 | void SimpleShell::mv_command( string parameters, StreamOutput *stream ) | |
330 | { | |
331 | string from = absolute_from_relative(shift_parameter( parameters )); | |
a940483b | 332 | string to = absolute_from_relative(shift_parameter(parameters)); |
6d877d9b JM |
333 | int s = rename(from.c_str(), to.c_str()); |
334 | if (s != 0) stream->printf("Could not rename %s to %s\r\n", from.c_str(), to.c_str()); | |
335 | else stream->printf("renamed %s to %s\r\n", from.c_str(), to.c_str()); | |
336 | } | |
337 | ||
0325af12 | 338 | // Change current absolute path to provided path |
9e403697 JM |
339 | void SimpleShell::cd_command( string parameters, StreamOutput *stream ) |
340 | { | |
75f4581c | 341 | string folder = absolute_from_relative( parameters ); |
6bcd4886 | 342 | |
0325af12 | 343 | DIR *d; |
0325af12 | 344 | d = opendir(folder.c_str()); |
9e403697 | 345 | if (d == NULL) { |
58baeec1 | 346 | stream->printf("Could not open directory %s \r\n", folder.c_str() ); |
9e403697 | 347 | } else { |
75f4581c | 348 | THEKERNEL->current_path = folder; |
ed7c5844 | 349 | closedir(d); |
0325af12 AW |
350 | } |
351 | } | |
352 | ||
b7250484 | 353 | // Responds with the present working directory |
9e403697 JM |
354 | void SimpleShell::pwd_command( string parameters, StreamOutput *stream ) |
355 | { | |
75f4581c | 356 | stream->printf("%s\r\n", THEKERNEL->current_path.c_str()); |
b7250484 L |
357 | } |
358 | ||
0325af12 | 359 | // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output ) |
9e403697 JM |
360 | void SimpleShell::cat_command( string parameters, StreamOutput *stream ) |
361 | { | |
58baeec1 | 362 | // Get parameters ( filename and line limit ) |
75f4581c | 363 | string filename = absolute_from_relative(shift_parameter( parameters )); |
1f61f177 | 364 | string limit_parameter = shift_parameter( parameters ); |
0325af12 | 365 | int limit = -1; |
1f61f177 | 366 | int delay= 0; |
2ab3fca6 | 367 | bool send_eof= false; |
1f61f177 JM |
368 | if ( limit_parameter == "-d" ) { |
369 | string d= shift_parameter( parameters ); | |
9e403697 | 370 | char *e = NULL; |
1f61f177 | 371 | delay = strtol(d.c_str(), &e, 10); |
01e97c58 | 372 | if (e <= d.c_str()) { |
1f61f177 JM |
373 | delay = 0; |
374 | ||
01e97c58 JM |
375 | } else { |
376 | send_eof= true; // we need to terminate file send with an eof | |
377 | } | |
378 | ||
1f61f177 JM |
379 | }else if ( limit_parameter != "" ) { |
380 | char *e = NULL; | |
381 | limit = strtol(limit_parameter.c_str(), &e, 10); | |
382 | if (e <= limit_parameter.c_str()) | |
f7e6f459 MM |
383 | limit = -1; |
384 | } | |
58baeec1 | 385 | |
1f61f177 | 386 | // we have been asked to delay before cat, probably to allow time to issue upload command |
1aa3d42f JM |
387 | if(delay > 0) { |
388 | safe_delay(delay*1000); | |
1f61f177 JM |
389 | } |
390 | ||
58baeec1 | 391 | // Open file |
0325af12 | 392 | FILE *lp = fopen(filename.c_str(), "r"); |
9e403697 | 393 | if (lp == NULL) { |
58baeec1 MM |
394 | stream->printf("File not found: %s\r\n", filename.c_str()); |
395 | return; | |
9ed670c5 | 396 | } |
0325af12 AW |
397 | string buffer; |
398 | int c; | |
58baeec1 | 399 | int newlines = 0; |
6d877d9b | 400 | int linecnt = 0; |
0325af12 | 401 | // Print each line of the file |
9e403697 | 402 | while ((c = fgetc (lp)) != EOF) { |
58baeec1 | 403 | buffer.append((char *)&c, 1); |
2ab3fca6 JM |
404 | if ( c == '\n' || ++linecnt > 80) { |
405 | if(c == '\n') newlines++; | |
d728799b | 406 | stream->puts(buffer.c_str()); |
58baeec1 | 407 | buffer.clear(); |
6d877d9b | 408 | if(linecnt > 80) linecnt = 0; |
6757ce1a JM |
409 | // we need to kick things or they die |
410 | THEKERNEL->call_event(ON_IDLE); | |
68b7afb4 | 411 | } |
9e403697 JM |
412 | if ( newlines == limit ) { |
413 | break; | |
414 | } | |
58baeec1 | 415 | }; |
0325af12 | 416 | fclose(lp); |
2ab3fca6 JM |
417 | |
418 | if(send_eof) { | |
419 | stream->puts("\032"); // ^Z terminates the upload | |
420 | } | |
6d877d9b JM |
421 | } |
422 | ||
423 | void SimpleShell::upload_command( string parameters, StreamOutput *stream ) | |
424 | { | |
425 | // this needs to be a hack. it needs to read direct from serial and not allow on_main_loop run until done | |
