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}, |
518b5c4c | 84 | {"test", SimpleShell::test_command}, |
9e403697 JM |
85 | |
86 | // unknown command | |
7e81f138 | 87 | {NULL, NULL} |
9e403697 | 88 | }; |
ecc610a4 | 89 | |
6d877d9b | 90 | int SimpleShell::reset_delay_secs = 0; |
7e81f138 | 91 | |
ecc610a4 | 92 | // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556 |
0c683b26 | 93 | static uint32_t heapWalk(StreamOutput *stream, bool verbose) |
ecc610a4 JM |
94 | { |
95 | uint32_t chunkNumber = 1; | |
96 | // The __end__ linker symbol points to the beginning of the heap. | |
97 | uint32_t chunkCurr = (uint32_t)&__end__; | |
98 | // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks. | |
99 | uint32_t freeCurr = __malloc_free_list; | |
100 | // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap. | |
101 | uint32_t heapEnd = _sbrk(0); | |
102 | // accumulate totals | |
9e403697 JM |
103 | uint32_t freeSize = 0; |
104 | uint32_t usedSize = 0; | |
ecc610a4 JM |
105 | |
106 | stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr); | |
107 | ||
108 | // Walk through the chunks until we hit the end of the heap. | |
9e403697 | 109 | while (chunkCurr < heapEnd) { |
ecc610a4 JM |
110 | // Assume the chunk is in use. Will update later. |
111 | int isChunkFree = 0; | |
112 | // The first 32-bit word in a chunk is the size of the allocation. newlib-nano over allocates by 8 bytes. | |
113 | // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer. | |
9e403697 | 114 | uint32_t chunkSize = *(uint32_t *)chunkCurr; |
ecc610a4 JM |
115 | // The start of the next chunk is right after the end of this one. |
116 | uint32_t chunkNext = chunkCurr + chunkSize; | |
117 | ||
118 | // The free list is sorted by address. | |
119 | // Check to see if we have found the next free chunk in the heap. | |
9e403697 | 120 | if (chunkCurr == freeCurr) { |
ecc610a4 JM |
121 | // Chunk is free so flag it as such. |
122 | isChunkFree = 1; | |
123 | // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address). | |
9e403697 | 124 | freeCurr = *(uint32_t *)(freeCurr + 4); |
ecc610a4 JM |
125 | } |
126 | ||
127 | // Skip past the 32-bit size field in the chunk header. | |
128 | chunkCurr += 4; | |
129 | // 8-byte align the data pointer. | |
130 | chunkCurr = (chunkCurr + 7) & ~7; | |
131 | // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8 | |
132 | // byte-alignment of the returned pointer. | |
133 | chunkSize -= 8; | |
9e403697 | 134 | if (verbose) |
ecc610a4 JM |
135 | stream->printf(" Chunk: %lu Address: 0x%08lX Size: %lu %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : ""); |
136 | ||
9e403697 | 137 | if (isChunkFree) freeSize += chunkSize; |
ecc610a4 JM |
138 | else usedSize += chunkSize; |
139 | ||
140 | chunkCurr = chunkNext; | |
141 | chunkNumber++; | |
142 | } | |
143 | stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize); | |
0c683b26 | 144 | return freeSize; |
ecc610a4 JM |
145 | } |
146 | ||
147 | ||
9e403697 JM |
148 | void SimpleShell::on_module_loaded() |
149 | { | |
0325af12 | 150 | this->register_for_event(ON_CONSOLE_LINE_RECEIVED); |
48afc62a | 151 | this->register_for_event(ON_GCODE_RECEIVED); |
152 | this->register_for_event(ON_SECOND_TICK); | |
c4e56997 | 153 | |
7e81f138 | 154 | reset_delay_secs = 0; |
ead17727 JM |
155 | } |
156 | ||
9e403697 JM |
157 | void SimpleShell::on_second_tick(void *) |
158 | { | |
ead17727 | 159 | // we are timing out for the reset |
7e81f138 JM |
160 | if (reset_delay_secs > 0) { |
161 | if (--reset_delay_secs == 0) { | |
ead17727 JM |
162 | system_reset(false); |
163 | } | |
164 | } | |
0325af12 AW |
165 | } |
166 | ||
9e403697 JM |
167 | void SimpleShell::on_gcode_received(void *argument) |
168 | { | |
169 | Gcode *gcode = static_cast<Gcode *>(argument); | |
6d877d9b | 170 | string args = get_arguments(gcode->get_command()); |
c4e56997 JM |
171 | |
172 | if (gcode->has_m) { | |
173 | if (gcode->m == 20) { // list sd card | |
c4e56997 JM |
174 | gcode->stream->printf("Begin file list\r\n"); |
175 | ls_command("/sd", gcode->stream); | |
176 | gcode->stream->printf("End file list\r\n"); | |
d4ee6ee2 JM |
177 | |
178 | } else if (gcode->m == 30) { // remove file | |
01a8d21a JM |
179 | if(!args.empty() && !THEKERNEL->is_grbl_mode()) |
180 | rm_command("/sd/" + args, gcode->stream); | |
3a238fdc | 181 | } |
c4e56997 JM |
182 | } |
183 | } | |
184 | ||
7e81f138 | 185 | bool SimpleShell::parse_command(const char *cmd, string args, StreamOutput *stream) |
9e403697 | 186 | { |
7e81f138 JM |
187 | for (const ptentry_t *p = commands_table; p->command != NULL; ++p) { |
188 | if (strncasecmp(cmd, p->command, strlen(p->command)) == 0) { | |
189 | p->func(args, stream); | |
9e403697 JM |
190 | return true; |
191 | } | |
192 | } | |
193 | ||
194 | return false; | |
195 | } | |
196 | ||
0325af12 | 197 | // When a new line is received, check if it is a command, and if it is, act upon it |
9e403697 JM |
198 | void SimpleShell::on_console_line_received( void *argument ) |
199 | { | |
200 | SerialMessage new_message = *static_cast<SerialMessage *>(argument); | |
6c0193b3 | 201 | string possible_command = new_message.message; |
7f613782 | 202 | |
6c0193b3 JM |
203 | // ignore anything that is not lowercase or a $ as it is not a command |
204 | if(possible_command.size() == 0 || (!islower(possible_command[0]) && possible_command[0] != '$')) { | |
205 | return; | |
206 | } | |
7f613782 | 207 | |
6c0193b3 JM |
208 | // it is a grbl compatible command |
209 | if(possible_command[0] == '$' && possible_command.size() >= 2) { | |
