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 AW |
9 | #include "libs/Kernel.h" |
10 | #include "SimpleShell.h" | |
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" |
618c9b0f | 20 | #include "FileStream.h" |
0325af12 | 21 | |
47339e4a | 22 | #include "modules/tools/temperaturecontrol/TemperatureControlPublicAccess.h" |
5647f709 | 23 | #include "modules/robot/RobotPublicAccess.h" |
d4ee6ee2 | 24 | #include "NetworkPublicAccess.h" |
a200fc31 | 25 | #include "platform_memory.h" |
47339e4a | 26 | |
6187a020 JM |
27 | extern unsigned int g_maximumHeapAddress; |
28 | ||
ecc610a4 JM |
29 | #include <malloc.h> |
30 | #include <mri.h> | |
31 | #include <stdio.h> | |
32 | #include <stdint.h> | |
33 | ||
34 | extern "C" uint32_t __end__; | |
35 | extern "C" uint32_t __malloc_free_list; | |
36 | extern "C" uint32_t _sbrk(int size); | |
37 | ||
9e403697 JM |
38 | #define get_temp_command_checksum CHECKSUM("temp") |
39 | #define get_pos_command_checksum CHECKSUM("pos") | |
40 | ||
41 | // command lookup table | |
42 | SimpleShell::ptentry_t SimpleShell::commands_table[] = { | |
43 | {CHECKSUM("ls"), &SimpleShell::ls_command}, | |
44 | {CHECKSUM("cd"), &SimpleShell::cd_command}, | |
45 | {CHECKSUM("pwd"), &SimpleShell::pwd_command}, | |
46 | {CHECKSUM("cat"), &SimpleShell::cat_command}, | |
47 | {CHECKSUM("rm"), &SimpleShell::rm_command}, | |
48 | {CHECKSUM("reset"), &SimpleShell::reset_command}, | |
49 | {CHECKSUM("dfu"), &SimpleShell::dfu_command}, | |
50 | {CHECKSUM("break"), &SimpleShell::break_command}, | |
51 | {CHECKSUM("help"), &SimpleShell::help_command}, | |
d4ee6ee2 | 52 | {CHECKSUM("?"), &SimpleShell::help_command}, |
9e403697 JM |
53 | {CHECKSUM("version"), &SimpleShell::version_command}, |
54 | {CHECKSUM("mem"), &SimpleShell::mem_command}, | |
55 | {CHECKSUM("get"), &SimpleShell::get_command}, | |
56 | {CHECKSUM("set_temp"), &SimpleShell::set_temp_command}, | |
d4ee6ee2 | 57 | {CHECKSUM("net"), &SimpleShell::net_command}, |
618c9b0f JM |
58 | {CHECKSUM("load"), &SimpleShell::load_command}, |
59 | {CHECKSUM("save"), &SimpleShell::save_command}, | |
9e403697 JM |
60 | |
61 | // unknown command | |
62 | {0, NULL} | |
63 | }; | |
ecc610a4 JM |
64 | |
65 | // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556 | |
0c683b26 | 66 | static uint32_t heapWalk(StreamOutput *stream, bool verbose) |
ecc610a4 JM |
67 | { |
68 | uint32_t chunkNumber = 1; | |
69 | // The __end__ linker symbol points to the beginning of the heap. | |
70 | uint32_t chunkCurr = (uint32_t)&__end__; | |
71 | // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks. | |
72 | uint32_t freeCurr = __malloc_free_list; | |
73 | // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap. | |
74 | uint32_t heapEnd = _sbrk(0); | |
75 | // accumulate totals | |
9e403697 JM |
76 | uint32_t freeSize = 0; |
77 | uint32_t usedSize = 0; | |
ecc610a4 JM |
78 | |
79 | stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr); | |
80 | ||
81 | // Walk through the chunks until we hit the end of the heap. | |
9e403697 | 82 | while (chunkCurr < heapEnd) { |
ecc610a4 JM |
83 | // Assume the chunk is in use. Will update later. |
84 | int isChunkFree = 0; | |
85 | // The first 32-bit word in a chunk is the size of the allocation. newlib-nano over allocates by 8 bytes. | |
86 | // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer. | |
9e403697 | 87 | uint32_t chunkSize = *(uint32_t *)chunkCurr; |
ecc610a4 JM |
88 | // The start of the next chunk is right after the end of this one. |
89 | uint32_t chunkNext = chunkCurr + chunkSize; | |
90 | ||
91 | // The free list is sorted by address. | |
92 | // Check to see if we have found the next free chunk in the heap. | |
