src/modules/utils/simpleshell/SimpleShell.cpp

   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/Player.h"
  16
  17
  18 void SimpleShell::on_module_loaded(){
  19     this->current_path = "/";
  20     this->playing_file = false;
  21     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  22     this->register_for_event(ON_MAIN_LOOP);
  23 }
  24
  25 // When a new line is received, check if it is a command, and if it is, act upon it
  26 void SimpleShell::on_console_line_received( void* argument ){
  27     SerialMessage new_message = *static_cast<SerialMessage*>(argument);
  28     string possible_command = new_message.message;
  29
  30     //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
  31
  32     // We don't compare to a string but to a checksum of that string, this saves some space in flash memory
  33     unsigned short check_sum = get_checksum( possible_command.substr(0,possible_command.find_first_of(" \r\n")) );  // todo: put this method somewhere more convenient
  34
  35     // Act depending on command
  36     if (check_sum == ls_command_checksum)
  37         this->ls_command(  get_arguments(possible_command), new_message.stream );
  38     else if (check_sum == cd_command_checksum)
  39         this->cd_command(  get_arguments(possible_command), new_message.stream );
  40     else if (check_sum == pwd_command_checksum)
  41         this->pwd_command( get_arguments(possible_command), new_message.stream );
  42     else if (check_sum == cat_command_checksum)
  43         this->cat_command( get_arguments(possible_command), new_message.stream );
  44     else if (check_sum == play_command_checksum)
  45         this->play_command(get_arguments(possible_command), new_message.stream );
  46     else if (check_sum == reset_command_checksum)
  47         this->reset_command(get_arguments(possible_command),new_message.stream );
  48     else if (check_sum == dfu_command_checksum)
  49         this->reset_command(get_arguments(possible_command),new_message.stream );
  50 }
  51
  52 // Convert a path indication ( absolute or relative ) into a path ( absolute )
  53 string SimpleShell::absolute_from_relative( string path ){
  54     if( path[0] == '/' ){ return path; }
  55     if( path[0] == '.' ){ return this->current_path; }
  56     return this->current_path + path;
  57 }
  58
  59 // Act upon an ls command
  60 // Convert the first parameter into an absolute path, then list the files in that path
  61 void SimpleShell::ls_command( string parameters, StreamOutput* stream ){
  62     string folder = this->absolute_from_relative( parameters );
  63     DIR* d;
  64     struct dirent* p;
  65     d = opendir(folder.c_str());
  66     if(d != NULL) {
  67                 while((p = readdir(d)) != NULL) { stream->printf("%s\r\n", lc(string(p->d_name)).c_str()); }
  68                 closedir(d);
  69     } else {
  70         stream->printf("Could not open directory %s \r\n", folder.c_str());
  71     }
  72 }
  73
  74 // Change current absolute path to provided path
  75 void SimpleShell::cd_command( string parameters, StreamOutput* stream ){
  76     string folder = this->absolute_from_relative( parameters );
  77     if( folder[folder.length()-1] != '/' ){ folder += "/"; }
  78     DIR *d;
  79     d = opendir(folder.c_str());
  80     if(d == NULL) {
  81         stream->printf("Could not open directory %s \r\n", folder.c_str() );
  82     }else{
  83                 this->current_path = folder;
  84                 closedir(d);
  85     }
  86 }
  87
  88 // Responds with the present working directory
  89 void SimpleShell::pwd_command( string parameters, StreamOutput* stream ){
  90     stream->printf("%s\r\n", this->current_path.c_str());
  91 }
  92
  93 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
  94 void SimpleShell::cat_command( string parameters, StreamOutput* stream ){
  95
  96     // Get parameters ( filename and line limit )
  97     string filename          = this->absolute_from_relative(shift_parameter( parameters ));
  98     string limit_paramater   = shift_parameter( parameters );
  99     int limit = -1;
 100     if( limit_paramater != "" )
 101     {
 102         char* e = NULL;
 103         limit = strtol(limit_paramater.c_str(), &e, 10);
 104         if (e <= limit_paramater.c_str())
 105             limit = -1;
 106     }
 107
 108     // Open file
 109     FILE *lp = fopen(filename.c_str(), "r");
 110     if(lp == NULL) {
 111         stream->printf("File not found: %s\r\n", filename.c_str());
 112         return;
 113     }
 114     string buffer;
 115     int c;
 116     int newlines = 0;
 117
 118     // Print each line of the file
 119     while ((c = fgetc (lp)) != EOF){
 120         buffer.append((char *)&c, 1);
 121         if( char(c) == '\n' ){
 122             newlines++;
 123             stream->puts(buffer.c_str());
 124             buffer.clear();
 125         }
 126         if( newlines == limit ){ break; }
 127     };
 128     fclose(lp);
 129
 130 }
 131
 132 // Play a gcode file by considering each line as if it was received on the serial console
 133 void SimpleShell::play_command( string parameters, StreamOutput* stream ){
 134
 135     // Get filename
 136     string filename          = this->absolute_from_relative(shift_parameter( parameters ));
 137     stream->printf("Playing %s\r\n", filename.c_str());
 138     string options           = shift_parameter( parameters );
 139
 140     this->current_file_handler = fopen( filename.c_str(), "r");
 141     if(this->current_file_handler == NULL)
 142     {
 143         stream->printf("File not found: %s\r\n", filename.c_str());
 144         return;
 145     }
 146     this->playing_file = true;
 147     if( options.find_first_of("Qq") == string::npos ){
 148         this->current_stream = stream;
 149     }else{
 150         this->current_stream = kernel->streams;
 151     }
 152 }
 153
 154 // Reset the system
 155 void SimpleShell::reset_command( string parameters, StreamOutput* stream){
 156     stream->printf("Smoothie out. Peace.\r\n");
 157     system_reset();
 158 }
 159
 160 void SimpleShell::on_main_loop(void* argument){
 161
 162     if( this->playing_file ){
 163         string buffer;
 164         int c;
 165         buffer.reserve(20);
 166         // Print each line of the file
 167         while ((c = fgetc(this->current_file_handler)) != EOF){
 168             if (c == '\n'){
 169                 this->current_stream->printf("%s\n", buffer.c_str());
 170                 struct SerialMessage message;
 171                 message.message = buffer;
 172                 message.stream = this->current_stream;
 173                 // wait for the queue to have enough room that a serial message could still be received before sending
 174                 this->kernel->player->wait_for_queue(2);
 175                 this->kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
 176                 buffer.clear();
 177                 return;
 178             }else{
 179                 buffer += c;
 180             }
 181         };
 182
 183         fclose(this->current_file_handler);
 184         this->playing_file = false;
 185     }
 186 }