210 | switch(possible_command[1]) { | |
211 | case 'G': | |
212 | // issue get state | |
213 | get_command("state", new_message.stream); | |
543c4b6d | 214 | new_message.stream->printf("ok\n"); |
6c0193b3 JM |
215 | break; |
216 | ||
217 | case 'X': | |
218 | THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt | |
543c4b6d | 219 | new_message.stream->printf("[Caution: Unlocked]\nok\n"); |
6c0193b3 JM |
220 | break; |
221 | ||
222 | case '#': | |
223 | grblDP_command("", new_message.stream); | |
543c4b6d | 224 | new_message.stream->printf("ok\n"); |
6c0193b3 JM |
225 | break; |
226 | ||
227 | case 'H': | |
07186543 | 228 | if(THEKERNEL->is_grbl_mode()) { |
31c6c2c2 | 229 | THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt |
8ad60a4c | 230 | // issue G28.2 which is force homing cycle |
53ece53b | 231 | Gcode gcode("G28.2", new_message.stream); |
6c0193b3 | 232 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode); |
07186543 JM |
233 | }else{ |
234 | new_message.stream->printf("error:only supported in GRBL mode\n"); | |
6c0193b3 JM |
235 | } |
236 | break; | |
0325af12 | 237 | |
6c0193b3 | 238 | default: |
07186543 | 239 | new_message.stream->printf("error:Invalid statement\n"); |
6c0193b3 JM |
240 | break; |
241 | } | |
242 | ||
243 | }else{ | |
6187a020 | 244 | |
6c0193b3 JM |
245 | //new_message.stream->printf("Received %s\r\n", possible_command.c_str()); |
246 | string cmd = shift_parameter(possible_command); | |
247 | ||
3e54c9fc JM |
248 | // Configurator commands |
249 | if (cmd == "config-get"){ | |
250 | THEKERNEL->configurator->config_get_command( possible_command, new_message.stream ); | |
251 | ||
252 | } else if (cmd == "config-set"){ | |
253 | THEKERNEL->configurator->config_set_command( possible_command, new_message.stream ); | |
254 | ||
255 | } else if (cmd == "config-load"){ | |
256 | THEKERNEL->configurator->config_load_command( possible_command, new_message.stream ); | |
257 | ||
258 | } else if (cmd == "play" || cmd == "progress" || cmd == "abort" || cmd == "suspend" || cmd == "resume") { | |
01a8d21a | 259 | // these are handled by Player module |
93f20a8c JM |
260 | |
261 | } else if (cmd == "ok") { | |
262 | // probably an echo so reply ok | |
263 | new_message.stream->printf("ok\n"); | |
3e54c9fc JM |
264 | |
265 | }else if(!parse_command(cmd.c_str(), possible_command, new_message.stream)) { | |
42bbc035 | 266 | new_message.stream->printf("error:Unsupported command - %s\n", cmd.c_str()); |
6c0193b3 JM |
267 | } |
268 | } | |
0325af12 AW |
269 | } |
270 | ||
0325af12 AW |
271 | // Act upon an ls command |
272 | // Convert the first parameter into an absolute path, then list the files in that path | |
9e403697 JM |
273 | void SimpleShell::ls_command( string parameters, StreamOutput *stream ) |
274 | { | |
3579deea JM |
275 | string path, opts; |
276 | while(!parameters.empty()) { | |
6d877d9b | 277 | string s = shift_parameter( parameters ); |
3579deea JM |
278 | if(s.front() == '-') { |
279 | opts.append(s); | |
280 | } else { | |
6d877d9b JM |
281 | path = s; |
282 | if(!parameters.empty()) { | |
3579deea JM |
283 | path.append(" "); |
284 | path.append(parameters); | |
285 | } | |
286 | break; | |
287 | } | |
288 | } | |
b557a801 | 289 | |
6d877d9b | 290 | path = absolute_from_relative(path); |
3579deea | 291 | |
9e403697 JM |
292 | DIR *d; |
293 | struct dirent *p; | |
3579deea | 294 | d = opendir(path.c_str()); |
9e403697 JM |
295 | if (d != NULL) { |
296 | while ((p = readdir(d)) != NULL) { | |
3579deea | 297 | stream->printf("%s", lc(string(p->d_name)).c_str()); |
6d877d9b | 298 | if(p->d_isdir) { |
3579deea | 299 | stream->printf("/"); |
6d877d9b | 300 | } else if(opts.find("-s", 0, 2) != string::npos) { |
3579deea JM |
301 | stream->printf(" %d", p->d_fsize); |
302 | } | |
303 | stream->printf("\r\n"); | |
9e403697 | 304 | } |
ed7c5844 | 305 | closedir(d); |
0325af12 | 306 | } else { |
3579deea | 307 | stream->printf("Could not open directory %s\r\n", path.c_str()); |
0325af12 AW |
308 | } |
309 | } | |
310 | ||
3704585b | 311 | extern SDFAT mounter; |
312 | ||
313 | void SimpleShell::remount_command( string parameters, StreamOutput *stream ) | |
314 | { | |
315 | mounter.remount(); | |
48afc62a | 316 | stream->printf("remounted\r\n"); |
12fb447a | 317 | } |
3704585b | 318 | |
9e403697 JM |
319 | // Delete a file |
320 | void SimpleShell::rm_command( string parameters, StreamOutput *stream ) | |
321 | { | |
6d877d9b | 322 | const char *fn = absolute_from_relative(shift_parameter( parameters )).c_str(); |
9e403697 JM |
323 | int s = remove(fn); |
324 | if (s != 0) stream->printf("Could not delete %s \r\n", fn); | |
325 | } | |
326 | ||
6d877d9b JM |
327 | // Rename a file |
328 | void SimpleShell::mv_command( string parameters, StreamOutput *stream ) | |
329 | { | |
330 | string from = absolute_from_relative(shift_parameter( parameters )); | |
a940483b | 331 | string to = absolute_from_relative(shift_parameter(parameters)); |
6d877d9b JM |
332 | int s = rename(from.c_str(), to.c_str()); |
333 | if (s != 0) stream->printf("Could not rename %s to %s\r\n", from.c_str(), to.c_str()); | |
334 | else stream->printf("renamed %s to %s\r\n", from.c_str(), to.c_str()); | |
335 | } | |
336 | ||
0325af12 | 337 | // Change current absolute path to provided path |
9e403697 JM |
338 | void SimpleShell::cd_command( string parameters, StreamOutput *stream ) |
339 | { | |
75f4581c | 340 | string folder = absolute_from_relative( parameters ); |
6bcd4886 | 341 | |
0325af12 | 342 | DIR *d; |
0325af12 | 343 | d = opendir(folder.c_str()); |