426 | // NOTE this will block all operation until the upload is complete, so do not do while printing | |
427 | if(!THEKERNEL->conveyor->is_queue_empty()) { | |
428 | stream->printf("upload not allowed while printing or busy\n"); | |
429 | return; | |
430 | } | |
431 | ||
432 | // open file to upload to | |
433 | string upload_filename = absolute_from_relative( parameters ); | |
434 | FILE *fd = fopen(upload_filename.c_str(), "w"); | |
435 | if(fd != NULL) { | |
436 | stream->printf("uploading to file: %s, send control-D or control-Z to finish\r\n", upload_filename.c_str()); | |
437 | } else { | |
438 | stream->printf("failed to open file: %s.\r\n", upload_filename.c_str()); | |
439 | return; | |
440 | } | |
0325af12 | 441 | |
6d877d9b JM |
442 | int cnt = 0; |
443 | bool uploading = true; | |
444 | while(uploading) { | |
445 | if(!stream->ready()) { | |
446 | // we need to kick things or they die | |
447 | THEKERNEL->call_event(ON_IDLE); | |
448 | continue; | |
449 | } | |
450 | ||
451 | char c = stream->_getc(); | |
452 | if( c == 4 || c == 26) { // ctrl-D or ctrl-Z | |
453 | uploading = false; | |
454 | // close file | |
455 | fclose(fd); | |
456 | stream->printf("uploaded %d bytes\n", cnt); | |
457 | return; | |
458 | ||
459 | } else { | |
460 | // write character to file | |
461 | cnt++; | |
462 | if(fputc(c, fd) != c) { | |
463 | // error writing to file | |
464 | stream->printf("error writing to file. ignoring all characters until EOF\r\n"); | |
465 | fclose(fd); | |
466 | fd = NULL; | |
467 | uploading= false; | |
468 | ||
469 | } else { | |
470 | if ((cnt%400) == 0) { | |
471 | // HACK ALERT to get around fwrite corruption close and re open for append | |
472 | fclose(fd); | |
473 | fd = fopen(upload_filename.c_str(), "a"); | |
6757ce1a JM |
474 | // we need to kick things or they die |
475 | THEKERNEL->call_event(ON_IDLE); | |
6d877d9b JM |
476 | } |
477 | } | |
478 | } | |
479 | } | |
480 | // we got an error so ignore everything until EOF | |
481 | char c; | |
482 | do { | |
483 | if(stream->ready()) { | |
484 | c= stream->_getc(); | |
485 | }else{ | |
486 | THEKERNEL->call_event(ON_IDLE); | |
487 | c= 0; | |
488 | } | |
489 | } while(c != 4 && c != 26); | |
0325af12 AW |
490 | } |
491 | ||
618c9b0f JM |
492 | // loads the specified config-override file |
493 | void SimpleShell::load_command( string parameters, StreamOutput *stream ) | |
494 | { | |
495 | // Get parameters ( filename ) | |
75f4581c | 496 | string filename = absolute_from_relative(parameters); |
618c9b0f JM |
497 | if(filename == "/") { |
498 | filename = THEKERNEL->config_override_filename(); | |
499 | } | |
500 | ||
6d877d9b | 501 | FILE *fp = fopen(filename.c_str(), "r"); |
618c9b0f JM |
502 | if(fp != NULL) { |
503 | char buf[132]; | |
504 | stream->printf("Loading config override file: %s...\n", filename.c_str()); | |
505 | while(fgets(buf, sizeof buf, fp) != NULL) { | |
506 | stream->printf(" %s", buf); | |
507 | if(buf[0] == ';') continue; // skip the comments | |
c0b50fa8 JM |
508 | // NOTE only Gcodes and Mcodes can be in the config-override |
509 | Gcode *gcode = new Gcode(buf, &StreamOutput::NullStream); | |
510 | THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode); | |
511 | delete gcode; | |
512 | THEKERNEL->call_event(ON_IDLE); | |
618c9b0f JM |
513 | } |
514 | stream->printf("config override file executed\n"); | |
515 | fclose(fp); | |
516 | ||
6d877d9b | 517 | } else { |
618c9b0f JM |
518 | stream->printf("File not found: %s\n", filename.c_str()); |
519 | } | |
520 | } | |
521 | ||
522 | // saves the specified config-override file | |
523 | void SimpleShell::save_command( string parameters, StreamOutput *stream ) | |
524 | { | |
525 | // Get parameters ( filename ) | |
75f4581c | 526 | string filename = absolute_from_relative(parameters); |
618c9b0f JM |
527 | if(filename == "/") { |
528 | filename = THEKERNEL->config_override_filename(); | |
529 | } | |
530 | ||
23eb804b JM |
531 | THEKERNEL->conveyor->wait_for_empty_queue(); //just to be safe as it can take a while to run |
532 | ||
06afe68b JM |
533 | //remove(filename.c_str()); // seems to cause a hang every now and then |
534 | { | |
535 | FileStream fs(filename.c_str()); | |