9e403697 | 93 | if (chunkCurr == freeCurr) { |
ecc610a4 JM |
94 | // Chunk is free so flag it as such. |
95 | isChunkFree = 1; | |
96 | // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address). | |
9e403697 | 97 | freeCurr = *(uint32_t *)(freeCurr + 4); |
ecc610a4 JM |
98 | } |
99 | ||
100 | // Skip past the 32-bit size field in the chunk header. | |
101 | chunkCurr += 4; | |
102 | // 8-byte align the data pointer. | |
103 | chunkCurr = (chunkCurr + 7) & ~7; | |
104 | // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8 | |
105 | // byte-alignment of the returned pointer. | |
106 | chunkSize -= 8; | |
9e403697 | 107 | if (verbose) |
ecc610a4 JM |
108 | stream->printf(" Chunk: %lu Address: 0x%08lX Size: %lu %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : ""); |
109 | ||
9e403697 | 110 | if (isChunkFree) freeSize += chunkSize; |
ecc610a4 JM |
111 | else usedSize += chunkSize; |
112 | ||
113 | chunkCurr = chunkNext; | |
114 | chunkNumber++; | |
115 | } | |
116 | stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize); | |
0c683b26 | 117 | return freeSize; |
ecc610a4 JM |
118 | } |
119 | ||
120 | ||
9e403697 JM |
121 | void SimpleShell::on_module_loaded() |
122 | { | |
0325af12 AW |
123 | this->current_path = "/"; |
124 | this->register_for_event(ON_CONSOLE_LINE_RECEIVED); | |
d4ee6ee2 JM |
125 | this->register_for_event(ON_GCODE_RECEIVED); |
126 | this->register_for_event(ON_SECOND_TICK); | |
c4e56997 | 127 | |
d4ee6ee2 | 128 | this->reset_delay_secs = 0; |
ead17727 JM |
129 | } |
130 | ||
9e403697 JM |
131 | void SimpleShell::on_second_tick(void *) |
132 | { | |
ead17727 | 133 | // we are timing out for the reset |
5895ead3 | 134 | if (this->reset_delay_secs > 0) { |
9e403697 | 135 | if (--this->reset_delay_secs == 0) { |
ead17727 JM |
136 | system_reset(false); |
137 | } | |
138 | } | |
0325af12 AW |
139 | } |
140 | ||
9e403697 JM |
141 | void SimpleShell::on_gcode_received(void *argument) |
142 | { | |
143 | Gcode *gcode = static_cast<Gcode *>(argument); | |
3a238fdc | 144 | string args= get_arguments(gcode->command); |
c4e56997 JM |
145 | |
146 | if (gcode->has_m) { | |
147 | if (gcode->m == 20) { // list sd card | |
148 | gcode->mark_as_taken(); | |
149 | gcode->stream->printf("Begin file list\r\n"); | |
150 | ls_command("/sd", gcode->stream); | |
151 | gcode->stream->printf("End file list\r\n"); | |
d4ee6ee2 JM |
152 | |
153 | } else if (gcode->m == 30) { // remove file | |
3a238fdc CG |
154 | gcode->mark_as_taken(); |
155 | rm_command("/sd/" + args, gcode->stream); | |
618c9b0f JM |
156 | |
157 | }else if(gcode->m == 501) { // load config override | |
158 | gcode->mark_as_taken(); | |
159 | if(args.empty()) { | |
160 | load_command("/sd/config-override", gcode->stream); | |
161 | }else{ | |
162 | load_command("/sd/config-override." + args, gcode->stream); | |
163 | } | |
164 | ||
165 | }else if(gcode->m == 504) { // save to specific config override file | |
166 | gcode->mark_as_taken(); | |
167 | if(args.empty()) { | |
168 | save_command("/sd/config-override", gcode->stream); | |
169 | }else{ | |
170 | save_command("/sd/config-override." + args, gcode->stream); | |
171 | } | |
3a238fdc | 172 | } |
c4e56997 JM |
173 | } |
174 | } | |
175 | ||
9e403697 JM |
176 | bool SimpleShell::parse_command(unsigned short cs, string args, StreamOutput *stream) |
177 | { | |
178 | for (ptentry_t *p = commands_table; p->pfunc != NULL; ++p) { | |
179 | if (cs == p->command_cs) { | |
180 | PFUNC fnc= p->pfunc; | |
181 | (this->*fnc)(args, stream); | |
182 | return true; | |
183 | } | |
184 | } | |
185 | ||
186 | return false; | |
187 | } | |
188 | ||