9e403697 | 344 | if (d == NULL) { |
58baeec1 | 345 | stream->printf("Could not open directory %s \r\n", folder.c_str() ); |
9e403697 | 346 | } else { |
75f4581c | 347 | THEKERNEL->current_path = folder; |
ed7c5844 | 348 | closedir(d); |
0325af12 AW |
349 | } |
350 | } | |
351 | ||
b7250484 | 352 | // Responds with the present working directory |
9e403697 JM |
353 | void SimpleShell::pwd_command( string parameters, StreamOutput *stream ) |
354 | { | |
75f4581c | 355 | stream->printf("%s\r\n", THEKERNEL->current_path.c_str()); |
b7250484 L |
356 | } |
357 | ||
0325af12 | 358 | // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output ) |
9e403697 JM |
359 | void SimpleShell::cat_command( string parameters, StreamOutput *stream ) |
360 | { | |
58baeec1 | 361 | // Get parameters ( filename and line limit ) |
75f4581c | 362 | string filename = absolute_from_relative(shift_parameter( parameters )); |
1f61f177 | 363 | string limit_parameter = shift_parameter( parameters ); |
0325af12 | 364 | int limit = -1; |
1f61f177 | 365 | int delay= 0; |
2ab3fca6 | 366 | bool send_eof= false; |
1f61f177 JM |
367 | if ( limit_parameter == "-d" ) { |
368 | string d= shift_parameter( parameters ); | |
9e403697 | 369 | char *e = NULL; |
1f61f177 | 370 | delay = strtol(d.c_str(), &e, 10); |
01e97c58 | 371 | if (e <= d.c_str()) { |
1f61f177 JM |
372 | delay = 0; |
373 | ||
01e97c58 JM |
374 | } else { |
375 | send_eof= true; // we need to terminate file send with an eof | |
376 | } | |
377 | ||
1f61f177 JM |
378 | }else if ( limit_parameter != "" ) { |
379 | char *e = NULL; | |
380 | limit = strtol(limit_parameter.c_str(), &e, 10); | |
381 | if (e <= limit_parameter.c_str()) | |
f7e6f459 MM |
382 | limit = -1; |
383 | } | |
58baeec1 | 384 | |
1f61f177 | 385 | // we have been asked to delay before cat, probably to allow time to issue upload command |
1aa3d42f JM |
386 | if(delay > 0) { |
387 | safe_delay(delay*1000); | |
1f61f177 JM |
388 | } |
389 | ||
58baeec1 | 390 | // Open file |
0325af12 | 391 | FILE *lp = fopen(filename.c_str(), "r"); |
9e403697 | 392 | if (lp == NULL) { |
58baeec1 MM |
393 | stream->printf("File not found: %s\r\n", filename.c_str()); |
394 | return; | |
9ed670c5 | 395 | } |
0325af12 AW |
396 | string buffer; |
397 | int c; | |
58baeec1 | 398 | int newlines = 0; |
6d877d9b | 399 | int linecnt = 0; |
0325af12 | 400 | // Print each line of the file |
9e403697 | 401 | while ((c = fgetc (lp)) != EOF) { |
58baeec1 | 402 | buffer.append((char *)&c, 1); |
2ab3fca6 JM |
403 | if ( c == '\n' || ++linecnt > 80) { |
404 | if(c == '\n') newlines++; | |
d728799b | 405 | stream->puts(buffer.c_str()); |
58baeec1 | 406 | buffer.clear(); |
6d877d9b | 407 | if(linecnt > 80) linecnt = 0; |
6757ce1a JM |
408 | // we need to kick things or they die |
409 | THEKERNEL->call_event(ON_IDLE); | |
68b7afb4 | 410 | } |
9e403697 JM |
411 | if ( newlines == limit ) { |
412 | break; | |
413 | } | |
58baeec1 | 414 | }; |
0325af12 | 415 | fclose(lp); |
2ab3fca6 JM |
416 | |
417 | if(send_eof) { | |
418 | stream->puts("\032"); // ^Z terminates the upload | |
419 | } | |
6d877d9b JM |
420 | } |
421 | ||
422 | void SimpleShell::upload_command( string parameters, StreamOutput *stream ) | |
423 | { | |
424 | // this needs to be a hack. it needs to read direct from serial and not allow on_main_loop run until done | |
425 | // NOTE this will block all operation until the upload is complete, so do not do while printing | |
426 | if(!THEKERNEL->conveyor->is_queue_empty()) { | |
427 | stream->printf("upload not allowed while printing or busy\n"); | |
428 | return; | |
429 | } | |
430 | ||
431 | // open file to upload to | |
432 | string upload_filename = absolute_from_relative( parameters ); | |
433 | FILE *fd = fopen(upload_filename.c_str(), "w"); | |
434 | if(fd != NULL) { | |
435 | stream->printf("uploading to file: %s, send control-D or control-Z to finish\r\n", upload_filename.c_str()); | |
436 | } else { | |
437 | stream->printf("failed to open file: %s.\r\n", upload_filename.c_str()); | |
438 | return; | |
439 | } | |
0325af12 | 440 | |
6d877d9b JM |
441 | int cnt = 0; |
442 | bool uploading = true; | |
443 | while(uploading) { | |
444 | if(!stream->ready()) { | |
445 | // we need to kick things or they die | |
446 | THEKERNEL->call_event(ON_IDLE); | |
447 | continue; | |
448 | } | |
449 | ||
450 | char c = stream->_getc(); | |
451 | if( c == 4 || c == 26) { // ctrl-D or ctrl-Z | |
452 | uploading = false; | |
453 | // close file | |
454 | fclose(fd); | |
455 | stream->printf("uploaded %d bytes\n", cnt); | |
456 | return; | |
457 | ||
458 | } else { | |
459 | // write character to file | |
460 | cnt++; | |
461 | if(fputc(c, fd) != c) { | |
462 | // error writing to file | |
463 | stream->printf("error writing to file. ignoring all characters until EOF\r\n"); | |
464 | fclose(fd); | |
465 | fd = NULL; | |
466 | uploading= false; | |
467 | ||
468 | } else { | |
469 | if ((cnt%400) == 0) { | |
470 | // HACK ALERT to get around fwrite corruption close and re open for append | |
471 | fclose(fd); | |
472 | fd = fopen(upload_filename.c_str(), "a"); | |
6757ce1a JM |
473 | // we need to kick things or they die |
474 | THEKERNEL->call_event(ON_IDLE); | |
6d877d9b JM |
475 | } |
476 | } | |
477 | } | |
478 | } | |
479 | // we got an error so ignore everything until EOF | |
480 | char c; | |
481 | do { | |
482 | if(stream->ready()) { | |
483 | c= stream->_getc(); | |
484 | }else{ | |
485 | THEKERNEL->call_event(ON_IDLE); | |
486 | c= 0; | |
487 | } | |
488 | } while(c != 4 && c != 26); | |
