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" |
8a9f9313 | 31 | #include "Block.h" |
61134a65 | 32 | |
40843ebc | 33 | #include "TemperatureControlPublicAccess.h" |
9339253b | 34 | #include "EndstopsPublicAccess.h" |
d4ee6ee2 | 35 | #include "NetworkPublicAccess.h" |
a200fc31 | 36 | #include "platform_memory.h" |
ae91dea4 | 37 | #include "SwitchPublicAccess.h" |
3704585b | 38 | #include "SDFAT.h" |
1f8dab1a | 39 | #include "Thermistor.h" |
d55d551b | 40 | #include "md5.h" |
1aa3d42f | 41 | #include "utils.h" |
47339e4a | 42 | |
61134a65 JM |
43 | #include "system_LPC17xx.h" |
44 | #include "LPC17xx.h" | |
45 | ||
23eb804b JM |
46 | #include "mbed.h" // for wait_ms() |
47 | ||
6187a020 JM |
48 | extern unsigned int g_maximumHeapAddress; |
49 | ||
ecc610a4 JM |
50 | #include <malloc.h> |
51 | #include <mri.h> | |
52 | #include <stdio.h> | |
53 | #include <stdint.h> | |
be7f67cd | 54 | #include <functional> |
ecc610a4 JM |
55 | |
56 | extern "C" uint32_t __end__; | |
57 | extern "C" uint32_t __malloc_free_list; | |
58 | extern "C" uint32_t _sbrk(int size); | |
59 | ||
04d608c4 | 60 | |
9e403697 | 61 | // command lookup table |
7e81f138 JM |
62 | const SimpleShell::ptentry_t SimpleShell::commands_table[] = { |
63 | {"ls", SimpleShell::ls_command}, | |
64 | {"cd", SimpleShell::cd_command}, | |
65 | {"pwd", SimpleShell::pwd_command}, | |
66 | {"cat", SimpleShell::cat_command}, | |
67 | {"rm", SimpleShell::rm_command}, | |
6d877d9b | 68 | {"mv", SimpleShell::mv_command}, |
04d608c4 | 69 | {"mkdir", SimpleShell::mkdir_command}, |
6d877d9b | 70 | {"upload", SimpleShell::upload_command}, |
7e81f138 JM |
71 | {"reset", SimpleShell::reset_command}, |
72 | {"dfu", SimpleShell::dfu_command}, | |
73 | {"break", SimpleShell::break_command}, | |
74 | {"help", SimpleShell::help_command}, | |
75 | {"?", SimpleShell::help_command}, | |
76 | {"version", SimpleShell::version_command}, | |
77 | {"mem", SimpleShell::mem_command}, | |
78 | {"get", SimpleShell::get_command}, | |
79 | {"set_temp", SimpleShell::set_temp_command}, | |
ae91dea4 | 80 | {"switch", SimpleShell::switch_command}, |
7e81f138 JM |
81 | {"net", SimpleShell::net_command}, |
82 | {"load", SimpleShell::load_command}, | |
83 | {"save", SimpleShell::save_command}, | |
6d877d9b | 84 | {"remount", SimpleShell::remount_command}, |
1f8dab1a | 85 | {"calc_thermistor", SimpleShell::calc_thermistor_command}, |
4c8f5447 | 86 | {"thermistors", SimpleShell::print_thermistors_command}, |
d55d551b | 87 | {"md5sum", SimpleShell::md5sum_command}, |
518b5c4c | 88 | {"test", SimpleShell::test_command}, |
be7f67cd | 89 | |
9e403697 | 90 | // unknown command |
7e81f138 | 91 | {NULL, NULL} |
9e403697 | 92 | }; |
ecc610a4 | 93 | |
6d877d9b | 94 | int SimpleShell::reset_delay_secs = 0; |
7e81f138 | 95 | |
ecc610a4 | 96 | // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556 |
0c683b26 | 97 | static uint32_t heapWalk(StreamOutput *stream, bool verbose) |
ecc610a4 JM |
98 | { |
99 | uint32_t chunkNumber = 1; | |
100 | // The __end__ linker symbol points to the beginning of the heap. | |
101 | uint32_t chunkCurr = (uint32_t)&__end__; | |
102 | // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks. | |
103 | uint32_t freeCurr = __malloc_free_list; | |
104 | // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap. | |
105 | uint32_t heapEnd = _sbrk(0); | |
106 | // accumulate totals | |
9e403697 JM |
107 | uint32_t freeSize = 0; |
108 | uint32_t usedSize = 0; | |
ecc610a4 JM |
109 | |
110 | stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr); | |
111 | ||
112 | // Walk through the chunks until we hit the end of the heap. | |
9e403697 | 113 | while (chunkCurr < heapEnd) { |
ecc610a4 JM |
114 | // Assume the chunk is in use. Will update later. |
115 | int isChunkFree = 0; | |
116 | // The first 32-bit word in a chunk is the size of the allocation. newlib-nano over allocates by 8 bytes. | |
117 | // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer. | |
9e403697 | 118 | uint32_t chunkSize = *(uint32_t *)chunkCurr; |
ecc610a4 JM |
119 | // The start of the next chunk is right after the end of this one. |
120 | uint32_t chunkNext = chunkCurr + chunkSize; | |
121 | ||
122 | // The free list is sorted by address. | |
123 | // Check to see if we have found the next free chunk in the heap. | |
9e403697 | 124 | if (chunkCurr == freeCurr) { |
ecc610a4 JM |
125 | // Chunk is free so flag it as such. |
126 | isChunkFree = 1; | |
127 | // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address). | |
9e403697 | 128 | freeCurr = *(uint32_t *)(freeCurr + 4); |
ecc610a4 JM |
129 | } |
130 | ||
131 | // Skip past the 32-bit size field in the chunk header. | |
132 | chunkCurr += 4; | |
133 | // 8-byte align the data pointer. | |
134 | chunkCurr = (chunkCurr + 7) & ~7; | |
135 | // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8 | |
136 | // byte-alignment of the returned pointer. | |
137 | chunkSize -= 8; | |
9e403697 | 138 | if (verbose) |
ecc610a4 JM |
139 | stream->printf(" Chunk: %lu Address: 0x%08lX Size: %lu %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : ""); |
140 | ||
9e403697 | 141 | if (isChunkFree) freeSize += chunkSize; |
ecc610a4 JM |
142 | else usedSize += chunkSize; |
143 | ||
144 | chunkCurr = chunkNext; | |
145 | chunkNumber++; | |
146 | } | |
147 | stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize); | |
0c683b26 | 148 | return freeSize; |
ecc610a4 JM |
149 | } |
150 | ||
151 | ||
9e403697 JM |
152 | void SimpleShell::on_module_loaded() |
153 | { | |
0325af12 | 154 | this->register_for_event(ON_CONSOLE_LINE_RECEIVED); |
48afc62a | 155 | this->register_for_event(ON_GCODE_RECEIVED); |
156 | this->register_for_event(ON_SECOND_TICK); | |
c4e56997 | 157 | |
7e81f138 | 158 | reset_delay_secs = 0; |
ead17727 JM |
159 | } |
160 | ||
9e403697 JM |
161 | void SimpleShell::on_second_tick(void *) |
162 | { | |
ead17727 | 163 | // we are timing out for the reset |
7e81f138 JM |
164 | if (reset_delay_secs > 0) { |
165 | if (--reset_delay_secs == 0) { | |
ead17727 JM |
166 | system_reset(false); |
167 | } | |
168 | } | |
0325af12 AW |
169 | } |
170 | ||
9e403697 JM |
171 | void SimpleShell::on_gcode_received(void *argument) |