536 | fs.printf("; DO NOT EDIT THIS FILE\n"); | |
537 | // this also will truncate the existing file instead of deleting it | |
538 | } | |
539 | ||
23eb804b | 540 | // stream that appends to file |
4fed9ba1 JM |
541 | AppendFileStream *gs = new AppendFileStream(filename.c_str()); |
542 | // if(!gs->is_open()) { | |
543 | // stream->printf("Unable to open File %s for write\n", filename.c_str()); | |
544 | // return; | |
545 | // } | |
618c9b0f | 546 | |
7acfedab | 547 | __disable_irq(); |
618c9b0f JM |
548 | // issue a M500 which will store values in the file stream |
549 | Gcode *gcode = new Gcode("M500", gs); | |
550 | THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode ); | |
551 | delete gs; | |
552 | delete gcode; | |
7acfedab | 553 | __enable_irq(); |
618c9b0f JM |
554 | |
555 | stream->printf("Settings Stored to %s\r\n", filename.c_str()); | |
556 | } | |
557 | ||
6187a020 | 558 | // show free memory |
9e403697 JM |
559 | void SimpleShell::mem_command( string parameters, StreamOutput *stream) |
560 | { | |
078f76e0 | 561 | bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos; |
9e403697 JM |
562 | unsigned long heap = (unsigned long)_sbrk(0); |
563 | unsigned long m = g_maximumHeapAddress - heap; | |
ecc610a4 JM |
564 | stream->printf("Unused Heap: %lu bytes\r\n", m); |
565 | ||
6d877d9b | 566 | uint32_t f = heapWalk(stream, verbose); |
0c683b26 | 567 | stream->printf("Total Free RAM: %lu bytes\r\n", m + f); |
a200fc31 | 568 | |
0c683b26 | 569 | stream->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0.free(), AHB1.free()); |
6d877d9b | 570 | if (verbose) { |
1803076a MM |
571 | AHB0.debug(stream); |
572 | AHB1.debug(stream); | |
573 | } | |
6187a020 JM |
574 | } |
575 | ||
9e403697 JM |
576 | static uint32_t getDeviceType() |
577 | { | |
578 | #define IAP_LOCATION 0x1FFF1FF1 | |
01f35bcc JM |
579 | uint32_t command[1]; |
580 | uint32_t result[5]; | |
9e403697 | 581 | typedef void (*IAP)(uint32_t *, uint32_t *); |
01f35bcc JM |
582 | IAP iap = (IAP) IAP_LOCATION; |
583 | ||
584 | __disable_irq(); | |
585 | ||
586 | command[0] = 54; | |
587 | iap(command, result); | |
588 | ||
589 | __enable_irq(); | |
590 | ||
591 | return result[1]; | |
592 | } | |
593 | ||
d4ee6ee2 JM |
594 | // get network config |
595 | void SimpleShell::net_command( string parameters, StreamOutput *stream) | |
596 | { | |
597 | void *returned_data; | |
6d877d9b | 598 | bool ok = PublicData::get_value( network_checksum, get_ipconfig_checksum, &returned_data ); |
d4ee6ee2 | 599 | if(ok) { |
6d877d9b | 600 | char *str = (char *)returned_data; |
d4ee6ee2 JM |
601 | stream->printf("%s\r\n", str); |
602 | free(str); | |
603 | ||
6d877d9b | 604 | } else { |
d4ee6ee2 JM |
605 | stream->printf("No network detected\n"); |
606 | } | |
607 | } | |
608 | ||
582559c6 | 609 | // print out build version |
9e403697 JM |
610 | void SimpleShell::version_command( string parameters, StreamOutput *stream) |
611 | { | |
582559c6 | 612 | Version vers; |
9e403697 JM |
613 | uint32_t dev = getDeviceType(); |
614 | const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768"; | |
01f35bcc | 615 | 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); |
599cb4bd JM |
616 | #ifdef CNC |
617 | stream->printf(" CNC Build\r\n"); | |
618 | #endif | |
582559c6 JM |
619 | } |
620 | ||
77983aa1 | 621 | // Reset the system |
9e403697 JM |
622 | void SimpleShell::reset_command( string parameters, StreamOutput *stream) |
623 | { | |
ead17727 | 624 | stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n"); |
7e81f138 | 625 | reset_delay_secs = 5; // reboot in 5 seconds |
2742fca9 JM |
626 | } |
627 | ||
628 | // go into dfu boot mode | |
9e403697 JM |
629 | void SimpleShell::dfu_command( string parameters, StreamOutput *stream) |
630 | { | |
ed7c5844 JM |
631 | stream->printf("Entering boot mode...\r\n"); |
632 | system_reset(true); | |
77983aa1 L |
633 | } |
634 | ||
0f0b1656 | 635 | // Break out into the MRI debugging system |
9e403697 JM |
636 | void SimpleShell::break_command( string parameters, StreamOutput *stream) |
637 | { | |
0f0b1656 L |
638 | stream->printf("Entering MRI debug mode...\r\n"); |
639 | __debugbreak(); | |
640 | } | |
641 | ||
40843ebc JM |
642 | static int get_active_tool() |