0325af12 AW |
489 | } |
490 | ||
618c9b0f JM |
491 | // loads the specified config-override file |
492 | void SimpleShell::load_command( string parameters, StreamOutput *stream ) | |
493 | { | |
494 | // Get parameters ( filename ) | |
75f4581c | 495 | string filename = absolute_from_relative(parameters); |
618c9b0f JM |
496 | if(filename == "/") { |
497 | filename = THEKERNEL->config_override_filename(); | |
498 | } | |
499 | ||
6d877d9b | 500 | FILE *fp = fopen(filename.c_str(), "r"); |
618c9b0f JM |
501 | if(fp != NULL) { |
502 | char buf[132]; | |
503 | stream->printf("Loading config override file: %s...\n", filename.c_str()); | |
504 | while(fgets(buf, sizeof buf, fp) != NULL) { | |
505 | stream->printf(" %s", buf); | |
506 | if(buf[0] == ';') continue; // skip the comments | |
c0b50fa8 JM |
507 | // NOTE only Gcodes and Mcodes can be in the config-override |
508 | Gcode *gcode = new Gcode(buf, &StreamOutput::NullStream); | |
509 | THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode); | |
510 | delete gcode; | |
511 | THEKERNEL->call_event(ON_IDLE); | |
618c9b0f JM |
512 | } |
513 | stream->printf("config override file executed\n"); | |
514 | fclose(fp); | |
515 | ||
6d877d9b | 516 | } else { |
618c9b0f JM |
517 | stream->printf("File not found: %s\n", filename.c_str()); |
518 | } | |
519 | } | |
520 | ||
521 | // saves the specified config-override file | |
522 | void SimpleShell::save_command( string parameters, StreamOutput *stream ) | |
523 | { | |
524 | // Get parameters ( filename ) | |
75f4581c | 525 | string filename = absolute_from_relative(parameters); |
618c9b0f JM |
526 | if(filename == "/") { |
527 | filename = THEKERNEL->config_override_filename(); | |
528 | } | |
529 | ||
23eb804b JM |
530 | THEKERNEL->conveyor->wait_for_empty_queue(); //just to be safe as it can take a while to run |
531 | ||
06afe68b JM |
532 | //remove(filename.c_str()); // seems to cause a hang every now and then |
533 | { | |
534 | FileStream fs(filename.c_str()); | |
535 | fs.printf("; DO NOT EDIT THIS FILE\n"); | |
536 | // this also will truncate the existing file instead of deleting it | |
537 | } | |
538 | ||
23eb804b | 539 | // stream that appends to file |
4fed9ba1 JM |
540 | AppendFileStream *gs = new AppendFileStream(filename.c_str()); |
541 | // if(!gs->is_open()) { | |
542 | // stream->printf("Unable to open File %s for write\n", filename.c_str()); | |
543 | // return; | |
544 | // } | |
618c9b0f | 545 | |
7acfedab | 546 | __disable_irq(); |
618c9b0f JM |
547 | // issue a M500 which will store values in the file stream |
548 | Gcode *gcode = new Gcode("M500", gs); | |
549 | THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode ); | |
550 | delete gs; | |
551 | delete gcode; | |
7acfedab | 552 | __enable_irq(); |
618c9b0f JM |
553 | |
554 | stream->printf("Settings Stored to %s\r\n", filename.c_str()); | |
555 | } | |
556 | ||
6187a020 | 557 | // show free memory |
9e403697 JM |
558 | void SimpleShell::mem_command( string parameters, StreamOutput *stream) |
559 | { | |
078f76e0 | 560 | bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos; |
9e403697 JM |
561 | unsigned long heap = (unsigned long)_sbrk(0); |
562 | unsigned long m = g_maximumHeapAddress - heap; | |
ecc610a4 JM |
563 | stream->printf("Unused Heap: %lu bytes\r\n", m); |
564 | ||
6d877d9b | 565 | uint32_t f = heapWalk(stream, verbose); |
0c683b26 | 566 | stream->printf("Total Free RAM: %lu bytes\r\n", m + f); |
a200fc31 | 567 | |
0c683b26 | 568 | stream->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0.free(), AHB1.free()); |
6d877d9b | 569 | if (verbose) { |
1803076a MM |
570 | AHB0.debug(stream); |
571 | AHB1.debug(stream); | |
572 | } | |
6187a020 JM |
573 | } |
574 | ||
9e403697 JM |
575 | static uint32_t getDeviceType() |
576 | { | |
577 | #define IAP_LOCATION 0x1FFF1FF1 | |
01f35bcc JM |
578 | uint32_t command[1]; |
579 | uint32_t result[5]; | |
9e403697 | 580 | typedef void (*IAP)(uint32_t *, uint32_t *); |
01f35bcc JM |
581 | IAP iap = (IAP) IAP_LOCATION; |
582 | ||
583 | __disable_irq(); | |
584 | ||
585 | command[0] = 54; | |
586 | iap(command, result); | |
587 | ||
588 | __enable_irq(); | |
589 | ||
590 | return result[1]; | |
591 | } | |
592 | ||
d4ee6ee2 JM |
593 | // get network config |
594 | void SimpleShell::net_command( string parameters, StreamOutput *stream) | |
595 | { | |
596 | void *returned_data; | |
6d877d9b | 597 | bool ok = PublicData::get_value( network_checksum, get_ipconfig_checksum, &returned_data ); |
d4ee6ee2 | 598 | if(ok) { |
6d877d9b | 599 | char *str = (char *)returned_data; |
d4ee6ee2 JM |
600 | stream->printf("%s\r\n", str); |
601 | free(str); | |
602 | ||
6d877d9b | 603 | } else { |
d4ee6ee2 JM |
604 | stream->printf("No network detected\n"); |
605 | } | |
606 | } | |
607 | ||
582559c6 | 608 | // print out build version |
9e403697 JM |
609 | void SimpleShell::version_command( string parameters, StreamOutput *stream) |
610 | { | |
582559c6 | 611 | Version vers; |
9e403697 JM |
612 | uint32_t dev = getDeviceType(); |
613 | const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768"; | |
01f35bcc | 614 | 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); |
582559c6 JM |
615 | } |
616 | ||
77983aa1 | 617 | // Reset the system |
9e403697 JM |
618 | void SimpleShell::reset_command( string parameters, StreamOutput *stream) |
619 | { | |
ead17727 | 620 | stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n"); |
7e81f138 | 621 | reset_delay_secs = 5; // reboot in 5 seconds |
2742fca9 JM |
622 | } |
623 | ||
624 | // go into dfu boot mode | |