172 | { | |
173 | Gcode *gcode = static_cast<Gcode *>(argument); | |
6d877d9b | 174 | string args = get_arguments(gcode->get_command()); |
c4e56997 JM |
175 | |
176 | if (gcode->has_m) { | |
177 | if (gcode->m == 20) { // list sd card | |
c4e56997 JM |
178 | gcode->stream->printf("Begin file list\r\n"); |
179 | ls_command("/sd", gcode->stream); | |
180 | gcode->stream->printf("End file list\r\n"); | |
d4ee6ee2 JM |
181 | |
182 | } else if (gcode->m == 30) { // remove file | |
01a8d21a JM |
183 | if(!args.empty() && !THEKERNEL->is_grbl_mode()) |
184 | rm_command("/sd/" + args, gcode->stream); | |
3a238fdc | 185 | } |
c4e56997 JM |
186 | } |
187 | } | |
188 | ||
7e81f138 | 189 | bool SimpleShell::parse_command(const char *cmd, string args, StreamOutput *stream) |
9e403697 | 190 | { |
7e81f138 JM |
191 | for (const ptentry_t *p = commands_table; p->command != NULL; ++p) { |
192 | if (strncasecmp(cmd, p->command, strlen(p->command)) == 0) { | |
193 | p->func(args, stream); | |
9e403697 JM |
194 | return true; |
195 | } | |
196 | } | |
197 | ||
198 | return false; | |
199 | } | |
200 | ||
0325af12 | 201 | // When a new line is received, check if it is a command, and if it is, act upon it |
9e403697 JM |
202 | void SimpleShell::on_console_line_received( void *argument ) |
203 | { | |
204 | SerialMessage new_message = *static_cast<SerialMessage *>(argument); | |
6c0193b3 | 205 | string possible_command = new_message.message; |
7f613782 | 206 | |
6c0193b3 JM |
207 | // ignore anything that is not lowercase or a $ as it is not a command |
208 | if(possible_command.size() == 0 || (!islower(possible_command[0]) && possible_command[0] != '$')) { | |
209 | return; | |
210 | } | |
7f613782 | 211 | |
6c0193b3 JM |
212 | // it is a grbl compatible command |
213 | if(possible_command[0] == '$' && possible_command.size() >= 2) { | |
214 | switch(possible_command[1]) { | |
215 | case 'G': | |
216 | // issue get state | |
217 | get_command("state", new_message.stream); | |
543c4b6d | 218 | new_message.stream->printf("ok\n"); |
6c0193b3 JM |
219 | break; |
220 | ||
221 | case 'X': | |
b9ad75de JM |
222 | if(THEKERNEL->is_halted()) { |
223 | THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt | |
224 | new_message.stream->printf("[Caution: Unlocked]\nok\n"); | |
225 | } | |
6c0193b3 JM |
226 | break; |
227 | ||
228 | case '#': | |
229 | grblDP_command("", new_message.stream); | |
543c4b6d | 230 | new_message.stream->printf("ok\n"); |
6c0193b3 JM |
231 | break; |
232 | ||
233 | case 'H': | |
6ab94cbd | 234 | if(THEKERNEL->is_halted()) THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt |
07186543 | 235 | if(THEKERNEL->is_grbl_mode()) { |
8ad60a4c | 236 | // issue G28.2 which is force homing cycle |
53ece53b | 237 | Gcode gcode("G28.2", new_message.stream); |
6c0193b3 | 238 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode); |
07186543 | 239 | }else{ |
9869200b JM |
240 | Gcode gcode("G28", new_message.stream); |
241 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode); | |
6c0193b3 | 242 | } |
7f44e9e1 | 243 | new_message.stream->printf("ok\n"); |
6c0193b3 | 244 | break; |
0325af12 | 245 | |
6c0193b3 | 246 | default: |
07186543 | 247 | new_message.stream->printf("error:Invalid statement\n"); |
6c0193b3 JM |
248 | break; |
249 | } | |
250 | ||
251 | }else{ | |
6187a020 | 252 | |
6c0193b3 JM |
253 | //new_message.stream->printf("Received %s\r\n", possible_command.c_str()); |
254 | string cmd = shift_parameter(possible_command); | |
255 | ||
3e54c9fc JM |
256 | // Configurator commands |
257 | if (cmd == "config-get"){ | |
258 | THEKERNEL->configurator->config_get_command( possible_command, new_message.stream ); | |
259 | ||
260 | } else if (cmd == "config-set"){ | |
261 | THEKERNEL->configurator->config_set_command( possible_command, new_message.stream ); | |
262 | ||
263 | } else if (cmd == "config-load"){ | |
264 | THEKERNEL->configurator->config_load_command( possible_command, new_message.stream ); | |
265 | ||
266 | } else if (cmd == "play" || cmd == "progress" || cmd == "abort" || cmd == "suspend" || cmd == "resume") { | |
01a8d21a | 267 | // these are handled by Player module |
93f20a8c | 268 | |
7ed2d732 JM |
269 | } else if (cmd == "fire") { |
270 | // these are handled by Laser module | |
271 | ||
93f20a8c JM |
272 | } else if (cmd == "ok") { |
273 | // probably an echo so reply ok | |
274 | new_message.stream->printf("ok\n"); | |
3e54c9fc JM |
275 | |
276 | }else if(!parse_command(cmd.c_str(), possible_command, new_message.stream)) { | |
42bbc035 | 277 | new_message.stream->printf("error:Unsupported command - %s\n", cmd.c_str()); |
6c0193b3 JM |
278 | } |
279 | } | |
0325af12 AW |
280 | } |
281 | ||
0325af12 AW |
282 | // Act upon an ls command |
283 | // Convert the first parameter into an absolute path, then list the files in that path | |
9e403697 JM |
284 | void SimpleShell::ls_command( string parameters, StreamOutput *stream ) |
285 | { | |
3579deea JM |
286 | string path, opts; |
287 | while(!parameters.empty()) { | |
6d877d9b | 288 | string s = shift_parameter( parameters ); |
3579deea JM |
289 | if(s.front() == '-') { |
290 | opts.append(s); | |
291 | } else { | |
6d877d9b JM |
292 | path = s; |
293 | if(!parameters.empty()) { | |
3579deea JM |
294 | path.append(" "); |
295 | path.append(parameters); | |
296 | } | |
297 | break; | |
298 | } | |
299 | } | |
b557a801 | 300 | |
6d877d9b | 301 | path = absolute_from_relative(path); |
3579deea | 302 | |
9e403697 JM |
303 | DIR *d; |
304 | struct dirent *p; | |
3579deea | 305 | d = opendir(path.c_str()); |
9e403697 JM |
306 | if (d != NULL) { |
307 | while ((p = readdir(d)) != NULL) { | |
3579deea | 308 | stream->printf("%s", lc(string(p->d_name)).c_str()); |
6d877d9b | 309 | if(p->d_isdir) { |
3579deea | 310 | stream->printf("/"); |
6d877d9b | 311 | } else if(opts.find("-s", 0, 2) != string::npos) { |
3579deea JM |
312 | stream->printf(" %d", p->d_fsize); |
313 | } | |
314 | stream->printf("\r\n"); | |
9e403697 | 315 | } |
ed7c5844 | 316 | closedir(d); |
0325af12 | 317 | } else { |
3579deea | 318 | stream->printf("Could not open directory %s\r\n", path.c_str()); |
