| 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/>. |
| 6 | */ |
| 7 | |
| 8 | |
| 9 | #include "libs/Kernel.h" |
| 10 | #include "SimpleShell.h" |
| 11 | #include "libs/nuts_bolts.h" |
| 12 | #include "libs/utils.h" |
| 13 | #include "libs/SerialMessage.h" |
| 14 | #include "libs/StreamOutput.h" |
| 15 | #include "modules/robot/Conveyor.h" |
| 16 | #include "mri.h" |
| 17 | |
| 18 | |
| 19 | void SimpleShell::on_module_loaded(){ |
| 20 | this->current_path = "/"; |
| 21 | this->register_for_event(ON_CONSOLE_LINE_RECEIVED); |
| 22 | } |
| 23 | |
| 24 | // When a new line is received, check if it is a command, and if it is, act upon it |
| 25 | void SimpleShell::on_console_line_received( void* argument ){ |
| 26 | SerialMessage new_message = *static_cast<SerialMessage*>(argument); |
| 27 | string possible_command = new_message.message; |
| 28 | |
| 29 | //new_message.stream->printf("Received %s\r\n", possible_command.c_str()); |
| 30 | |
| 31 | // We don't compare to a string but to a checksum of that string, this saves some space in flash memory |
| 32 | unsigned short check_sum = get_checksum( possible_command.substr(0,possible_command.find_first_of(" \r\n")) ); // todo: put this method somewhere more convenient |
| 33 | |
| 34 | // Act depending on command |
| 35 | if (check_sum == ls_command_checksum) |
| 36 | this->ls_command( get_arguments(possible_command), new_message.stream ); |
| 37 | else if (check_sum == cd_command_checksum) |
| 38 | this->cd_command( get_arguments(possible_command), new_message.stream ); |
| 39 | else if (check_sum == pwd_command_checksum) |
| 40 | this->pwd_command( get_arguments(possible_command), new_message.stream ); |
| 41 | else if (check_sum == cat_command_checksum) |
| 42 | this->cat_command( get_arguments(possible_command), new_message.stream ); |
| 43 | else if (check_sum == break_command_checksum) |
| 44 | this->break_command(get_arguments(possible_command),new_message.stream ); |
| 45 | else if (check_sum == reset_command_checksum) |
| 46 | this->reset_command(get_arguments(possible_command),new_message.stream ); |
| 47 | else if (check_sum == dfu_command_checksum) |
| 48 | this->reset_command(get_arguments(possible_command),new_message.stream ); |
| 49 | else if (check_sum == help_command_checksum) |
| 50 | this->help_command(get_arguments(possible_command),new_message.stream ); |
| 51 | } |
| 52 | |
| 53 | // Convert a path indication ( absolute or relative ) into a path ( absolute ) |
| 54 | string SimpleShell::absolute_from_relative( string path ){ |
| 55 | if( path[0] == '/' ){ return path; } |
| 56 | if( path[0] == '.' ){ return this->current_path; } |
| 57 | return this->current_path + path; |
| 58 | } |
| 59 | |
| 60 | // Act upon an ls command |
| 61 | // Convert the first parameter into an absolute path, then list the files in that path |
| 62 | void SimpleShell::ls_command( string parameters, StreamOutput* stream ){ |
| 63 | string folder = this->absolute_from_relative( parameters ); |
| 64 | DIR* d; |
| 65 | struct dirent* p; |
| 66 | d = opendir(folder.c_str()); |
| 67 | if(d != NULL) { |
| 68 | while((p = readdir(d)) != NULL) { stream->printf("%s\r\n", lc(string(p->d_name)).c_str()); } |
| 69 | closedir(d); |
| 70 | } else { |
| 71 | stream->printf("Could not open directory %s \r\n", folder.c_str()); |
| 72 | } |
| 73 | } |
| 74 | |
| 75 | // Change current absolute path to provided path |
| 76 | void SimpleShell::cd_command( string parameters, StreamOutput* stream ){ |
| 77 | string folder = this->absolute_from_relative( parameters ); |
| 78 | if( folder[folder.length()-1] != '/' ){ folder += "/"; } |
| 79 | DIR *d; |
| 80 | d = opendir(folder.c_str()); |
| 81 | if(d == NULL) { |
| 82 | stream->printf("Could not open directory %s \r\n", folder.c_str() ); |
| 83 | }else{ |
| 84 | this->current_path = folder; |
| 85 | closedir(d); |
| 86 | } |
| 87 | } |
| 88 | |
| 89 | // Responds with the present working directory |
| 90 | void SimpleShell::pwd_command( string parameters, StreamOutput* stream ){ |
| 91 | stream->printf("%s\r\n", this->current_path.c_str()); |
| 92 | } |
| 93 | |
| 94 | // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output ) |
| 95 | void SimpleShell::cat_command( string parameters, StreamOutput* stream ){ |
| 96 | |
| 97 | // Get parameters ( filename and line limit ) |
| 98 | string filename = this->absolute_from_relative(shift_parameter( parameters )); |
| 99 | string limit_paramater = shift_parameter( parameters ); |
| 100 | int limit = -1; |
| 101 | if( limit_paramater != "" ) |
| 102 | { |
| 103 | char* e = NULL; |
| 104 | limit = strtol(limit_paramater.c_str(), &e, 10); |
| 105 | if (e <= limit_paramater.c_str()) |
| 106 | limit = -1; |
| 107 | } |
| 108 | |
| 109 | // Open file |
| 110 | FILE *lp = fopen(filename.c_str(), "r"); |
| 111 | if(lp == NULL) { |
| 112 | stream->printf("File not found: %s\r\n", filename.c_str()); |
| 113 | return; |
| 114 | } |
| 115 | string buffer; |
| 116 | int c; |
| 117 | int newlines = 0; |
| 118 | |
| 119 | // Print each line of the file |
| 120 | while ((c = fgetc (lp)) != EOF){ |
| 121 | buffer.append((char *)&c, 1); |
| 122 | if( char(c) == '\n' ){ |
| 123 | newlines++; |
| 124 | stream->puts(buffer.c_str()); |
| 125 | buffer.clear(); |
| 126 | } |
| 127 | if( newlines == limit ){ break; } |
| 128 | }; |
| 129 | fclose(lp); |
| 130 | |
| 131 | } |
| 132 | |
| 133 | // Reset the system |
| 134 | void SimpleShell::reset_command( string parameters, StreamOutput* stream){ |
| 135 | stream->printf("Smoothie out. Peace.\r\n"); |
| 136 | system_reset(); |
| 137 | } |
| 138 | |
| 139 | // Break out into the MRI debugging system |
| 140 | void SimpleShell::break_command( string parameters, StreamOutput* stream){ |
| 141 | stream->printf("Entering MRI debug mode...\r\n"); |
| 142 | __debugbreak(); |
| 143 | } |
| 144 | |
| 145 | void SimpleShell::help_command( string parameters, StreamOutput* stream ){ |
| 146 | stream->printf("Commands:\r\n"); |
| 147 | stream->printf("ls [folder]\r\n"); |
| 148 | stream->printf("cd folder\r\n"); |
| 149 | stream->printf("pwd\r\n"); |
| 150 | stream->printf("cat file [limit]\r\n"); |
| 151 | stream->printf("play file [-q]\r\n"); |
| 152 | stream->printf("progress\r\n"); |
| 153 | stream->printf("abort\r\n"); |
| 154 | stream->printf("reset\r\n"); |
| 155 | stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n"); |
| 156 | stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n"); |
| 157 | stream->printf("config-load [<file_name>]\r\n"); |
| 158 | } |
| 159 | |