9e403697 JM |
625 | void SimpleShell::dfu_command( string parameters, StreamOutput *stream) |
626 | { | |
ed7c5844 JM |
627 | stream->printf("Entering boot mode...\r\n"); |
628 | system_reset(true); | |
77983aa1 L |
629 | } |
630 | ||
0f0b1656 | 631 | // Break out into the MRI debugging system |
9e403697 JM |
632 | void SimpleShell::break_command( string parameters, StreamOutput *stream) |
633 | { | |
0f0b1656 L |
634 | stream->printf("Entering MRI debug mode...\r\n"); |
635 | __debugbreak(); | |
636 | } | |
637 | ||
40843ebc JM |
638 | static int get_active_tool() |
639 | { | |
335957f5 | 640 | void *returned_data; |
40843ebc JM |
641 | bool ok = PublicData::get_value(tool_manager_checksum, get_active_tool_checksum, &returned_data); |
642 | if (ok) { | |
335957f5 JM |
643 | int active_tool= *static_cast<int *>(returned_data); |
644 | return active_tool; | |
40843ebc JM |
645 | } else { |
646 | return 0; | |
647 | } | |
648 | } | |
649 | ||
6c0193b3 JM |
650 | void SimpleShell::grblDP_command( string parameters, StreamOutput *stream) |
651 | { | |
652 | /* | |
653 | [G54:95.000,40.000,-23.600] | |
654 | [G55:0.000,0.000,0.000] | |
655 | [G56:0.000,0.000,0.000] | |
656 | [G57:0.000,0.000,0.000] | |
657 | [G58:0.000,0.000,0.000] | |
658 | [G59:0.000,0.000,0.000] | |
659 | [G28:0.000,0.000,0.000] | |
660 | [G30:0.000,0.000,0.000] | |
661 | [G92:0.000,0.000,0.000] | |
662 | [TLO:0.000] | |
663 | [PRB:0.000,0.000,0.000:0] | |
664 | */ | |
078f76e0 JM |
665 | |
666 | bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos; | |
667 | ||
6c0193b3 | 668 | std::vector<Robot::wcs_t> v= THEKERNEL->robot->get_wcs_state(); |
078f76e0 JM |
669 | if(verbose) { |
670 | char current_wcs= std::get<0>(v[0]); | |
671 | stream->printf("[current WCS: %s]\n", wcs2gcode(current_wcs).c_str()); | |
672 | } | |
673 | ||
6c0193b3 JM |
674 | int n= std::get<1>(v[0]); |
675 | for (int i = 1; i <= n; ++i) { | |
32bc8b54 JM |
676 | stream->printf("[%s:%1.4f,%1.4f,%1.4f]\n", wcs2gcode(i-1).c_str(), |
677 | THEKERNEL->robot->from_millimeters(std::get<0>(v[i])), | |
678 | THEKERNEL->robot->from_millimeters(std::get<1>(v[i])), | |
679 | THEKERNEL->robot->from_millimeters(std::get<2>(v[i]))); | |
6c0193b3 JM |
680 | } |
681 | ||
9339253b JM |
682 | float *rd; |
683 | PublicData::get_value( endstops_checksum, saved_position_checksum, &rd ); | |
32bc8b54 JM |
684 | stream->printf("[G28:%1.4f,%1.4f,%1.4f]\n", |
685 | THEKERNEL->robot->from_millimeters(rd[0]), | |
686 | THEKERNEL->robot->from_millimeters(rd[1]), | |
687 | THEKERNEL->robot->from_millimeters(rd[2])); | |
688 | ||
31c6c2c2 | 689 | stream->printf("[G30:%1.4f,%1.4f,%1.4f]\n", 0.0F, 0.0F, 0.0F); // not implemented |
9339253b | 690 | |
32bc8b54 JM |
691 | stream->printf("[G92:%1.4f,%1.4f,%1.4f]\n", |
692 | THEKERNEL->robot->from_millimeters(std::get<0>(v[n+1])), | |
693 | THEKERNEL->robot->from_millimeters(std::get<1>(v[n+1])), | |
694 | THEKERNEL->robot->from_millimeters(std::get<2>(v[n+1]))); | |
695 | ||
078f76e0 | 696 | if(verbose) { |
32bc8b54 JM |
697 | stream->printf("[Tool Offset:%1.4f,%1.4f,%1.4f]\n", |
698 | THEKERNEL->robot->from_millimeters(std::get<0>(v[n+2])), | |
699 | THEKERNEL->robot->from_millimeters(std::get<1>(v[n+2])), | |
700 | THEKERNEL->robot->from_millimeters(std::get<2>(v[n+2]))); | |
078f76e0 | 701 | }else{ |
32bc8b54 | 702 | stream->printf("[TL0:%1.4f]\n", THEKERNEL->robot->from_millimeters(std::get<2>(v[n+2]))); |
078f76e0 | 703 | } |
6c0193b3 | 704 | |
4440e123 JM |
705 | // this is the last probe position, updated when a probe completes, also stores the number of steps moved after a homing cycle |
706 | float px, py, pz; | |
707 | uint8_t ps; | |
708 | std::tie(px, py, pz, ps) = THEKERNEL->robot->get_last_probe_position(); | |
32bc8b54 | 709 | stream->printf("[PRB:%1.4f,%1.4f,%1.4f:%d]\n", THEKERNEL->robot->from_millimeters(px), THEKERNEL->robot->from_millimeters(py), THEKERNEL->robot->from_millimeters(pz), ps); |
6c0193b3 JM |
710 | } |
711 | ||
9e403697 JM |
712 | void SimpleShell::get_command( string parameters, StreamOutput *stream) |
713 | { | |
7e81f138 | 714 | string what = shift_parameter( parameters ); |
c4e56997 | 715 | |
7e81f138 | 716 | if (what == "temp") { |
3bfb2639 | 717 | struct pad_temperature temp; |
9e403697 | 718 | string type = shift_parameter( parameters ); |
56a6c8c1 JM |
719 | if(type.empty()) { |
720 | // scan all temperature controls | |
721 | std::vector<struct pad_temperature> controllers; | |
722 | bool ok = PublicData::get_value(temperature_control_checksum, poll_controls_checksum, &controllers); | |
723 | if (ok) { | |
724 | for (auto &c : controllers) { | |
725 | stream->printf("%s (%d) temp: %f/%f @%d\r\n", c.designator.c_str(), c.id, c.current_temperature, c.target_temperature, c.pwm); | |
726 | } | |
b55cfff1 | 727 | |
56a6c8c1 JM |
728 | } else { |
729 | stream->printf("no heaters found\r\n"); | |
730 | } | |
731 | ||
732 | }else{ | |
733 | bool ok = PublicData::get_value( temperature_control_checksum, current_temperature_checksum, get_checksum(type), &temp ); | |
734 | ||
735 | if (ok) { | |
736 | stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm); | |
737 | } else { | |
738 | stream->printf("%s is not a known temperature device\r\n", type.c_str()); | |
739 | } | |
b55cfff1 | 740 | } |
c4e56997 | 741 | |
70021ec9 | 742 | } else if (what == "fk" || what == "ik") { |
2577a122 | 743 | string p= shift_parameter( parameters ); |
70021ec9 | 744 | bool move= false; |
8ff7a960 | 745 | if(p == "-m") { |
70021ec9 JM |
746 | move= true; |
747 | p= shift_parameter( parameters ); | |