0325af12 AW |
319 | } |
320 | } | |
321 | ||
3704585b | 322 | extern SDFAT mounter; |
323 | ||
324 | void SimpleShell::remount_command( string parameters, StreamOutput *stream ) | |
325 | { | |
326 | mounter.remount(); | |
48afc62a | 327 | stream->printf("remounted\r\n"); |
12fb447a | 328 | } |
3704585b | 329 | |
9e403697 JM |
330 | // Delete a file |
331 | void SimpleShell::rm_command( string parameters, StreamOutput *stream ) | |
332 | { | |
6d877d9b | 333 | const char *fn = absolute_from_relative(shift_parameter( parameters )).c_str(); |
9e403697 JM |
334 | int s = remove(fn); |
335 | if (s != 0) stream->printf("Could not delete %s \r\n", fn); | |
336 | } | |
337 | ||
6d877d9b JM |
338 | // Rename a file |
339 | void SimpleShell::mv_command( string parameters, StreamOutput *stream ) | |
340 | { | |
341 | string from = absolute_from_relative(shift_parameter( parameters )); | |
a940483b | 342 | string to = absolute_from_relative(shift_parameter(parameters)); |
6d877d9b JM |
343 | int s = rename(from.c_str(), to.c_str()); |
344 | if (s != 0) stream->printf("Could not rename %s to %s\r\n", from.c_str(), to.c_str()); | |
345 | else stream->printf("renamed %s to %s\r\n", from.c_str(), to.c_str()); | |
346 | } | |
347 | ||
04d608c4 MM |
348 | // Create a new directory |
349 | void SimpleShell::mkdir_command( string parameters, StreamOutput *stream ) | |
350 | { | |
351 | string path = absolute_from_relative(shift_parameter( parameters )); | |
352 | int result = mkdir(path.c_str(), 0); | |
353 | if (result != 0) stream->printf("could not create directory %s\r\n", path.c_str()); | |
354 | else stream->printf("created directory %s\r\n", path.c_str()); | |
355 | } | |
356 | ||
0325af12 | 357 | // Change current absolute path to provided path |
9e403697 JM |
358 | void SimpleShell::cd_command( string parameters, StreamOutput *stream ) |
359 | { | |
75f4581c | 360 | string folder = absolute_from_relative( parameters ); |
6bcd4886 | 361 | |
0325af12 | 362 | DIR *d; |
0325af12 | 363 | d = opendir(folder.c_str()); |
9e403697 | 364 | if (d == NULL) { |
58baeec1 | 365 | stream->printf("Could not open directory %s \r\n", folder.c_str() ); |
9e403697 | 366 | } else { |
75f4581c | 367 | THEKERNEL->current_path = folder; |
ed7c5844 | 368 | closedir(d); |
0325af12 AW |
369 | } |
370 | } | |
371 | ||
b7250484 | 372 | // Responds with the present working directory |
9e403697 JM |
373 | void SimpleShell::pwd_command( string parameters, StreamOutput *stream ) |
374 | { | |
75f4581c | 375 | stream->printf("%s\r\n", THEKERNEL->current_path.c_str()); |
b7250484 L |
376 | } |
377 | ||
0325af12 | 378 | // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output ) |
9e403697 JM |
379 | void SimpleShell::cat_command( string parameters, StreamOutput *stream ) |
380 | { | |
58baeec1 | 381 | // Get parameters ( filename and line limit ) |
75f4581c | 382 | string filename = absolute_from_relative(shift_parameter( parameters )); |
1f61f177 | 383 | string limit_parameter = shift_parameter( parameters ); |
0325af12 | 384 | int limit = -1; |
1f61f177 | 385 | int delay= 0; |
2ab3fca6 | 386 | bool send_eof= false; |
1f61f177 JM |
387 | if ( limit_parameter == "-d" ) { |
388 | string d= shift_parameter( parameters ); | |
9e403697 | 389 | char *e = NULL; |
1f61f177 | 390 | delay = strtol(d.c_str(), &e, 10); |
01e97c58 | 391 | if (e <= d.c_str()) { |
1f61f177 JM |
392 | delay = 0; |
393 | ||
01e97c58 JM |
394 | } else { |
395 | send_eof= true; // we need to terminate file send with an eof | |
396 | } | |
397 | ||
1f61f177 JM |
398 | }else if ( limit_parameter != "" ) { |
399 | char *e = NULL; | |
400 | limit = strtol(limit_parameter.c_str(), &e, 10); | |
401 | if (e <= limit_parameter.c_str()) | |
f7e6f459 MM |
402 | limit = -1; |
403 | } | |
58baeec1 | 404 | |
1f61f177 | 405 | // we have been asked to delay before cat, probably to allow time to issue upload command |
1aa3d42f | 406 | if(delay > 0) { |
be7f67cd | 407 | safe_delay_ms(delay*1000); |
1f61f177 JM |
408 | } |
409 | ||
58baeec1 | 410 | // Open file |
0325af12 | 411 | FILE *lp = fopen(filename.c_str(), "r"); |
9e403697 | 412 | if (lp == NULL) { |
58baeec1 MM |
413 | stream->printf("File not found: %s\r\n", filename.c_str()); |
414 | return; | |
9ed670c5 | 415 | } |
0325af12 AW |
416 | string buffer; |
417 | int c; | |
58baeec1 | 418 | int newlines = 0; |
6d877d9b | 419 | int linecnt = 0; |
0325af12 | 420 | // Print each line of the file |
9e403697 | 421 | while ((c = fgetc (lp)) != EOF) { |
58baeec1 | 422 | buffer.append((char *)&c, 1); |
2ab3fca6 JM |
423 | if ( c == '\n' || ++linecnt > 80) { |
424 | if(c == '\n') newlines++; | |
d728799b | 425 | stream->puts(buffer.c_str()); |
58baeec1 | 426 | buffer.clear(); |
6d877d9b | 427 | if(linecnt > 80) linecnt = 0; |
6757ce1a JM |
428 | // we need to kick things or they die |
429 | THEKERNEL->call_event(ON_IDLE); | |
68b7afb4 | 430 | } |
9e403697 JM |
431 | if ( newlines == limit ) { |
432 | break; | |
433 | } | |
58baeec1 | 434 | }; |
0325af12 | 435 | fclose(lp); |
2ab3fca6 JM |
436 | |
437 | if(send_eof) { | |
438 | stream->puts("\032"); // ^Z terminates the upload | |
439 | } | |
6d877d9b JM |
440 | } |
441 | ||
442 | void SimpleShell::upload_command( string parameters, StreamOutput *stream ) | |
443 | { | |
444 | // this needs to be a hack. it needs to read direct from serial and not allow on_main_loop run until done | |
445 | // NOTE this will block all operation until the upload is complete, so do not do while printing | |
7baa50df | 446 | if(!THECONVEYOR->is_idle()) { |
6d877d9b JM |
447 | stream->printf("upload not allowed while printing or busy\n"); |
448 | return; | |
449 | } | |
450 | ||
451 | // open file to upload to | |
452 | string upload_filename = absolute_from_relative( parameters ); | |
453 | FILE *fd = fopen(upload_filename.c_str(), "w"); | |
454 | if(fd != NULL) { | |
455 | stream->printf("uploading to file: %s, send control-D or control-Z to finish\r\n", upload_filename.c_str()); | |
456 | } else { | |
457 | stream->printf("failed to open file: %s.\r\n", upload_filename.c_str()); | |
458 | return; | |
459 | } | |
0325af12 | 460 | |
6d877d9b JM |
461 | int cnt = 0; |