643 | { | |
335957f5 | 644 | void *returned_data; |
40843ebc JM |
645 | bool ok = PublicData::get_value(tool_manager_checksum, get_active_tool_checksum, &returned_data); |
646 | if (ok) { | |
335957f5 JM |
647 | int active_tool= *static_cast<int *>(returned_data); |
648 | return active_tool; | |
40843ebc JM |
649 | } else { |
650 | return 0; | |
651 | } | |
652 | } | |
653 | ||
6c0193b3 JM |
654 | void SimpleShell::grblDP_command( string parameters, StreamOutput *stream) |
655 | { | |
656 | /* | |
657 | [G54:95.000,40.000,-23.600] | |
658 | [G55:0.000,0.000,0.000] | |
659 | [G56:0.000,0.000,0.000] | |
660 | [G57:0.000,0.000,0.000] | |
661 | [G58:0.000,0.000,0.000] | |
662 | [G59:0.000,0.000,0.000] | |
663 | [G28:0.000,0.000,0.000] | |
664 | [G30:0.000,0.000,0.000] | |
665 | [G92:0.000,0.000,0.000] | |
666 | [TLO:0.000] | |
667 | [PRB:0.000,0.000,0.000:0] | |
668 | */ | |
078f76e0 JM |
669 | |
670 | bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos; | |
671 | ||
c8bac202 | 672 | std::vector<Robot::wcs_t> v= THEROBOT->get_wcs_state(); |
078f76e0 JM |
673 | if(verbose) { |
674 | char current_wcs= std::get<0>(v[0]); | |
675 | stream->printf("[current WCS: %s]\n", wcs2gcode(current_wcs).c_str()); | |
676 | } | |
677 | ||
6c0193b3 JM |
678 | int n= std::get<1>(v[0]); |
679 | for (int i = 1; i <= n; ++i) { | |
32bc8b54 | 680 | stream->printf("[%s:%1.4f,%1.4f,%1.4f]\n", wcs2gcode(i-1).c_str(), |
c8bac202 JM |
681 | THEROBOT->from_millimeters(std::get<0>(v[i])), |
682 | THEROBOT->from_millimeters(std::get<1>(v[i])), | |
683 | THEROBOT->from_millimeters(std::get<2>(v[i]))); | |
6c0193b3 JM |
684 | } |
685 | ||
9339253b JM |
686 | float *rd; |
687 | PublicData::get_value( endstops_checksum, saved_position_checksum, &rd ); | |
32bc8b54 | 688 | stream->printf("[G28:%1.4f,%1.4f,%1.4f]\n", |
c8bac202 JM |
689 | THEROBOT->from_millimeters(rd[0]), |
690 | THEROBOT->from_millimeters(rd[1]), | |
691 | THEROBOT->from_millimeters(rd[2])); | |
32bc8b54 | 692 | |
31c6c2c2 | 693 | stream->printf("[G30:%1.4f,%1.4f,%1.4f]\n", 0.0F, 0.0F, 0.0F); // not implemented |
9339253b | 694 | |
32bc8b54 | 695 | stream->printf("[G92:%1.4f,%1.4f,%1.4f]\n", |
c8bac202 JM |
696 | THEROBOT->from_millimeters(std::get<0>(v[n+1])), |
697 | THEROBOT->from_millimeters(std::get<1>(v[n+1])), | |
698 | THEROBOT->from_millimeters(std::get<2>(v[n+1]))); | |
32bc8b54 | 699 | |
078f76e0 | 700 | if(verbose) { |
32bc8b54 | 701 | stream->printf("[Tool Offset:%1.4f,%1.4f,%1.4f]\n", |
c8bac202 JM |
702 | THEROBOT->from_millimeters(std::get<0>(v[n+2])), |
703 | THEROBOT->from_millimeters(std::get<1>(v[n+2])), | |
704 | THEROBOT->from_millimeters(std::get<2>(v[n+2]))); | |
078f76e0 | 705 | }else{ |
c8bac202 | 706 | stream->printf("[TL0:%1.4f]\n", THEROBOT->from_millimeters(std::get<2>(v[n+2]))); |
078f76e0 | 707 | } |
6c0193b3 | 708 | |
4440e123 JM |
709 | // this is the last probe position, updated when a probe completes, also stores the number of steps moved after a homing cycle |
710 | float px, py, pz; | |
711 | uint8_t ps; | |
c8bac202 JM |
712 | std::tie(px, py, pz, ps) = THEROBOT->get_last_probe_position(); |
713 | stream->printf("[PRB:%1.4f,%1.4f,%1.4f:%d]\n", THEROBOT->from_millimeters(px), THEROBOT->from_millimeters(py), THEROBOT->from_millimeters(pz), ps); | |
6c0193b3 JM |
714 | } |
715 | ||
9e403697 JM |
716 | void SimpleShell::get_command( string parameters, StreamOutput *stream) |
717 | { | |
7e81f138 | 718 | string what = shift_parameter( parameters ); |
c4e56997 | 719 | |
7e81f138 | 720 | if (what == "temp") { |
3bfb2639 | 721 | struct pad_temperature temp; |
9e403697 | 722 | string type = shift_parameter( parameters ); |
56a6c8c1 JM |
723 | if(type.empty()) { |
724 | // scan all temperature controls | |
725 | std::vector<struct pad_temperature> controllers; | |
726 | bool ok = PublicData::get_value(temperature_control_checksum, poll_controls_checksum, &controllers); | |
727 | if (ok) { | |
728 | for (auto &c : controllers) { | |
729 | stream->printf("%s (%d) temp: %f/%f @%d\r\n", c.designator.c_str(), c.id, c.current_temperature, c.target_temperature, c.pwm); | |
730 | } | |
b55cfff1 | 731 | |
56a6c8c1 JM |
732 | } else { |
733 | stream->printf("no heaters found\r\n"); | |