748 | } | |
749 | ||
750 | std::vector<float> v= parse_number_list(p.c_str()); | |
586cc733 JM |
751 | if(p.empty() || v.size() < 1) { |
752 | stream->printf("error:usage: get [fk|ik] [-m] x[,y,z]\n"); | |
70021ec9 JM |
753 | return; |
754 | } | |
2577a122 | 755 | |
70021ec9 | 756 | float x= v[0]; |
586cc733 JM |
757 | float y= (v.size() > 1) ? v[1] : x; |
758 | float z= (v.size() > 2) ? v[2] : y; | |
70021ec9 JM |
759 | |
760 | if(what == "fk") { | |
8ff7a960 | 761 | // do forward kinematics on the given actuator position and display the cartesian coordinates |
70021ec9 JM |
762 | ActuatorCoordinates apos{x, y, z}; |
763 | float pos[3]; | |
764 | THEKERNEL->robot->arm_solution->actuator_to_cartesian(apos, pos); | |
586cc733 JM |
765 | stream->printf("cartesian= X %f, Y %f, Z %f, Steps= A %lu, B %lu, C %lu\n", |
766 | pos[0], pos[1], pos[2], | |
767 | lroundf(x*THEKERNEL->robot->actuators[0]->get_steps_per_mm()), | |
768 | lroundf(y*THEKERNEL->robot->actuators[1]->get_steps_per_mm()), | |
769 | lroundf(z*THEKERNEL->robot->actuators[2]->get_steps_per_mm())); | |
70021ec9 JM |
770 | x= pos[0]; |
771 | y= pos[1]; | |
772 | z= pos[2]; | |
8ff7a960 | 773 | |
70021ec9 | 774 | }else{ |
8ff7a960 | 775 | // do inverse kinematics on the given cartesian position and display the actuator coordinates |
70021ec9 JM |
776 | float pos[3]{x, y, z}; |
777 | ActuatorCoordinates apos; | |
778 | THEKERNEL->robot->arm_solution->cartesian_to_actuator(pos, apos); | |
779 | stream->printf("actuator= A %f, B %f, C %f\n", apos[0], apos[1], apos[2]); | |
780 | } | |
781 | ||
782 | if(move) { | |
8ff7a960 | 783 | // move to the calculated, or given, XYZ |
70021ec9 JM |
784 | char cmd[64]; |
785 | snprintf(cmd, sizeof(cmd), "G53 G0 X%f Y%f Z%f", x, y, z); | |
786 | struct SerialMessage message; | |
787 | message.message = cmd; | |
788 | message.stream = &(StreamOutput::NullStream); | |
789 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
790 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
791 | } | |
2577a122 JM |
792 | |
793 | } else if (what == "pos") { | |
e03f2747 JM |
794 | // convenience to call all the various M114 variants |
795 | char buf[64]; | |
796 | THEKERNEL->robot->print_position(0, buf, sizeof buf); stream->printf("last %s\n", buf); | |
797 | THEKERNEL->robot->print_position(1, buf, sizeof buf); stream->printf("realtime %s\n", buf); | |
798 | THEKERNEL->robot->print_position(2, buf, sizeof buf); stream->printf("%s\n", buf); | |
799 | THEKERNEL->robot->print_position(3, buf, sizeof buf); stream->printf("%s\n", buf); | |
800 | THEKERNEL->robot->print_position(4, buf, sizeof buf); stream->printf("%s\n", buf); | |
801 | THEKERNEL->robot->print_position(5, buf, sizeof buf); stream->printf("%s\n", buf); | |
34210908 JM |
802 | |
803 | } else if (what == "wcs") { | |
804 | // print the wcs state | |
078f76e0 | 805 | grblDP_command("-v", stream); |
40843ebc JM |
806 | |
807 | } else if (what == "state") { | |
6c0193b3 | 808 | // also $G |
40843ebc | 809 | // [G0 G54 G17 G21 G90 G94 M0 M5 M9 T0 F0.] |
31c6c2c2 | 810 | stream->printf("[G%d %s G%d G%d G%d G94 M0 M5 M9 T%d F%1.4f]\n", |
40843ebc JM |
811 | THEKERNEL->gcode_dispatch->get_modal_command(), |
812 | wcs2gcode(THEKERNEL->robot->get_current_wcs()).c_str(), | |
813 | THEKERNEL->robot->plane_axis_0 == X_AXIS && THEKERNEL->robot->plane_axis_1 == Y_AXIS && THEKERNEL->robot->plane_axis_2 == Z_AXIS ? 17 : | |
814 | THEKERNEL->robot->plane_axis_0 == X_AXIS && THEKERNEL->robot->plane_axis_1 == Z_AXIS && THEKERNEL->robot->plane_axis_2 == Y_AXIS ? 18 : | |
815 | THEKERNEL->robot->plane_axis_0 == Y_AXIS && THEKERNEL->robot->plane_axis_1 == Z_AXIS && THEKERNEL->robot->plane_axis_2 == X_AXIS ? 19 : 17, | |
816 | THEKERNEL->robot->inch_mode ? 20 : 21, | |
817 | THEKERNEL->robot->absolute_mode ? 90 : 91, | |
818 | get_active_tool(), | |
32bc8b54 | 819 | THEKERNEL->robot->from_millimeters(THEKERNEL->robot->get_feed_rate())); |
6c0193b3 | 820 | |
a9e8c04b JM |
821 | } else if (what == "status") { |
822 | // also ? on serial and usb | |
823 | stream->printf("%s\n", THEKERNEL->get_query_string().c_str()); | |
824 | ||
6c0193b3 | 825 | } else { |
07186543 | 826 | stream->printf("error:unknown option %s\n", what.c_str()); |
b55cfff1 | 827 | } |
8293d443 JM |
828 | } |
829 | ||
77047e76 | 830 | // used to test out the get public data events |
9e403697 JM |
831 | void SimpleShell::set_temp_command( string parameters, StreamOutput *stream) |
832 | { | |
833 | string type = shift_parameter( parameters ); | |
834 | string temp = shift_parameter( parameters ); | |
04211969 | 835 | float t = temp.empty() ? 0.0 : strtof(temp.c_str(), NULL); |
75e6428d | 836 | bool ok = PublicData::set_value( temperature_control_checksum, get_checksum(type), &t ); |
991d98cc | 837 | |
9e403697 | 838 | if (ok) { |
991d98cc | 839 | stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t); |
9e403697 | 840 | } else { |
991d98cc JM |
841 | stream->printf("%s is not a known temperature device\r\n", type.c_str()); |
842 | } | |
77047e76 JM |
843 | } |
844 | ||
4c8f5447 JM |
845 | void SimpleShell::print_thermistors_command( string parameters, StreamOutput *stream) |
846 | { | |
8a75ef4a | 847 | #ifndef NO_TOOLS_TEMPERATURECONTROL |
4c8f5447 | 848 | Thermistor::print_predefined_thermistors(stream); |
8a75ef4a | 849 | #endif |
4c8f5447 JM |
850 | } |
851 | ||
1f8dab1a JM |
852 | void SimpleShell::calc_thermistor_command( string parameters, StreamOutput *stream) |
853 | { | |
8a75ef4a | 854 | #ifndef NO_TOOLS_TEMPERATURECONTROL |
bbb839c1 JM |