0325af12 | 189 | // When a new line is received, check if it is a command, and if it is, act upon it |
9e403697 JM |
190 | void SimpleShell::on_console_line_received( void *argument ) |
191 | { | |
192 | SerialMessage new_message = *static_cast<SerialMessage *>(argument); | |
7f613782 JM |
193 | |
194 | // ignore comments | |
9e403697 | 195 | if (new_message.message[0] == ';') return; |
7f613782 | 196 | |
b6c86164 | 197 | string possible_command = new_message.message; |
0325af12 | 198 | |
3add9a23 AW |
199 | //new_message.stream->printf("Received %s\r\n", possible_command.c_str()); |
200 | ||
9e403697 | 201 | unsigned short check_sum = get_checksum( possible_command.substr(0, possible_command.find_first_of(" \r\n")) ); // todo: put this method somewhere more convenient |
6187a020 | 202 | |
9e403697 JM |
203 | // find command and execute it |
204 | parse_command(check_sum, get_arguments(possible_command), new_message.stream); | |
0325af12 AW |
205 | } |
206 | ||
0325af12 | 207 | // Convert a path indication ( absolute or relative ) into a path ( absolute ) |
9e403697 JM |
208 | string SimpleShell::absolute_from_relative( string path ) |
209 | { | |
6bcd4886 | 210 | string cwd = this->current_path; |
211 | ||
212 | if ( path.empty() ) { | |
213 | return this->current_path; | |
214 | } | |
215 | ||
216 | if ( path[0] == '/' ) { | |
9e403697 JM |
217 | return path; |
218 | } | |
6bcd4886 | 219 | |
220 | string match = "../" ; | |
221 | while ( path.substr(0,3) == match ) { | |
222 | path = path.substr(3); | |
223 | unsigned found = cwd.find_last_of("/"); | |
224 | cwd = cwd.substr(0,found); | |
9e403697 | 225 | } |
6bcd4886 | 226 | |
227 | match = ".." ; | |
228 | if ( path.substr(0,2) == match ) { | |
229 | path = path.substr(2); | |
230 | unsigned found = cwd.find_last_of("/"); | |
231 | cwd = cwd.substr(0,found); | |
232 | } | |
233 | ||
234 | if ( cwd[cwd.length() - 1] == '/' ) { | |
235 | return cwd + path; | |
236 | } | |
237 | ||
238 | return cwd + '/' + path; | |
0325af12 AW |
239 | } |
240 | ||
241 | // Act upon an ls command | |
242 | // Convert the first parameter into an absolute path, then list the files in that path | |
9e403697 JM |
243 | void SimpleShell::ls_command( string parameters, StreamOutput *stream ) |
244 | { | |
0325af12 | 245 | string folder = this->absolute_from_relative( parameters ); |
9e403697 JM |
246 | DIR *d; |
247 | struct dirent *p; | |
0325af12 | 248 | d = opendir(folder.c_str()); |
9e403697 JM |
249 | if (d != NULL) { |
250 | while ((p = readdir(d)) != NULL) { | |
251 | stream->printf("%s\r\n", lc(string(p->d_name)).c_str()); | |
252 | } | |
ed7c5844 | 253 | closedir(d); |
0325af12 | 254 | } else { |
b6c86164 | 255 | stream->printf("Could not open directory %s \r\n", folder.c_str()); |
0325af12 AW |
256 | } |
257 | } | |
258 | ||
9e403697 JM |
259 | // Delete a file |
260 | void SimpleShell::rm_command( string parameters, StreamOutput *stream ) | |
261 | { | |
262 | const char *fn= this->absolute_from_relative(shift_parameter( parameters )).c_str(); | |
263 | int s = remove(fn); | |
264 | if (s != 0) stream->printf("Could not delete %s \r\n", fn); | |
265 | } | |
266 | ||
0325af12 | 267 | // Change current absolute path to provided path |
9e403697 JM |
268 | void SimpleShell::cd_command( string parameters, StreamOutput *stream ) |
269 | { | |
0325af12 | 270 | string folder = this->absolute_from_relative( parameters ); |
6bcd4886 | 271 | |
0325af12 | 272 | DIR *d; |
0325af12 | 273 | d = opendir(folder.c_str()); |
9e403697 | 274 | if (d == NULL) { |
58baeec1 | 275 | stream->printf("Could not open directory %s \r\n", folder.c_str() ); |
9e403697 | 276 | } else { |
ed7c5844 JM |