462 | bool uploading = true; | |
463 | while(uploading) { | |
464 | if(!stream->ready()) { | |
465 | // we need to kick things or they die | |
466 | THEKERNEL->call_event(ON_IDLE); | |
467 | continue; | |
468 | } | |
469 | ||
470 | char c = stream->_getc(); | |
471 | if( c == 4 || c == 26) { // ctrl-D or ctrl-Z | |
472 | uploading = false; | |
473 | // close file | |
474 | fclose(fd); | |
475 | stream->printf("uploaded %d bytes\n", cnt); | |
476 | return; | |
477 | ||
478 | } else { | |
479 | // write character to file | |
480 | cnt++; | |
481 | if(fputc(c, fd) != c) { | |
482 | // error writing to file | |
483 | stream->printf("error writing to file. ignoring all characters until EOF\r\n"); | |
484 | fclose(fd); | |
485 | fd = NULL; | |
486 | uploading= false; | |
487 | ||
488 | } else { | |
489 | if ((cnt%400) == 0) { | |
490 | // HACK ALERT to get around fwrite corruption close and re open for append | |
491 | fclose(fd); | |
492 | fd = fopen(upload_filename.c_str(), "a"); | |
6757ce1a JM |
493 | // we need to kick things or they die |
494 | THEKERNEL->call_event(ON_IDLE); | |
6d877d9b JM |
495 | } |
496 | } | |
497 | } | |
498 | } | |
499 | // we got an error so ignore everything until EOF | |
500 | char c; | |
501 | do { | |
502 | if(stream->ready()) { | |
503 | c= stream->_getc(); | |
504 | }else{ | |
505 | THEKERNEL->call_event(ON_IDLE); | |
506 | c= 0; | |
507 | } | |
508 | } while(c != 4 && c != 26); | |
0325af12 AW |
509 | } |
510 | ||
618c9b0f JM |
511 | // loads the specified config-override file |
512 | void SimpleShell::load_command( string parameters, StreamOutput *stream ) | |
513 | { | |
514 | // Get parameters ( filename ) | |
75f4581c | 515 | string filename = absolute_from_relative(parameters); |
618c9b0f JM |
516 | if(filename == "/") { |
517 | filename = THEKERNEL->config_override_filename(); | |
518 | } | |
519 | ||
6d877d9b | 520 | FILE *fp = fopen(filename.c_str(), "r"); |
618c9b0f JM |
521 | if(fp != NULL) { |
522 | char buf[132]; | |
523 | stream->printf("Loading config override file: %s...\n", filename.c_str()); | |
524 | while(fgets(buf, sizeof buf, fp) != NULL) { | |
525 | stream->printf(" %s", buf); | |
526 | if(buf[0] == ';') continue; // skip the comments | |
c0b50fa8 JM |
527 | // NOTE only Gcodes and Mcodes can be in the config-override |
528 | Gcode *gcode = new Gcode(buf, &StreamOutput::NullStream); | |
529 | THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode); | |
530 | delete gcode; | |
531 | THEKERNEL->call_event(ON_IDLE); | |
618c9b0f JM |
532 | } |
533 | stream->printf("config override file executed\n"); | |
534 | fclose(fp); | |
535 | ||
6d877d9b | 536 | } else { |
618c9b0f JM |
537 | stream->printf("File not found: %s\n", filename.c_str()); |
538 | } | |
539 | } | |
540 | ||
541 | // saves the specified config-override file | |
542 | void SimpleShell::save_command( string parameters, StreamOutput *stream ) | |
543 | { | |
544 | // Get parameters ( filename ) | |
75f4581c | 545 | string filename = absolute_from_relative(parameters); |
618c9b0f JM |
546 | if(filename == "/") { |
547 | filename = THEKERNEL->config_override_filename(); | |
548 | } | |
549 | ||
be7f67cd | 550 | THECONVEYOR->wait_for_idle(); //just to be safe as it can take a while to run |
23eb804b | 551 | |
06afe68b JM |
552 | //remove(filename.c_str()); // seems to cause a hang every now and then |
553 | { | |
554 | FileStream fs(filename.c_str()); | |
555 | fs.printf("; DO NOT EDIT THIS FILE\n"); | |
556 | // this also will truncate the existing file instead of deleting it | |
557 | } | |
558 | ||
23eb804b | 559 | // stream that appends to file |
4fed9ba1 JM |
560 | AppendFileStream *gs = new AppendFileStream(filename.c_str()); |
561 | // if(!gs->is_open()) { | |
562 | // stream->printf("Unable to open File %s for write\n", filename.c_str()); | |
563 | // return; | |
564 | // } | |
618c9b0f | 565 | |
7acfedab | 566 | __disable_irq(); |
618c9b0f JM |
567 | // issue a M500 which will store values in the file stream |
568 | Gcode *gcode = new Gcode("M500", gs); | |
569 | THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode ); | |
570 | delete gs; | |
571 | delete gcode; | |
7acfedab | 572 | __enable_irq(); |
618c9b0f JM |
573 | |
574 | stream->printf("Settings Stored to %s\r\n", filename.c_str()); | |
575 | } | |
576 | ||
6187a020 | 577 | // show free memory |
9e403697 JM |
578 | void SimpleShell::mem_command( string parameters, StreamOutput *stream) |
579 | { | |
078f76e0 | 580 | bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos; |
9e403697 JM |
581 | unsigned long heap = (unsigned long)_sbrk(0); |
582 | unsigned long m = g_maximumHeapAddress - heap; | |
ecc610a4 JM |
583 | stream->printf("Unused Heap: %lu bytes\r\n", m); |
584 | ||
6d877d9b | 585 | uint32_t f = heapWalk(stream, verbose); |
0c683b26 | 586 | stream->printf("Total Free RAM: %lu bytes\r\n", m + f); |
a200fc31 | 587 | |
0c683b26 | 588 | stream->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0.free(), AHB1.free()); |
6d877d9b | 589 | if (verbose) { |
1803076a MM |
590 | AHB0.debug(stream); |
591 | AHB1.debug(stream); | |
592 | } | |
8a9f9313 | 593 | |
781dcb02 | 594 | stream->printf("Block size: %u bytes, Tickinfo size: %u bytes\n", sizeof(Block), sizeof(Block::tickinfo_t) * Block::n_actuators); |
6187a020 JM |
595 | } |
596 | ||
9e403697 JM |
597 | static uint32_t getDeviceType() |
598 | { | |
599 | #define IAP_LOCATION 0x1FFF1FF1 | |
01f35bcc JM |
600 | uint32_t command[1]; |
601 | uint32_t result[5]; | |
9e403697 | 602 | typedef void (*IAP)(uint32_t *, uint32_t *); |
01f35bcc JM |
603 | IAP iap = (IAP) IAP_LOCATION; |
604 | ||
605 | __disable_irq(); | |
606 | ||
607 | command[0] = 54; | |
608 | iap(command, result); | |
609 | ||
610 | __enable_irq(); | |
611 | ||
612 | return result[1]; | |
613 | } | |
614 | ||
d4ee6ee2 JM |
615 | // get network config |
616 | void SimpleShell::net_command( string parameters, StreamOutput *stream) | |
617 | { | |
618 | void *returned_data; | |
6d877d9b | 619 | bool ok = PublicData::get_value( network_checksum, get_ipconfig_checksum, &returned_data ); |
d4ee6ee2 | 620 | if(ok) { |
6d877d9b | 621 | char *str = (char *)returned_data; |