734 | } | |
735 | ||
736 | }else{ | |
737 | bool ok = PublicData::get_value( temperature_control_checksum, current_temperature_checksum, get_checksum(type), &temp ); | |
738 | ||
739 | if (ok) { | |
740 | stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm); | |
741 | } else { | |
742 | stream->printf("%s is not a known temperature device\r\n", type.c_str()); | |
743 | } | |
b55cfff1 | 744 | } |
c4e56997 | 745 | |
70021ec9 | 746 | } else if (what == "fk" || what == "ik") { |
2577a122 | 747 | string p= shift_parameter( parameters ); |
70021ec9 | 748 | bool move= false; |
8ff7a960 | 749 | if(p == "-m") { |
70021ec9 JM |
750 | move= true; |
751 | p= shift_parameter( parameters ); | |
752 | } | |
753 | ||
754 | std::vector<float> v= parse_number_list(p.c_str()); | |
586cc733 JM |
755 | if(p.empty() || v.size() < 1) { |
756 | stream->printf("error:usage: get [fk|ik] [-m] x[,y,z]\n"); | |
70021ec9 JM |
757 | return; |
758 | } | |
2577a122 | 759 | |
70021ec9 | 760 | float x= v[0]; |
586cc733 JM |
761 | float y= (v.size() > 1) ? v[1] : x; |
762 | float z= (v.size() > 2) ? v[2] : y; | |
70021ec9 JM |
763 | |
764 | if(what == "fk") { | |
8ff7a960 | 765 | // do forward kinematics on the given actuator position and display the cartesian coordinates |
70021ec9 JM |
766 | ActuatorCoordinates apos{x, y, z}; |
767 | float pos[3]; | |
c8bac202 | 768 | THEROBOT->arm_solution->actuator_to_cartesian(apos, pos); |
586cc733 JM |
769 | stream->printf("cartesian= X %f, Y %f, Z %f, Steps= A %lu, B %lu, C %lu\n", |
770 | pos[0], pos[1], pos[2], | |
c8bac202 JM |
771 | lroundf(x*THEROBOT->actuators[0]->get_steps_per_mm()), |
772 | lroundf(y*THEROBOT->actuators[1]->get_steps_per_mm()), | |
773 | lroundf(z*THEROBOT->actuators[2]->get_steps_per_mm())); | |
70021ec9 JM |
774 | x= pos[0]; |
775 | y= pos[1]; | |
776 | z= pos[2]; | |
8ff7a960 | 777 | |
70021ec9 | 778 | }else{ |
8ff7a960 | 779 | // do inverse kinematics on the given cartesian position and display the actuator coordinates |
70021ec9 JM |
780 | float pos[3]{x, y, z}; |
781 | ActuatorCoordinates apos; | |
c8bac202 | 782 | THEROBOT->arm_solution->cartesian_to_actuator(pos, apos); |
70021ec9 JM |
783 | stream->printf("actuator= A %f, B %f, C %f\n", apos[0], apos[1], apos[2]); |
784 | } | |
785 | ||
786 | if(move) { | |
8ff7a960 | 787 | // move to the calculated, or given, XYZ |
70021ec9 JM |
788 | char cmd[64]; |
789 | snprintf(cmd, sizeof(cmd), "G53 G0 X%f Y%f Z%f", x, y, z); | |
790 | struct SerialMessage message; | |
791 | message.message = cmd; | |
792 | message.stream = &(StreamOutput::NullStream); | |
793 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
794 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
795 | } | |
2577a122 JM |
796 | |
797 | } else if (what == "pos") { | |
e03f2747 JM |
798 | // convenience to call all the various M114 variants |
799 | char buf[64]; | |
c8bac202 JM |
800 | THEROBOT->print_position(0, buf, sizeof buf); stream->printf("last %s\n", buf); |
801 | THEROBOT->print_position(1, buf, sizeof buf); stream->printf("realtime %s\n", buf); | |
802 | THEROBOT->print_position(2, buf, sizeof buf); stream->printf("%s\n", buf); | |
803 | THEROBOT->print_position(3, buf, sizeof buf); stream->printf("%s\n", buf); | |
804 | THEROBOT->print_position(4, buf, sizeof buf); stream->printf("%s\n", buf); | |
805 | THEROBOT->print_position(5, buf, sizeof buf); stream->printf("%s\n", buf); | |
34210908 JM |
806 | |
807 | } else if (what == "wcs") { | |
808 | // print the wcs state | |
078f76e0 | 809 | grblDP_command("-v", stream); |
40843ebc JM |
810 | |
811 | } else if (what == "state") { | |
6c0193b3 | 812 | // also $G |
40843ebc | 813 | // [G0 G54 G17 G21 G90 G94 M0 M5 M9 T0 F0.] |
31c6c2c2 | 814 | stream->printf("[G%d %s G%d G%d G%d G94 M0 M5 M9 T%d F%1.4f]\n", |
40843ebc | 815 | THEKERNEL->gcode_dispatch->get_modal_command(), |
c8bac202 JM |
816 | wcs2gcode(THEROBOT->get_current_wcs()).c_str(), |
817 | THEROBOT->plane_axis_0 == X_AXIS && THEROBOT->plane_axis_1 == Y_AXIS && THEROBOT->plane_axis_2 == Z_AXIS ? 17 : | |
818 | THEROBOT->plane_axis_0 == X_AXIS && THEROBOT->plane_axis_1 == Z_AXIS && THEROBOT->plane_axis_2 == Y_AXIS ? 18 : | |