277 | this->current_path = folder; |
278 | closedir(d); | |
0325af12 AW |
279 | } |
280 | } | |
281 | ||
b7250484 | 282 | // Responds with the present working directory |
9e403697 JM |
283 | void SimpleShell::pwd_command( string parameters, StreamOutput *stream ) |
284 | { | |
b7250484 L |
285 | stream->printf("%s\r\n", this->current_path.c_str()); |
286 | } | |
287 | ||
0325af12 | 288 | // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output ) |
9e403697 JM |
289 | void SimpleShell::cat_command( string parameters, StreamOutput *stream ) |
290 | { | |
58baeec1 | 291 | // Get parameters ( filename and line limit ) |
0325af12 AW |
292 | string filename = this->absolute_from_relative(shift_parameter( parameters )); |
293 | string limit_paramater = shift_parameter( parameters ); | |
294 | int limit = -1; | |
9e403697 JM |
295 | if ( limit_paramater != "" ) { |
296 | char *e = NULL; | |
f7e6f459 MM |
297 | limit = strtol(limit_paramater.c_str(), &e, 10); |
298 | if (e <= limit_paramater.c_str()) | |
299 | limit = -1; | |
300 | } | |
58baeec1 MM |
301 | |
302 | // Open file | |
0325af12 | 303 | FILE *lp = fopen(filename.c_str(), "r"); |
9e403697 | 304 | if (lp == NULL) { |
58baeec1 MM |
305 | stream->printf("File not found: %s\r\n", filename.c_str()); |
306 | return; | |
9ed670c5 | 307 | } |
0325af12 AW |
308 | string buffer; |
309 | int c; | |
58baeec1 | 310 | int newlines = 0; |
dfb15d68 | 311 | int linecnt= 0; |
0325af12 | 312 | // Print each line of the file |
9e403697 | 313 | while ((c = fgetc (lp)) != EOF) { |
58baeec1 | 314 | buffer.append((char *)&c, 1); |
dfb15d68 | 315 | if ( char(c) == '\n' || ++linecnt > 80) { |
58baeec1 | 316 | newlines++; |
d728799b | 317 | stream->puts(buffer.c_str()); |
58baeec1 | 318 | buffer.clear(); |
dfb15d68 | 319 | if(linecnt > 80) linecnt= 0; |
68b7afb4 | 320 | } |
9e403697 JM |
321 | if ( newlines == limit ) { |
322 | break; | |
323 | } | |
58baeec1 | 324 | }; |
0325af12 AW |
325 | fclose(lp); |
326 | ||
327 | } | |
328 | ||
618c9b0f JM |
329 | // loads the specified config-override file |
330 | void SimpleShell::load_command( string parameters, StreamOutput *stream ) | |
331 | { | |
332 | // Get parameters ( filename ) | |
333 | string filename = this->absolute_from_relative(parameters); | |
334 | if(filename == "/") { | |
335 | filename = THEKERNEL->config_override_filename(); | |
336 | } | |
337 | ||
338 | FILE *fp= fopen(filename.c_str(), "r"); | |
339 | if(fp != NULL) { | |
340 | char buf[132]; | |
341 | stream->printf("Loading config override file: %s...\n", filename.c_str()); | |
342 | while(fgets(buf, sizeof buf, fp) != NULL) { | |
343 | stream->printf(" %s", buf); | |
344 | if(buf[0] == ';') continue; // skip the comments | |
345 | struct SerialMessage message= {&(StreamOutput::NullStream), buf}; | |
346 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message); | |
347 | } | |
348 | stream->printf("config override file executed\n"); | |
349 | fclose(fp); | |
350 | ||
351 | }else{ | |
352 | stream->printf("File not found: %s\n", filename.c_str()); | |
353 | } | |
354 | } | |
355 | ||
356 | // saves the specified config-override file | |
357 | void SimpleShell::save_command( string parameters, StreamOutput *stream ) | |
358 | { | |
359 | // Get parameters ( filename ) | |
360 | string filename = this->absolute_from_relative(parameters); | |
361 | if(filename == "/") { | |
362 | filename = THEKERNEL->config_override_filename(); | |
363 | } | |
364 | ||
365 | // replace stream with one that writes to config-override file | |
366 | FileStream *gs = new FileStream(filename.c_str()); | |
367 | if(!gs->is_open()) { | |
368 | stream->printf("Unable to open File %s for write\n", filename.c_str()); | |