d4ee6ee2 JM |
622 | stream->printf("%s\r\n", str); |
623 | free(str); | |
624 | ||
6d877d9b | 625 | } else { |
d4ee6ee2 JM |
626 | stream->printf("No network detected\n"); |
627 | } | |
628 | } | |
629 | ||
582559c6 | 630 | // print out build version |
9e403697 JM |
631 | void SimpleShell::version_command( string parameters, StreamOutput *stream) |
632 | { | |
582559c6 | 633 | Version vers; |
9e403697 JM |
634 | uint32_t dev = getDeviceType(); |
635 | const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768"; | |
01f35bcc | 636 | 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 | 637 | #ifdef CNC |
37b7b898 | 638 | stream->printf(" CNC Build "); |
599cb4bd | 639 | #endif |
52d0c799 | 640 | #ifdef DISABLEMSD |
1189e9cd | 641 | stream->printf(" NOMSD Build\r\n"); |
52d0c799 | 642 | #endif |
37b7b898 | 643 | stream->printf("%d axis\n", MAX_ROBOT_ACTUATORS); |
582559c6 JM |
644 | } |
645 | ||
77983aa1 | 646 | // Reset the system |
9e403697 JM |
647 | void SimpleShell::reset_command( string parameters, StreamOutput *stream) |
648 | { | |
ead17727 | 649 | stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n"); |
7e81f138 | 650 | reset_delay_secs = 5; // reboot in 5 seconds |
2742fca9 JM |
651 | } |
652 | ||
653 | // go into dfu boot mode | |
9e403697 JM |
654 | void SimpleShell::dfu_command( string parameters, StreamOutput *stream) |
655 | { | |
ed7c5844 JM |
656 | stream->printf("Entering boot mode...\r\n"); |
657 | system_reset(true); | |
77983aa1 L |
658 | } |
659 | ||
0f0b1656 | 660 | // Break out into the MRI debugging system |
9e403697 JM |
661 | void SimpleShell::break_command( string parameters, StreamOutput *stream) |
662 | { | |
0f0b1656 L |
663 | stream->printf("Entering MRI debug mode...\r\n"); |
664 | __debugbreak(); | |
665 | } | |
666 | ||
40843ebc JM |
667 | static int get_active_tool() |
668 | { | |
335957f5 | 669 | void *returned_data; |
40843ebc JM |
670 | bool ok = PublicData::get_value(tool_manager_checksum, get_active_tool_checksum, &returned_data); |
671 | if (ok) { | |
335957f5 JM |
672 | int active_tool= *static_cast<int *>(returned_data); |
673 | return active_tool; | |
40843ebc JM |
674 | } else { |
675 | return 0; | |
676 | } | |
677 | } | |
678 | ||
6c0193b3 JM |
679 | void SimpleShell::grblDP_command( string parameters, StreamOutput *stream) |
680 | { | |
681 | /* | |
682 | [G54:95.000,40.000,-23.600] | |
683 | [G55:0.000,0.000,0.000] | |
684 | [G56:0.000,0.000,0.000] | |
685 | [G57:0.000,0.000,0.000] | |
686 | [G58:0.000,0.000,0.000] | |
687 | [G59:0.000,0.000,0.000] | |
688 | [G28:0.000,0.000,0.000] | |
689 | [G30:0.000,0.000,0.000] | |
690 | [G92:0.000,0.000,0.000] | |
691 | [TLO:0.000] | |
692 | [PRB:0.000,0.000,0.000:0] | |
693 | */ | |
078f76e0 JM |
694 | |
695 | bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos; | |
696 | ||
c8bac202 | 697 | std::vector<Robot::wcs_t> v= THEROBOT->get_wcs_state(); |
078f76e0 JM |
698 | if(verbose) { |
699 | char current_wcs= std::get<0>(v[0]); | |
700 | stream->printf("[current WCS: %s]\n", wcs2gcode(current_wcs).c_str()); | |
701 | } | |
702 | ||
6c0193b3 JM |
703 | int n= std::get<1>(v[0]); |
704 | for (int i = 1; i <= n; ++i) { | |
32bc8b54 | 705 | stream->printf("[%s:%1.4f,%1.4f,%1.4f]\n", wcs2gcode(i-1).c_str(), |
c8bac202 JM |
706 | THEROBOT->from_millimeters(std::get<0>(v[i])), |
707 | THEROBOT->from_millimeters(std::get<1>(v[i])), | |
708 | THEROBOT->from_millimeters(std::get<2>(v[i]))); | |
6c0193b3 JM |
709 | } |
710 | ||
9339253b JM |
711 | float *rd; |
712 | PublicData::get_value( endstops_checksum, saved_position_checksum, &rd ); | |
32bc8b54 | 713 | stream->printf("[G28:%1.4f,%1.4f,%1.4f]\n", |
c8bac202 JM |
714 | THEROBOT->from_millimeters(rd[0]), |
715 | THEROBOT->from_millimeters(rd[1]), | |
716 | THEROBOT->from_millimeters(rd[2])); | |
32bc8b54 | 717 | |
31c6c2c2 | 718 | stream->printf("[G30:%1.4f,%1.4f,%1.4f]\n", 0.0F, 0.0F, 0.0F); // not implemented |
9339253b | 719 | |
32bc8b54 | 720 | stream->printf("[G92:%1.4f,%1.4f,%1.4f]\n", |
c8bac202 JM |
721 | THEROBOT->from_millimeters(std::get<0>(v[n+1])), |
722 | THEROBOT->from_millimeters(std::get<1>(v[n+1])), | |
723 | THEROBOT->from_millimeters(std::get<2>(v[n+1]))); | |
32bc8b54 | 724 | |
078f76e0 | 725 | if(verbose) { |
32bc8b54 | 726 | stream->printf("[Tool Offset:%1.4f,%1.4f,%1.4f]\n", |
c8bac202 JM |
727 | THEROBOT->from_millimeters(std::get<0>(v[n+2])), |
728 | THEROBOT->from_millimeters(std::get<1>(v[n+2])), | |
729 | THEROBOT->from_millimeters(std::get<2>(v[n+2]))); | |
078f76e0 | 730 | }else{ |
c8bac202 | 731 | stream->printf("[TL0:%1.4f]\n", THEROBOT->from_millimeters(std::get<2>(v[n+2]))); |
078f76e0 | 732 | } |
6c0193b3 | 733 | |
4440e123 JM |
734 | // this is the last probe position, updated when a probe completes, also stores the number of steps moved after a homing cycle |
735 | float px, py, pz; | |
736 | uint8_t ps; | |
c8bac202 JM |
737 | std::tie(px, py, pz, ps) = THEROBOT->get_last_probe_position(); |
738 | 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 |
739 | } |
740 | ||
9e403697 JM |
741 | void SimpleShell::get_command( string parameters, StreamOutput *stream) |
742 | { | |
7e81f138 | 743 | string what = shift_parameter( parameters ); |
c4e56997 | 744 | |
7e81f138 | 745 | if (what == "temp") { |
3bfb2639 | 746 | struct pad_temperature temp; |
9e403697 | 747 | string type = shift_parameter( parameters ); |
56a6c8c1 JM |
748 | if(type.empty()) { |
749 | // scan all temperature controls | |
750 | std::vector<struct pad_temperature> controllers; | |
751 | bool ok = PublicData::get_value(temperature_control_checksum, poll_controls_checksum, &controllers); | |
752 | if (ok) { | |
753 | for (auto &c : controllers) { | |
754 | stream->printf("%s (%d) temp: %f/%f @%d\r\n", c.designator.c_str(), c.id, c.current_temperature, c.target_temperature, c.pwm); | |
755 | } | |
b55cfff1 | 756 | |
56a6c8c1 JM |
757 | } else { |
758 | stream->printf("no heaters found\r\n"); | |
759 | } | |
760 | ||
761 | }else{ | |
762 | bool ok = PublicData::get_value( temperature_control_checksum, current_temperature_checksum, get_checksum(type), &temp ); | |
763 | ||
764 | if (ok) { | |