819 | THEROBOT->plane_axis_0 == Y_AXIS && THEROBOT->plane_axis_1 == Z_AXIS && THEROBOT->plane_axis_2 == X_AXIS ? 19 : 17, | |
820 | THEROBOT->inch_mode ? 20 : 21, | |
821 | THEROBOT->absolute_mode ? 90 : 91, | |
40843ebc | 822 | get_active_tool(), |
c8bac202 | 823 | THEROBOT->from_millimeters(THEROBOT->get_feed_rate())); |
6c0193b3 | 824 | |
a9e8c04b JM |
825 | } else if (what == "status") { |
826 | // also ? on serial and usb | |
827 | stream->printf("%s\n", THEKERNEL->get_query_string().c_str()); | |
828 | ||
6c0193b3 | 829 | } else { |
07186543 | 830 | stream->printf("error:unknown option %s\n", what.c_str()); |
b55cfff1 | 831 | } |
8293d443 JM |
832 | } |
833 | ||
77047e76 | 834 | // used to test out the get public data events |
9e403697 JM |
835 | void SimpleShell::set_temp_command( string parameters, StreamOutput *stream) |
836 | { | |
837 | string type = shift_parameter( parameters ); | |
838 | string temp = shift_parameter( parameters ); | |
04211969 | 839 | float t = temp.empty() ? 0.0 : strtof(temp.c_str(), NULL); |
75e6428d | 840 | bool ok = PublicData::set_value( temperature_control_checksum, get_checksum(type), &t ); |
991d98cc | 841 | |
9e403697 | 842 | if (ok) { |
991d98cc | 843 | stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t); |
9e403697 | 844 | } else { |
991d98cc JM |
845 | stream->printf("%s is not a known temperature device\r\n", type.c_str()); |
846 | } | |
77047e76 JM |
847 | } |
848 | ||
4c8f5447 JM |
849 | void SimpleShell::print_thermistors_command( string parameters, StreamOutput *stream) |
850 | { | |
8b260c2c | 851 | #ifndef NO_TOOLS_TEMPERATURECONTROL |
4c8f5447 | 852 | Thermistor::print_predefined_thermistors(stream); |
8b260c2c | 853 | #endif |
4c8f5447 JM |
854 | } |
855 | ||
1f8dab1a JM |
856 | void SimpleShell::calc_thermistor_command( string parameters, StreamOutput *stream) |
857 | { | |
8b260c2c | 858 | #ifndef NO_TOOLS_TEMPERATURECONTROL |
bbb839c1 JM |
859 | string s = shift_parameter( parameters ); |
860 | int saveto= -1; | |
861 | // see if we have -sn as first argument | |
862 | if(s.find("-s", 0, 2) != string::npos) { | |
863 | // save the results to thermistor n | |
864 | saveto= strtol(s.substr(2).c_str(), nullptr, 10); | |
865 | }else{ | |
866 | parameters= s; | |
867 | } | |
868 | ||
1f8dab1a JM |
869 | std::vector<float> trl= parse_number_list(parameters.c_str()); |
870 | if(trl.size() == 6) { | |
871 | // calculate the coefficients | |
872 | float c1, c2, c3; | |
873 | std::tie(c1, c2, c3) = Thermistor::calculate_steinhart_hart_coefficients(trl[0], trl[1], trl[2], trl[3], trl[4], trl[5]); | |
874 | stream->printf("Steinhart Hart coefficients: I%1.18f J%1.18f K%1.18f\n", c1, c2, c3); | |
bbb839c1 JM |
875 | if(saveto == -1) { |
876 | stream->printf(" Paste the above in the M305 S0 command, then save with M500\n"); | |
877 | }else{ | |
878 | char buf[80]; | |
879 | int n = snprintf(buf, sizeof(buf), "M305 S%d I%1.18f J%1.18f K%1.18f", saveto, c1, c2, c3); | |
880 | string g(buf, n); | |
881 | Gcode gcode(g, &(StreamOutput::NullStream)); | |
882 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode ); | |
883 | stream->printf(" Setting Thermistor %d to those settings, save with M500\n", saveto); | |
884 | } | |
1f8dab1a JM |
885 | |
886 | }else{ | |
887 | // give help | |
888 | stream->printf("Usage: calc_thermistor T1,R1,T2,R2,T3,R3\n"); | |
889 | } | |
8b260c2c | 890 | #endif |
1f8dab1a JM |
891 | } |
892 | ||
ae91dea4 JM |
893 | // used to test out the get public data events for switch |
894 | void SimpleShell::switch_command( string parameters, StreamOutput *stream) | |
895 | { | |
896 | string type = shift_parameter( parameters ); | |
897 | string value = shift_parameter( parameters ); | |
6d877d9b | 898 | bool ok = false; |
ae91dea4 | 899 | if(value == "on" || value == "off") { |
6d877d9b | 900 | bool b = value == "on"; |
ae91dea4 | 901 | ok = PublicData::set_value( switch_checksum, get_checksum(type), state_checksum, &b ); |
6d877d9b | 902 | } else { |
ae91dea4 JM |
903 | float v = strtof(value.c_str(), NULL); |
904 | ok = PublicData::set_value( switch_checksum, get_checksum(type), value_checksum, &v ); | |
905 | } | |
906 | if (ok) { | |
907 | stream->printf("switch %s set to: %s\r\n", type.c_str(), value.c_str()); | |