369 | return; | |
370 | } | |
371 | ||
372 | // issue a M500 which will store values in the file stream | |
373 | Gcode *gcode = new Gcode("M500", gs); | |
374 | THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode ); | |
375 | delete gs; | |
376 | delete gcode; | |
377 | ||
378 | stream->printf("Settings Stored to %s\r\n", filename.c_str()); | |
379 | } | |
380 | ||
6187a020 | 381 | // show free memory |
9e403697 JM |
382 | void SimpleShell::mem_command( string parameters, StreamOutput *stream) |
383 | { | |
384 | bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos ; | |
385 | unsigned long heap = (unsigned long)_sbrk(0); | |
386 | unsigned long m = g_maximumHeapAddress - heap; | |
ecc610a4 JM |
387 | stream->printf("Unused Heap: %lu bytes\r\n", m); |
388 | ||
0c683b26 JM |
389 | uint32_t f= heapWalk(stream, verbose); |
390 | stream->printf("Total Free RAM: %lu bytes\r\n", m + f); | |
a200fc31 | 391 | |
0c683b26 | 392 | stream->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0.free(), AHB1.free()); |
1803076a MM |
393 | if (verbose) |
394 | { | |
395 | AHB0.debug(stream); | |
396 | AHB1.debug(stream); | |
397 | } | |
6187a020 JM |
398 | } |
399 | ||
9e403697 JM |
400 | static uint32_t getDeviceType() |
401 | { | |
402 | #define IAP_LOCATION 0x1FFF1FF1 | |
01f35bcc JM |
403 | uint32_t command[1]; |
404 | uint32_t result[5]; | |
9e403697 | 405 | typedef void (*IAP)(uint32_t *, uint32_t *); |
01f35bcc JM |
406 | IAP iap = (IAP) IAP_LOCATION; |
407 | ||
408 | __disable_irq(); | |
409 | ||
410 | command[0] = 54; | |
411 | iap(command, result); | |
412 | ||
413 | __enable_irq(); | |
414 | ||
415 | return result[1]; | |
416 | } | |
417 | ||
d4ee6ee2 JM |
418 | // get network config |
419 | void SimpleShell::net_command( string parameters, StreamOutput *stream) | |
420 | { | |
421 | void *returned_data; | |
422 | bool ok= THEKERNEL->public_data->get_value( network_checksum, get_ipconfig_checksum, &returned_data ); | |
423 | if(ok) { | |
424 | char *str= (char *)returned_data; | |
425 | stream->printf("%s\r\n", str); | |
426 | free(str); | |
427 | ||
428 | }else{ | |
429 | stream->printf("No network detected\n"); | |
430 | } | |
431 | } | |
432 | ||
582559c6 | 433 | // print out build version |
9e403697 JM |
434 | void SimpleShell::version_command( string parameters, StreamOutput *stream) |
435 | { | |
582559c6 | 436 | Version vers; |
9e403697 JM |
437 | uint32_t dev = getDeviceType(); |
438 | const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768"; | |
01f35bcc | 439 | 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 |
440 | } |
441 | ||
77983aa1 | 442 | // Reset the system |
9e403697 JM |
443 | void SimpleShell::reset_command( string parameters, StreamOutput *stream) |
444 | { | |
ead17727 | 445 | stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n"); |
9e403697 | 446 | this->reset_delay_secs = 5; // reboot in 5 seconds |
2742fca9 JM |
447 | } |
448 | ||
449 | // go into dfu boot mode | |
9e403697 JM |
450 | void SimpleShell::dfu_command( string parameters, StreamOutput *stream) |
451 | { | |
ed7c5844 JM |
452 | stream->printf("Entering boot mode...\r\n"); |
453 | system_reset(true); | |
77983aa1 L |
454 | } |
455 | ||
0f0b1656 | 456 | // Break out into the MRI debugging system |
9e403697 JM |
457 | void SimpleShell::break_command( string parameters, StreamOutput *stream) |
458 | { | |
0f0b1656 L |
459 | stream->printf("Entering MRI debug mode...\r\n"); |
460 | __debugbreak(); | |
461 | } | |
462 | ||
8293d443 | 463 | // used to test out the get public data events |
9e403697 JM |
464 | void SimpleShell::get_command( string parameters, StreamOutput *stream) |