765 | stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm); | |
766 | } else { | |
767 | stream->printf("%s is not a known temperature device\r\n", type.c_str()); | |
768 | } | |
b55cfff1 | 769 | } |
c4e56997 | 770 | |
70021ec9 | 771 | } else if (what == "fk" || what == "ik") { |
2577a122 | 772 | string p= shift_parameter( parameters ); |
70021ec9 | 773 | bool move= false; |
8ff7a960 | 774 | if(p == "-m") { |
70021ec9 JM |
775 | move= true; |
776 | p= shift_parameter( parameters ); | |
777 | } | |
778 | ||
779 | std::vector<float> v= parse_number_list(p.c_str()); | |
586cc733 JM |
780 | if(p.empty() || v.size() < 1) { |
781 | stream->printf("error:usage: get [fk|ik] [-m] x[,y,z]\n"); | |
70021ec9 JM |
782 | return; |
783 | } | |
2577a122 | 784 | |
70021ec9 | 785 | float x= v[0]; |
586cc733 JM |
786 | float y= (v.size() > 1) ? v[1] : x; |
787 | float z= (v.size() > 2) ? v[2] : y; | |
70021ec9 JM |
788 | |
789 | if(what == "fk") { | |
8ff7a960 | 790 | // do forward kinematics on the given actuator position and display the cartesian coordinates |
70021ec9 JM |
791 | ActuatorCoordinates apos{x, y, z}; |
792 | float pos[3]; | |
c8bac202 | 793 | THEROBOT->arm_solution->actuator_to_cartesian(apos, pos); |
1c658603 | 794 | stream->printf("cartesian= X %f, Y %f, Z %f\n", pos[0], pos[1], pos[2]); |
70021ec9 JM |
795 | x= pos[0]; |
796 | y= pos[1]; | |
797 | z= pos[2]; | |
8ff7a960 | 798 | |
70021ec9 | 799 | }else{ |
8ff7a960 | 800 | // do inverse kinematics on the given cartesian position and display the actuator coordinates |
70021ec9 JM |
801 | float pos[3]{x, y, z}; |
802 | ActuatorCoordinates apos; | |
c8bac202 | 803 | THEROBOT->arm_solution->cartesian_to_actuator(pos, apos); |
1c658603 | 804 | stream->printf("actuator= X %f, Y %f, Z %f\n", apos[0], apos[1], apos[2]); |
70021ec9 JM |
805 | } |
806 | ||
807 | if(move) { | |
8ff7a960 | 808 | // move to the calculated, or given, XYZ |
70021ec9 JM |
809 | char cmd[64]; |
810 | snprintf(cmd, sizeof(cmd), "G53 G0 X%f Y%f Z%f", x, y, z); | |
811 | struct SerialMessage message; | |
812 | message.message = cmd; | |
813 | message.stream = &(StreamOutput::NullStream); | |
814 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
be7f67cd | 815 | THECONVEYOR->wait_for_idle(); |
70021ec9 | 816 | } |
2577a122 JM |
817 | |
818 | } else if (what == "pos") { | |
12ce413f | 819 | // convenience to call all the various M114 variants, shows ABC axis where relevant |
cb6bfefa JM |
820 | std::string buf; |
821 | THEROBOT->print_position(0, buf); stream->printf("last %s\n", buf.c_str()); buf.clear(); | |
822 | THEROBOT->print_position(1, buf); stream->printf("realtime %s\n", buf.c_str()); buf.clear(); | |
823 | THEROBOT->print_position(2, buf); stream->printf("%s\n", buf.c_str()); buf.clear(); | |
824 | THEROBOT->print_position(3, buf); stream->printf("%s\n", buf.c_str()); buf.clear(); | |
825 | THEROBOT->print_position(4, buf); stream->printf("%s\n", buf.c_str()); buf.clear(); | |
826 | THEROBOT->print_position(5, buf); stream->printf("%s\n", buf.c_str()); buf.clear(); | |
34210908 JM |
827 | |
828 | } else if (what == "wcs") { | |
829 | // print the wcs state | |
078f76e0 | 830 | grblDP_command("-v", stream); |
40843ebc JM |
831 | |
832 | } else if (what == "state") { | |
6c0193b3 | 833 | // also $G |
40843ebc | 834 | // [G0 G54 G17 G21 G90 G94 M0 M5 M9 T0 F0.] |
73cc27d2 | 835 | stream->printf("[G%d %s G%d G%d G%d G94 M0 M5 M9 T%d F%1.4f S%1.4f]\n", |
40843ebc | 836 | THEKERNEL->gcode_dispatch->get_modal_command(), |
c8bac202 JM |
837 | wcs2gcode(THEROBOT->get_current_wcs()).c_str(), |
838 | THEROBOT->plane_axis_0 == X_AXIS && THEROBOT->plane_axis_1 == Y_AXIS && THEROBOT->plane_axis_2 == Z_AXIS ? 17 : | |
839 | THEROBOT->plane_axis_0 == X_AXIS && THEROBOT->plane_axis_1 == Z_AXIS && THEROBOT->plane_axis_2 == Y_AXIS ? 18 : | |
840 | THEROBOT->plane_axis_0 == Y_AXIS && THEROBOT->plane_axis_1 == Z_AXIS && THEROBOT->plane_axis_2 == X_AXIS ? 19 : 17, | |
841 | THEROBOT->inch_mode ? 20 : 21, | |
842 | THEROBOT->absolute_mode ? 90 : 91, | |
40843ebc | 843 | get_active_tool(), |
73cc27d2 JM |
844 | THEROBOT->from_millimeters(THEROBOT->get_feed_rate()), |
845 | THEROBOT->get_s_value()); | |
6c0193b3 | 846 | |
a9e8c04b JM |
847 | } else if (what == "status") { |
848 | // also ? on serial and usb | |
849 | stream->printf("%s\n", THEKERNEL->get_query_string().c_str()); | |
850 | ||
6c0193b3 | 851 | } else { |
07186543 | 852 | stream->printf("error:unknown option %s\n", what.c_str()); |
b55cfff1 | 853 | } |
8293d443 JM |
854 | } |
855 | ||
77047e76 | 856 | // used to test out the get public data events |
9e403697 JM |
857 | void SimpleShell::set_temp_command( string parameters, StreamOutput *stream) |
858 | { | |
859 | string type = shift_parameter( parameters ); | |
860 | string temp = shift_parameter( parameters ); | |
04211969 | 861 | float t = temp.empty() ? 0.0 : strtof(temp.c_str(), NULL); |
75e6428d | 862 | bool ok = PublicData::set_value( temperature_control_checksum, get_checksum(type), &t ); |
991d98cc | 863 | |
9e403697 | 864 | if (ok) { |
991d98cc | 865 | stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t); |
9e403697 | 866 | } else { |
991d98cc JM |
867 | stream->printf("%s is not a known temperature device\r\n", type.c_str()); |
868 | } | |
77047e76 JM |
869 | } |
870 | ||
4c8f5447 JM |
871 | void SimpleShell::print_thermistors_command( string parameters, StreamOutput *stream) |
872 | { | |
8b260c2c | 873 | #ifndef NO_TOOLS_TEMPERATURECONTROL |
4c8f5447 | 874 | Thermistor::print_predefined_thermistors(stream); |
8b260c2c | 875 | #endif |
4c8f5447 JM |
876 | } |
877 | ||
1f8dab1a JM |
878 | void SimpleShell::calc_thermistor_command( string parameters, StreamOutput *stream) |
879 | { | |
8b260c2c | 880 | #ifndef NO_TOOLS_TEMPERATURECONTROL |
bbb839c1 JM |
881 | string s = shift_parameter( parameters ); |
882 | int saveto= -1; | |
883 | // see if we have -sn as first argument | |
884 | if(s.find("-s", 0, 2) != string::npos) { | |
885 | // save the results to thermistor n | |
886 | saveto= strtol(s.substr(2).c_str(), nullptr, 10); | |
887 | }else{ | |
888 | parameters= s; | |
889 | } | |
890 | ||
1f8dab1a JM |