908 | } else { | |
909 | stream->printf("%s is not a known switch device\r\n", type.c_str()); | |
910 | } | |
911 | } | |
912 | ||
d55d551b JM |
913 | void SimpleShell::md5sum_command( string parameters, StreamOutput *stream ) |
914 | { | |
915 | string filename = absolute_from_relative(parameters); | |
916 | ||
917 | // Open file | |
918 | FILE *lp = fopen(filename.c_str(), "r"); | |
919 | if (lp == NULL) { | |
920 | stream->printf("File not found: %s\r\n", filename.c_str()); | |
921 | return; | |
922 | } | |
923 | MD5 md5; | |
924 | uint8_t buf[64]; | |
925 | do { | |
926 | size_t n= fread(buf, 1, sizeof buf, lp); | |
927 | if(n > 0) md5.update(buf, n); | |
2a95b07e | 928 | THEKERNEL->call_event(ON_IDLE); |
d55d551b JM |
929 | } while(!feof(lp)); |
930 | ||
931 | stream->printf("%s %s\n", md5.finalize().hexdigest().c_str(), filename.c_str()); | |
932 | fclose(lp); | |
933 | } | |
934 | ||
b03317ea | 935 | #ifdef CNC |
518b5c4c JM |
936 | // runs several types of test on the mechanisms |
937 | void SimpleShell::test_command( string parameters, StreamOutput *stream) | |
938 | { | |
939 | string what = shift_parameter( parameters ); | |
940 | ||
941 | if (what == "jog") { | |
942 | // jogs back and forth usage: axis distance iterations [feedrate] | |
943 | string axis = shift_parameter( parameters ); | |
944 | string dist = shift_parameter( parameters ); | |
945 | string iters = shift_parameter( parameters ); | |
946 | string speed = shift_parameter( parameters ); | |
947 | if(axis.empty() || dist.empty() || iters.empty()) { | |
948 | stream->printf("error: Need axis distance iterations\n"); | |
949 | return; | |
950 | } | |
951 | float d= strtof(dist.c_str(), NULL); | |
c8bac202 | 952 | float f= speed.empty() ? THEROBOT->get_feed_rate() : strtof(speed.c_str(), NULL); |
518b5c4c JM |
953 | uint32_t n= strtol(iters.c_str(), NULL, 10); |
954 | ||
955 | bool toggle= false; | |
956 | for (uint32_t i = 0; i < n; ++i) { | |
957 | char cmd[64]; | |
a276de9c JM |
958 | snprintf(cmd, sizeof(cmd), "G91 G0 %c%f F%f G90", toupper(axis[0]), toggle ? -d : d, f); |
959 | stream->printf("%s\n", cmd); | |
518b5c4c JM |
960 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
961 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
a276de9c | 962 | if(THEKERNEL->is_halted()) break; |
e0b7aa0e | 963 | THEKERNEL->conveyor->wait_for_empty_queue(); |
518b5c4c JM |
964 | toggle= !toggle; |
965 | } | |
a276de9c | 966 | stream->printf("done\n"); |
518b5c4c JM |
967 | |
968 | }else if (what == "circle") { | |
fb4c9d09 | 969 | // draws a circle around origin. usage: radius iterations [feedrate] |
e0b7aa0e | 970 | string radius = shift_parameter( parameters ); |
e0b7aa0e JM |
971 | string iters = shift_parameter( parameters ); |
972 | string speed = shift_parameter( parameters ); | |
fb4c9d09 JM |
973 | if(radius.empty() || iters.empty()) { |
974 | stream->printf("error: Need radius iterations\n"); | |
e0b7aa0e JM |
975 | return; |
976 | } | |
977 | ||
978 | float r= strtof(radius.c_str(), NULL); | |
e0b7aa0e | 979 | uint32_t n= strtol(iters.c_str(), NULL, 10); |
c8bac202 | 980 | float f= speed.empty() ? THEROBOT->get_feed_rate() : strtof(speed.c_str(), NULL); |
fb4c9d09 | 981 | |
ee602f65 | 982 | char cmd[64]; |
fb4c9d09 JM |
983 | snprintf(cmd, sizeof(cmd), "G0 X%f Y0 F%f", -r, f); |
984 | stream->printf("%s\n", cmd); | |
ee602f65 JM |
985 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
986 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
e0b7aa0e JM |
987 | |
988 | for (uint32_t i = 0; i < n; ++i) { | |
a276de9c | 989 | if(THEKERNEL->is_halted()) break; |
fb4c9d09 JM |
990 | snprintf(cmd, sizeof(cmd), "G2 X%f Y0 I%f J0 F%f", -r, r, f); |
991 | stream->printf("%s\n", cmd); | |
992 | message.message= cmd; | |
993 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
e0b7aa0e JM |
994 | THEKERNEL->conveyor->wait_for_empty_queue(); |
995 | } | |
a276de9c | 996 | stream->printf("done\n"); |
518b5c4c JM |
997 | |
998 | }else if (what == "square") { | |
999 | // draws a square usage: size iterations [feedrate] | |
1000 | string size = shift_parameter( parameters ); | |
1001 | string iters = shift_parameter( parameters ); | |