465 | { | |
466 | int what = get_checksum(shift_parameter( parameters )); | |
b55cfff1 | 467 | void *returned_data; |
c4e56997 | 468 | |
9e403697 JM |
469 | if (what == get_temp_command_checksum) { |
470 | string type = shift_parameter( parameters ); | |
314ab8f7 | 471 | bool ok = THEKERNEL->public_data->get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data ); |
b55cfff1 | 472 | |
9e403697 JM |
473 | if (ok) { |
474 | struct pad_temperature temp = *static_cast<struct pad_temperature *>(returned_data); | |
b55cfff1 | 475 | stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm); |
9e403697 | 476 | } else { |
b55cfff1 JM |
477 | stream->printf("%s is not a known temperature device\r\n", type.c_str()); |
478 | } | |
c4e56997 | 479 | |
9e403697 | 480 | } else if (what == get_pos_command_checksum) { |
314ab8f7 | 481 | bool ok = THEKERNEL->public_data->get_value( robot_checksum, current_position_checksum, &returned_data ); |
b55cfff1 | 482 | |
9e403697 | 483 | if (ok) { |
1ad23cd3 | 484 | float *pos = static_cast<float *>(returned_data); |
b55cfff1 | 485 | stream->printf("Position X: %f, Y: %f, Z: %f\r\n", pos[0], pos[1], pos[2]); |
c4e56997 | 486 | |
9e403697 | 487 | } else { |
b55cfff1 JM |
488 | stream->printf("get pos command failed\r\n"); |
489 | } | |
490 | } | |
8293d443 JM |
491 | } |
492 | ||
77047e76 | 493 | // used to test out the get public data events |
9e403697 JM |
494 | void SimpleShell::set_temp_command( string parameters, StreamOutput *stream) |
495 | { | |
496 | string type = shift_parameter( parameters ); | |
497 | string temp = shift_parameter( parameters ); | |
04211969 | 498 | float t = temp.empty() ? 0.0 : strtof(temp.c_str(), NULL); |
314ab8f7 | 499 | bool ok = THEKERNEL->public_data->set_value( temperature_control_checksum, get_checksum(type), &t ); |
991d98cc | 500 | |
9e403697 | 501 | if (ok) { |
991d98cc | 502 | stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t); |
9e403697 | 503 | } else { |
991d98cc JM |
504 | stream->printf("%s is not a known temperature device\r\n", type.c_str()); |
505 | } | |
77047e76 JM |
506 | } |
507 | ||
9e403697 JM |
508 | void SimpleShell::help_command( string parameters, StreamOutput *stream ) |
509 | { | |
ed7c5844 | 510 | stream->printf("Commands:\r\n"); |
582559c6 | 511 | stream->printf("version\r\n"); |
ecc610a4 | 512 | stream->printf("mem [-v]\r\n"); |
ed7c5844 JM |
513 | stream->printf("ls [folder]\r\n"); |
514 | stream->printf("cd folder\r\n"); | |
c4e56997 | 515 | stream->printf("pwd\r\n"); |
ed7c5844 | 516 | stream->printf("cat file [limit]\r\n"); |
9e403697 | 517 | stream->printf("rm file\r\n"); |
4eb0e279 | 518 | stream->printf("play file [-v]\r\n"); |
ed7c5844 JM |
519 | stream->printf("progress - shows progress of current play\r\n"); |
520 | stream->printf("abort - abort currently playing file\r\n"); | |
c4e56997 JM |
521 | stream->printf("reset - reset smoothie\r\n"); |
522 | stream->printf("dfu - enter dfu boot loader\r\n"); | |
523 | stream->printf("break - break into debugger\r\n"); | |
ed7c5844 JM |
524 | stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n"); |
525 | stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n"); | |
526 | stream->printf("config-load [<file_name>]\r\n"); | |
5647f709 | 527 | stream->printf("get temp [bed|hotend]\r\n"); |
991d98cc | 528 | stream->printf("set_temp bed|hotend 185\r\n"); |
b55cfff1 | 529 | stream->printf("get pos\r\n"); |
d4ee6ee2 | 530 | stream->printf("net\r\n"); |
618c9b0f JM |
531 | stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n"); |
532 | stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n"); | |
235a7435 JM |
533 | } |
534 |