855 | string s = shift_parameter( parameters ); |
856 | int saveto= -1; | |
857 | // see if we have -sn as first argument | |
858 | if(s.find("-s", 0, 2) != string::npos) { | |
859 | // save the results to thermistor n | |
860 | saveto= strtol(s.substr(2).c_str(), nullptr, 10); | |
861 | }else{ | |
862 | parameters= s; | |
863 | } | |
864 | ||
1f8dab1a JM |
865 | std::vector<float> trl= parse_number_list(parameters.c_str()); |
866 | if(trl.size() == 6) { | |
867 | // calculate the coefficients | |
868 | float c1, c2, c3; | |
869 | std::tie(c1, c2, c3) = Thermistor::calculate_steinhart_hart_coefficients(trl[0], trl[1], trl[2], trl[3], trl[4], trl[5]); | |
870 | stream->printf("Steinhart Hart coefficients: I%1.18f J%1.18f K%1.18f\n", c1, c2, c3); | |
bbb839c1 JM |
871 | if(saveto == -1) { |
872 | stream->printf(" Paste the above in the M305 S0 command, then save with M500\n"); | |
873 | }else{ | |
874 | char buf[80]; | |
875 | int n = snprintf(buf, sizeof(buf), "M305 S%d I%1.18f J%1.18f K%1.18f", saveto, c1, c2, c3); | |
876 | string g(buf, n); | |
877 | Gcode gcode(g, &(StreamOutput::NullStream)); | |
878 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode ); | |
879 | stream->printf(" Setting Thermistor %d to those settings, save with M500\n", saveto); | |
880 | } | |
1f8dab1a JM |
881 | |
882 | }else{ | |
883 | // give help | |
884 | stream->printf("Usage: calc_thermistor T1,R1,T2,R2,T3,R3\n"); | |
885 | } | |
8a75ef4a | 886 | #endif |
1f8dab1a JM |
887 | } |
888 | ||
ae91dea4 JM |
889 | // used to test out the get public data events for switch |
890 | void SimpleShell::switch_command( string parameters, StreamOutput *stream) | |
891 | { | |
892 | string type = shift_parameter( parameters ); | |
893 | string value = shift_parameter( parameters ); | |
6d877d9b | 894 | bool ok = false; |
ae91dea4 | 895 | if(value == "on" || value == "off") { |
6d877d9b | 896 | bool b = value == "on"; |
ae91dea4 | 897 | ok = PublicData::set_value( switch_checksum, get_checksum(type), state_checksum, &b ); |
6d877d9b | 898 | } else { |
ae91dea4 JM |
899 | float v = strtof(value.c_str(), NULL); |
900 | ok = PublicData::set_value( switch_checksum, get_checksum(type), value_checksum, &v ); | |
901 | } | |
902 | if (ok) { | |
903 | stream->printf("switch %s set to: %s\r\n", type.c_str(), value.c_str()); | |
904 | } else { | |
905 | stream->printf("%s is not a known switch device\r\n", type.c_str()); | |
906 | } | |
907 | } | |
908 | ||
d55d551b JM |
909 | void SimpleShell::md5sum_command( string parameters, StreamOutput *stream ) |
910 | { | |
911 | string filename = absolute_from_relative(parameters); | |
912 | ||
913 | // Open file | |
914 | FILE *lp = fopen(filename.c_str(), "r"); | |
915 | if (lp == NULL) { | |
916 | stream->printf("File not found: %s\r\n", filename.c_str()); | |
917 | return; | |
918 | } | |
919 | MD5 md5; | |
920 | uint8_t buf[64]; | |
921 | do { | |
922 | size_t n= fread(buf, 1, sizeof buf, lp); | |
923 | if(n > 0) md5.update(buf, n); | |
2a95b07e | 924 | THEKERNEL->call_event(ON_IDLE); |
d55d551b JM |
925 | } while(!feof(lp)); |
926 | ||
927 | stream->printf("%s %s\n", md5.finalize().hexdigest().c_str(), filename.c_str()); | |
928 | fclose(lp); | |
929 | } | |
930 | ||
518b5c4c JM |
931 | // runs several types of test on the mechanisms |
932 | void SimpleShell::test_command( string parameters, StreamOutput *stream) | |
933 | { | |
934 | string what = shift_parameter( parameters ); | |
935 | ||
936 | if (what == "jog") { | |
937 | // jogs back and forth usage: axis distance iterations [feedrate] | |
938 | string axis = shift_parameter( parameters ); | |
939 | string dist = shift_parameter( parameters ); | |
940 | string iters = shift_parameter( parameters ); | |
941 | string speed = shift_parameter( parameters ); | |
942 | if(axis.empty() || dist.empty() || iters.empty()) { | |
943 | stream->printf("error: Need axis distance iterations\n"); | |
944 | return; | |
945 | } | |
946 | float d= strtof(dist.c_str(), NULL); | |
947 | float f= speed.empty() ? THEKERNEL->robot->get_feed_rate() : strtof(speed.c_str(), NULL); | |
948 | uint32_t n= strtol(iters.c_str(), NULL, 10); | |
949 | ||
950 | bool toggle= false; | |
951 | for (uint32_t i = 0; i < n; ++i) { | |
952 | char cmd[64]; | |
a276de9c JM |
953 | snprintf(cmd, sizeof(cmd), "G91 G0 %c%f F%f G90", toupper(axis[0]), toggle ? -d : d, f); |
954 | stream->printf("%s\n", cmd); | |
518b5c4c JM |
955 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
956 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
a276de9c | 957 | if(THEKERNEL->is_halted()) break; |
e0b7aa0e | 958 | THEKERNEL->conveyor->wait_for_empty_queue(); |
518b5c4c JM |
959 | toggle= !toggle; |
960 | } | |
a276de9c | 961 | stream->printf("done\n"); |
518b5c4c JM |
962 | |
963 | }else if (what == "circle") { | |
ee602f65 | 964 | // draws a circle around current position. usage: radius segments iterations [feedrate] |
e0b7aa0e JM |
965 | string radius = shift_parameter( parameters ); |
966 | string segments = shift_parameter( parameters ); | |
967 | string iters = shift_parameter( parameters ); | |
968 | string speed = shift_parameter( parameters ); | |
969 | if(radius.empty() || segments.empty() || iters.empty()) { | |
970 | stream->printf("error: Need radius segments iterations\n"); | |
971 | return; | |
972 | } | |
973 | ||
974 | float r= strtof(radius.c_str(), NULL); | |
975 | uint32_t s= strtol(segments.c_str(), NULL, 10); | |
976 | uint32_t n= strtol(iters.c_str(), NULL, 10); | |
977 | float f= speed.empty() ? THEKERNEL->robot->get_feed_rate() : strtof(speed.c_str(), NULL); | |