891 | std::vector<float> trl= parse_number_list(parameters.c_str()); |
892 | if(trl.size() == 6) { | |
893 | // calculate the coefficients | |
894 | float c1, c2, c3; | |
895 | std::tie(c1, c2, c3) = Thermistor::calculate_steinhart_hart_coefficients(trl[0], trl[1], trl[2], trl[3], trl[4], trl[5]); | |
896 | stream->printf("Steinhart Hart coefficients: I%1.18f J%1.18f K%1.18f\n", c1, c2, c3); | |
bbb839c1 JM |
897 | if(saveto == -1) { |
898 | stream->printf(" Paste the above in the M305 S0 command, then save with M500\n"); | |
899 | }else{ | |
900 | char buf[80]; | |
901 | int n = snprintf(buf, sizeof(buf), "M305 S%d I%1.18f J%1.18f K%1.18f", saveto, c1, c2, c3); | |
902 | string g(buf, n); | |
903 | Gcode gcode(g, &(StreamOutput::NullStream)); | |
904 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode ); | |
905 | stream->printf(" Setting Thermistor %d to those settings, save with M500\n", saveto); | |
906 | } | |
1f8dab1a JM |
907 | |
908 | }else{ | |
909 | // give help | |
910 | stream->printf("Usage: calc_thermistor T1,R1,T2,R2,T3,R3\n"); | |
911 | } | |
8b260c2c | 912 | #endif |
1f8dab1a JM |
913 | } |
914 | ||
ae91dea4 JM |
915 | // used to test out the get public data events for switch |
916 | void SimpleShell::switch_command( string parameters, StreamOutput *stream) | |
917 | { | |
918 | string type = shift_parameter( parameters ); | |
919 | string value = shift_parameter( parameters ); | |
6d877d9b | 920 | bool ok = false; |
ae91dea4 | 921 | if(value == "on" || value == "off") { |
6d877d9b | 922 | bool b = value == "on"; |
ae91dea4 | 923 | ok = PublicData::set_value( switch_checksum, get_checksum(type), state_checksum, &b ); |
6d877d9b | 924 | } else { |
ae91dea4 JM |
925 | float v = strtof(value.c_str(), NULL); |
926 | ok = PublicData::set_value( switch_checksum, get_checksum(type), value_checksum, &v ); | |
927 | } | |
928 | if (ok) { | |
929 | stream->printf("switch %s set to: %s\r\n", type.c_str(), value.c_str()); | |
930 | } else { | |
931 | stream->printf("%s is not a known switch device\r\n", type.c_str()); | |
932 | } | |
933 | } | |
934 | ||
d55d551b JM |
935 | void SimpleShell::md5sum_command( string parameters, StreamOutput *stream ) |
936 | { | |
937 | string filename = absolute_from_relative(parameters); | |
938 | ||
939 | // Open file | |
940 | FILE *lp = fopen(filename.c_str(), "r"); | |
941 | if (lp == NULL) { | |
942 | stream->printf("File not found: %s\r\n", filename.c_str()); | |
943 | return; | |
944 | } | |
945 | MD5 md5; | |
946 | uint8_t buf[64]; | |
947 | do { | |
948 | size_t n= fread(buf, 1, sizeof buf, lp); | |
949 | if(n > 0) md5.update(buf, n); | |
2a95b07e | 950 | THEKERNEL->call_event(ON_IDLE); |
d55d551b JM |
951 | } while(!feof(lp)); |
952 | ||
953 | stream->printf("%s %s\n", md5.finalize().hexdigest().c_str(), filename.c_str()); | |
954 | fclose(lp); | |
955 | } | |
956 | ||
518b5c4c JM |
957 | // runs several types of test on the mechanisms |
958 | void SimpleShell::test_command( string parameters, StreamOutput *stream) | |
959 | { | |
960 | string what = shift_parameter( parameters ); | |
961 | ||
962 | if (what == "jog") { | |
963 | // jogs back and forth usage: axis distance iterations [feedrate] | |
964 | string axis = shift_parameter( parameters ); | |
965 | string dist = shift_parameter( parameters ); | |
966 | string iters = shift_parameter( parameters ); | |
967 | string speed = shift_parameter( parameters ); | |
968 | if(axis.empty() || dist.empty() || iters.empty()) { | |
969 | stream->printf("error: Need axis distance iterations\n"); | |
970 | return; | |
971 | } | |
972 | float d= strtof(dist.c_str(), NULL); | |
c8bac202 | 973 | float f= speed.empty() ? THEROBOT->get_feed_rate() : strtof(speed.c_str(), NULL); |
518b5c4c JM |
974 | uint32_t n= strtol(iters.c_str(), NULL, 10); |
975 | ||
976 | bool toggle= false; | |
977 | for (uint32_t i = 0; i < n; ++i) { | |
978 | char cmd[64]; | |
a276de9c JM |
979 | snprintf(cmd, sizeof(cmd), "G91 G0 %c%f F%f G90", toupper(axis[0]), toggle ? -d : d, f); |
980 | stream->printf("%s\n", cmd); | |
518b5c4c JM |
981 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
982 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
a276de9c | 983 | if(THEKERNEL->is_halted()) break; |
518b5c4c JM |
984 | toggle= !toggle; |
985 | } | |
a276de9c | 986 | stream->printf("done\n"); |
518b5c4c JM |
987 | |
988 | }else if (what == "circle") { | |
fb4c9d09 | 989 | // draws a circle around origin. usage: radius iterations [feedrate] |
e0b7aa0e | 990 | string radius = shift_parameter( parameters ); |
e0b7aa0e JM |
991 | string iters = shift_parameter( parameters ); |
992 | string speed = shift_parameter( parameters ); | |
fb4c9d09 JM |
993 | if(radius.empty() || iters.empty()) { |
994 | stream->printf("error: Need radius iterations\n"); | |
e0b7aa0e JM |
995 | return; |
996 | } | |
997 | ||
998 | float r= strtof(radius.c_str(), NULL); | |
e0b7aa0e | 999 | uint32_t n= strtol(iters.c_str(), NULL, 10); |
c8bac202 | 1000 | float f= speed.empty() ? THEROBOT->get_feed_rate() : strtof(speed.c_str(), NULL); |
fb4c9d09 | 1001 | |
70057bbd | 1002 | THEROBOT->push_state(); |
ee602f65 | 1003 | char cmd[64]; |
ec3cac28 | 1004 | snprintf(cmd, sizeof(cmd), "G91 G0 X%f F%f G90", -r, f); |
fb4c9d09 | 1005 | stream->printf("%s\n", cmd); |
ee602f65 JM |
1006 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1007 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
e0b7aa0e JM |
1008 | |
1009 | for (uint32_t i = 0; i < n; ++i) { | |
a276de9c | 1010 | if(THEKERNEL->is_halted()) break; |
ec3cac28 | 1011 | snprintf(cmd, sizeof(cmd), "G2 I%f J0 F%f", r, f); |
fb4c9d09 JM |
1012 | stream->printf("%s\n", cmd); |
1013 | message.message= cmd; | |
1014 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
e0b7aa0e | 1015 | } |
ec3cac28 JM |
1016 | |
1017 | // leave it where it started | |
1018 | if(!THEKERNEL->is_halted()) { | |
1019 | snprintf(cmd, sizeof(cmd), "G91 G0 X%f F%f G90", r, f); | |
1020 | stream->printf("%s\n", cmd); | |
1021 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; | |
1022 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1023 | } | |
1024 | ||
5daa28cd | 1025 | THEROBOT->pop_state(); |