1002 | string speed = shift_parameter( parameters ); | |
1003 | if(size.empty() || iters.empty()) { | |
1004 | stream->printf("error: Need size iterations\n"); | |
1005 | return; | |
1006 | } | |
1007 | float d= strtof(size.c_str(), NULL); | |
c8bac202 | 1008 | float f= speed.empty() ? THEROBOT->get_feed_rate() : strtof(speed.c_str(), NULL); |
518b5c4c JM |
1009 | uint32_t n= strtol(iters.c_str(), NULL, 10); |
1010 | ||
1011 | for (uint32_t i = 0; i < n; ++i) { | |
1012 | char cmd[64]; | |
1013 | { | |
1014 | snprintf(cmd, sizeof(cmd), "G91 G0 X%f F%f", d, f); | |
a276de9c | 1015 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1016 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1017 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1018 | } | |
1019 | { | |
e0b7aa0e | 1020 | snprintf(cmd, sizeof(cmd), "G0 Y%f", d); |
a276de9c | 1021 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1022 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1023 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1024 | } | |
1025 | { | |
e0b7aa0e | 1026 | snprintf(cmd, sizeof(cmd), "G0 X%f", -d); |
a276de9c | 1027 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1028 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1029 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1030 | } | |
1031 | { | |
e0b7aa0e | 1032 | snprintf(cmd, sizeof(cmd), "G0 Y%f G90", -d); |
a276de9c | 1033 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1034 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1035 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1036 | } | |
a276de9c | 1037 | if(THEKERNEL->is_halted()) break; |
e0b7aa0e | 1038 | THEKERNEL->conveyor->wait_for_empty_queue(); |
518b5c4c | 1039 | } |
a276de9c | 1040 | stream->printf("done\n"); |
d55d551b | 1041 | |
a276de9c JM |
1042 | }else { |
1043 | stream->printf("usage:\n test jog axis distance iterations [feedrate]\n"); | |
1044 | stream->printf(" test square size iterations [feedrate]\n"); | |
fb4c9d09 | 1045 | stream->printf(" test circle radius iterations [feedrate]\n"); |
518b5c4c JM |
1046 | } |
1047 | } | |
b03317ea | 1048 | #endif |
d55d551b | 1049 | |
9e403697 JM |
1050 | void SimpleShell::help_command( string parameters, StreamOutput *stream ) |
1051 | { | |
ed7c5844 | 1052 | stream->printf("Commands:\r\n"); |
582559c6 | 1053 | stream->printf("version\r\n"); |
ecc610a4 | 1054 | stream->printf("mem [-v]\r\n"); |
3579deea | 1055 | stream->printf("ls [-s] [folder]\r\n"); |
ed7c5844 | 1056 | stream->printf("cd folder\r\n"); |
c4e56997 | 1057 | stream->printf("pwd\r\n"); |
6c0193b3 | 1058 | stream->printf("cat file [limit] [-d 10]\r\n"); |
9e403697 | 1059 | stream->printf("rm file\r\n"); |
6d877d9b | 1060 | stream->printf("mv file newfile\r\n"); |
12fb447a | 1061 | stream->printf("remount\r\n"); |
4eb0e279 | 1062 | stream->printf("play file [-v]\r\n"); |
ed7c5844 JM |
1063 | stream->printf("progress - shows progress of current play\r\n"); |
1064 | stream->printf("abort - abort currently playing file\r\n"); | |
c4e56997 JM |
1065 | stream->printf("reset - reset smoothie\r\n"); |
1066 | stream->printf("dfu - enter dfu boot loader\r\n"); | |
1067 | stream->printf("break - break into debugger\r\n"); | |
ed7c5844 JM |
1068 | stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n"); |
1069 | stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n"); | |
a9e8c04b | 1070 | stream->printf("get [pos|wcs|state|status|fk|ik]\r\n"); |
5647f709 | 1071 | stream->printf("get temp [bed|hotend]\r\n"); |
991d98cc | 1072 | stream->printf("set_temp bed|hotend 185\r\n"); |
d4ee6ee2 | 1073 | stream->printf("net\r\n"); |
618c9b0f JM |
1074 | stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n"); |
1075 | stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n"); | |
bbb839c1 JM |
1076 | stream->printf("upload filename - saves a stream of text to the named file\r\n"); |
1077 | stream->printf("calc_thermistor [-s0] T1,R1,T2,R2,T3,R3 - calculate the Steinhart Hart coefficients for a thermistor\r\n"); | |
4c8f5447 | 1078 | stream->printf("thermistors - print out the predefined thermistors\r\n"); |
d55d551b | 1079 | stream->printf("md5sum file - prints md5 sum of the given file\r\n"); |
235a7435 JM |
1080 | } |
1081 |