ee602f65 JM |
978 | float xoff, yoff; |
979 | std::tie(xoff, yoff, std::ignore) = THEKERNEL->robot->mcs2wcs(THEKERNEL->robot->get_axis_position()); | |
980 | char cmd[64]; | |
981 | snprintf(cmd, sizeof(cmd), "G90\n"); | |
982 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; | |
983 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
e0b7aa0e JM |
984 | |
985 | for (uint32_t i = 0; i < n; ++i) { | |
e0b7aa0e | 986 | for(uint32_t a=0;a<s;a++) { |
ee602f65 JM |
987 | snprintf(cmd, sizeof(cmd), "G0 X%f Y%f F%f", |
988 | xoff + (sinf(a * (360.0F / s) * (float)M_PI / 180.0F) * r), | |
989 | yoff + (cosf(a * (360.0F / s) * (float)M_PI / 180.0F) * r), | |
990 | f); | |
a276de9c | 991 | stream->printf("%s\n", cmd); |
c150a0d3 | 992 | message.message= cmd; |
e0b7aa0e | 993 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); |
a276de9c | 994 | if(THEKERNEL->is_halted()) break; |
e0b7aa0e | 995 | } |
a276de9c | 996 | if(THEKERNEL->is_halted()) break; |
e0b7aa0e JM |
997 | THEKERNEL->conveyor->wait_for_empty_queue(); |
998 | } | |
a276de9c | 999 | stream->printf("done\n"); |
518b5c4c JM |
1000 | |
1001 | }else if (what == "square") { | |
1002 | // draws a square usage: size iterations [feedrate] | |
1003 | string size = shift_parameter( parameters ); | |
1004 | string iters = shift_parameter( parameters ); | |
1005 | string speed = shift_parameter( parameters ); | |
1006 | if(size.empty() || iters.empty()) { | |
1007 | stream->printf("error: Need size iterations\n"); | |
1008 | return; | |
1009 | } | |
1010 | float d= strtof(size.c_str(), NULL); | |
1011 | float f= speed.empty() ? THEKERNEL->robot->get_feed_rate() : strtof(speed.c_str(), NULL); | |
1012 | uint32_t n= strtol(iters.c_str(), NULL, 10); | |
1013 | ||
1014 | for (uint32_t i = 0; i < n; ++i) { | |
1015 | char cmd[64]; | |
1016 | { | |
1017 | snprintf(cmd, sizeof(cmd), "G91 G0 X%f F%f", d, f); | |
a276de9c | 1018 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1019 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1020 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1021 | } | |
1022 | { | |
e0b7aa0e | 1023 | snprintf(cmd, sizeof(cmd), "G0 Y%f", d); |
a276de9c | 1024 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1025 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1026 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1027 | } | |
1028 | { | |
e0b7aa0e | 1029 | snprintf(cmd, sizeof(cmd), "G0 X%f", -d); |
a276de9c | 1030 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1031 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1032 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1033 | } | |
1034 | { | |
e0b7aa0e | 1035 | snprintf(cmd, sizeof(cmd), "G0 Y%f G90", -d); |
a276de9c | 1036 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1037 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1038 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1039 | } | |
a276de9c | 1040 | if(THEKERNEL->is_halted()) break; |
e0b7aa0e | 1041 | THEKERNEL->conveyor->wait_for_empty_queue(); |
518b5c4c | 1042 | } |
a276de9c JM |
1043 | stream->printf("done\n"); |
1044 | ||
1045 | }else { | |
1046 | stream->printf("usage:\n test jog axis distance iterations [feedrate]\n"); | |
1047 | stream->printf(" test square size iterations [feedrate]\n"); | |
1048 | stream->printf(" test circle radius segments iterations [feedrate]\n"); | |
518b5c4c JM |
1049 | } |
1050 | } | |
d55d551b JM |
1051 | |
1052 | ||
9e403697 JM |
1053 | void SimpleShell::help_command( string parameters, StreamOutput *stream ) |
1054 | { | |
ed7c5844 | 1055 | stream->printf("Commands:\r\n"); |
582559c6 | 1056 | stream->printf("version\r\n"); |
ecc610a4 | 1057 | stream->printf("mem [-v]\r\n"); |
3579deea | 1058 | stream->printf("ls [-s] [folder]\r\n"); |
ed7c5844 | 1059 | stream->printf("cd folder\r\n"); |
c4e56997 | 1060 | stream->printf("pwd\r\n"); |
6c0193b3 | 1061 | stream->printf("cat file [limit] [-d 10]\r\n"); |
9e403697 | 1062 | stream->printf("rm file\r\n"); |
6d877d9b | 1063 | stream->printf("mv file newfile\r\n"); |
12fb447a | 1064 | stream->printf("remount\r\n"); |
4eb0e279 | 1065 | stream->printf("play file [-v]\r\n"); |
ed7c5844 JM |
1066 | stream->printf("progress - shows progress of current play\r\n"); |
1067 | stream->printf("abort - abort currently playing file\r\n"); | |
c4e56997 JM |
1068 | stream->printf("reset - reset smoothie\r\n"); |
1069 | stream->printf("dfu - enter dfu boot loader\r\n"); | |
1070 | stream->printf("break - break into debugger\r\n"); | |
ed7c5844 JM |
1071 | stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n"); |
1072 | stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n"); | |
a9e8c04b | 1073 | stream->printf("get [pos|wcs|state|status|fk|ik]\r\n"); |
5647f709 | 1074 | stream->printf("get temp [bed|hotend]\r\n"); |
991d98cc | 1075 | stream->printf("set_temp bed|hotend 185\r\n"); |
d4ee6ee2 | 1076 | stream->printf("net\r\n"); |
618c9b0f JM |
1077 | stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n"); |
1078 | stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n"); | |
bbb839c1 JM |
1079 | stream->printf("upload filename - saves a stream of text to the named file\r\n"); |
1080 | stream->printf("calc_thermistor [-s0] T1,R1,T2,R2,T3,R3 - calculate the Steinhart Hart coefficients for a thermistor\r\n"); | |
4c8f5447 | 1081 | stream->printf("thermistors - print out the predefined thermistors\r\n"); |
d55d551b | 1082 | stream->printf("md5sum file - prints md5 sum of the given file\r\n"); |
235a7435 JM |
1083 | } |
1084 |