a276de9c | 1026 | stream->printf("done\n"); |
518b5c4c JM |
1027 | |
1028 | }else if (what == "square") { | |
1029 | // draws a square usage: size iterations [feedrate] | |
1030 | string size = shift_parameter( parameters ); | |
1031 | string iters = shift_parameter( parameters ); | |
1032 | string speed = shift_parameter( parameters ); | |
1033 | if(size.empty() || iters.empty()) { | |
1034 | stream->printf("error: Need size iterations\n"); | |
1035 | return; | |
1036 | } | |
1037 | float d= strtof(size.c_str(), NULL); | |
c8bac202 | 1038 | float f= speed.empty() ? THEROBOT->get_feed_rate() : strtof(speed.c_str(), NULL); |
518b5c4c JM |
1039 | uint32_t n= strtol(iters.c_str(), NULL, 10); |
1040 | ||
1041 | for (uint32_t i = 0; i < n; ++i) { | |
1042 | char cmd[64]; | |
1043 | { | |
1044 | snprintf(cmd, sizeof(cmd), "G91 G0 X%f F%f", d, f); | |
a276de9c | 1045 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1046 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1047 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1048 | } | |
1049 | { | |
e0b7aa0e | 1050 | snprintf(cmd, sizeof(cmd), "G0 Y%f", d); |
a276de9c | 1051 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1052 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1053 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1054 | } | |
1055 | { | |
e0b7aa0e | 1056 | snprintf(cmd, sizeof(cmd), "G0 X%f", -d); |
a276de9c | 1057 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1058 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1059 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1060 | } | |
1061 | { | |
e0b7aa0e | 1062 | snprintf(cmd, sizeof(cmd), "G0 Y%f G90", -d); |
a276de9c | 1063 | stream->printf("%s\n", cmd); |
518b5c4c JM |
1064 | struct SerialMessage message{&StreamOutput::NullStream, cmd}; |
1065 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
1066 | } | |
a276de9c | 1067 | if(THEKERNEL->is_halted()) break; |
5daa28cd | 1068 | } |
be7f67cd JM |
1069 | stream->printf("done\n"); |
1070 | ||
1071 | }else if (what == "raw") { | |
1072 | // issues raw steps to the specified axis usage: axis steps steps/sec | |
1073 | string axis = shift_parameter( parameters ); | |
1074 | string stepstr = shift_parameter( parameters ); | |
1075 | string stepspersec = shift_parameter( parameters ); | |
1076 | if(axis.empty() || stepstr.empty() || stepspersec.empty()) { | |
1077 | stream->printf("error: Need axis steps steps/sec\n"); | |
1078 | return; | |
1079 | } | |
1080 | ||
5da4221b JM |
1081 | char ax= toupper(axis[0]); |
1082 | uint8_t a= ax >= 'X' ? ax - 'X' : ax - 'A' + 3; | |
be7f67cd JM |
1083 | int steps= strtol(stepstr.c_str(), NULL, 10); |
1084 | bool dir= steps >= 0; | |
1085 | steps= std::abs(steps); | |
1086 | ||
5da4221b JM |
1087 | if(a > C_AXIS) { |
1088 | stream->printf("error: axis must be x, y, z, a, b, c\n"); | |
1089 | return; | |
1090 | } | |
1091 | ||
1092 | if(a >= THEROBOT->get_number_registered_motors()) { | |
1093 | stream->printf("error: axis is out of range\n"); | |
be7f67cd JM |
1094 | return; |
1095 | } | |
1096 | ||
1097 | uint32_t sps= strtol(stepspersec.c_str(), NULL, 10); | |
1098 | sps= std::max(sps, 1UL); | |
1099 | ||
1100 | uint32_t delayus= 1000000.0F / sps; | |
1101 | for(int s= 0;s<steps;s++) { | |
1102 | if(THEKERNEL->is_halted()) break; | |
1103 | THEROBOT->actuators[a]->manual_step(dir); | |
1104 | // delay but call on_idle | |
1105 | safe_delay_us(delayus); | |
518b5c4c | 1106 | } |
df675215 JM |
1107 | |
1108 | // reset the position based on current actuator position | |
1109 | THEROBOT->reset_position_from_current_actuator_position(); | |
1110 | ||
a276de9c | 1111 | stream->printf("done\n"); |
d55d551b | 1112 | |
a276de9c JM |
1113 | }else { |
1114 | stream->printf("usage:\n test jog axis distance iterations [feedrate]\n"); | |
1115 | stream->printf(" test square size iterations [feedrate]\n"); | |
fb4c9d09 | 1116 | stream->printf(" test circle radius iterations [feedrate]\n"); |
be7f67cd | 1117 | stream->printf(" test raw axis steps steps/sec\n"); |
518b5c4c JM |
1118 | } |
1119 | } | |
d55d551b | 1120 | |
9e403697 JM |
1121 | void SimpleShell::help_command( string parameters, StreamOutput *stream ) |
1122 | { | |
ed7c5844 | 1123 | stream->printf("Commands:\r\n"); |
582559c6 | 1124 | stream->printf("version\r\n"); |
ecc610a4 | 1125 | stream->printf("mem [-v]\r\n"); |
3579deea | 1126 | stream->printf("ls [-s] [folder]\r\n"); |
ed7c5844 | 1127 | stream->printf("cd folder\r\n"); |
c4e56997 | 1128 | stream->printf("pwd\r\n"); |
6c0193b3 | 1129 | stream->printf("cat file [limit] [-d 10]\r\n"); |
9e403697 | 1130 | stream->printf("rm file\r\n"); |
6d877d9b | 1131 | stream->printf("mv file newfile\r\n"); |
12fb447a | 1132 | stream->printf("remount\r\n"); |
4eb0e279 | 1133 | stream->printf("play file [-v]\r\n"); |
ed7c5844 JM |
1134 | stream->printf("progress - shows progress of current play\r\n"); |
1135 | stream->printf("abort - abort currently playing file\r\n"); | |
c4e56997 JM |
1136 | stream->printf("reset - reset smoothie\r\n"); |
1137 | stream->printf("dfu - enter dfu boot loader\r\n"); | |
1138 | stream->printf("break - break into debugger\r\n"); | |
ed7c5844 JM |
1139 | stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n"); |
1140 | stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n"); | |
a9e8c04b | 1141 | stream->printf("get [pos|wcs|state|status|fk|ik]\r\n"); |
5647f709 | 1142 | stream->printf("get temp [bed|hotend]\r\n"); |
991d98cc | 1143 | stream->printf("set_temp bed|hotend 185\r\n"); |
d4ee6ee2 | 1144 | stream->printf("net\r\n"); |
618c9b0f JM |
1145 | stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n"); |
1146 | stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n"); | |
bbb839c1 JM |
1147 | stream->printf("upload filename - saves a stream of text to the named file\r\n"); |
1148 | stream->printf("calc_thermistor [-s0] T1,R1,T2,R2,T3,R3 - calculate the Steinhart Hart coefficients for a thermistor\r\n"); | |
4c8f5447 | 1149 | stream->printf("thermistors - print out the predefined thermistors\r\n"); |
d55d551b | 1150 | stream->printf("md5sum file - prints md5 sum of the given file\r\n"); |
235a7435 JM |
1151 | } |
1152 |