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/>.
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"
19 void SimpleShell::on_module_loaded(){
20 this->current_path
= "/";
21 this->playing_file
= false;
22 this->register_for_event(ON_CONSOLE_LINE_RECEIVED
);
23 this->register_for_event(ON_MAIN_LOOP
);
26 // When a new line is received, check if it is a command, and if it is, act upon it
27 void SimpleShell::on_console_line_received( void* argument
){
28 SerialMessage new_message
= *static_cast<SerialMessage
*>(argument
);
29 string possible_command
= new_message
.message
;
31 //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
33 // We don't compare to a string but to a checksum of that string, this saves some space in flash memory
34 unsigned short check_sum
= get_checksum( possible_command
.substr(0,possible_command
.find_first_of(" \r\n")) ); // todo: put this method somewhere more convenient
36 // Act depending on command
37 if (check_sum
== ls_command_checksum
)
38 this->ls_command( get_arguments(possible_command
), new_message
.stream
);
39 else if (check_sum
== cd_command_checksum
)
40 this->cd_command( get_arguments(possible_command
), new_message
.stream
);
41 else if (check_sum
== pwd_command_checksum
)
42 this->pwd_command( get_arguments(possible_command
), new_message
.stream
);
43 else if (check_sum
== cat_command_checksum
)
44 this->cat_command( get_arguments(possible_command
), new_message
.stream
);
45 else if (check_sum
== play_command_checksum
)
46 this->play_command(get_arguments(possible_command
), new_message
.stream
);
47 else if (check_sum
== break_command_checksum
)
48 this->break_command(get_arguments(possible_command
),new_message
.stream
);
49 else if (check_sum
== reset_command_checksum
)
50 this->reset_command(get_arguments(possible_command
),new_message
.stream
);
51 else if (check_sum
== dfu_command_checksum
)
52 this->reset_command(get_arguments(possible_command
),new_message
.stream
);
53 else if (check_sum
== help_command_checksum
)
54 this->help_command(get_arguments(possible_command
),new_message
.stream
);
55 else if (check_sum
== progress_command_checksum
)
56 this->progress_command(get_arguments(possible_command
),new_message
.stream
);
57 else if (check_sum
== abort_command_checksum
)
58 this->abort_command(get_arguments(possible_command
),new_message
.stream
);
61 // Convert a path indication ( absolute or relative ) into a path ( absolute )
62 string
SimpleShell::absolute_from_relative( string path
){
63 if( path
[0] == '/' ){ return path
; }
64 if( path
[0] == '.' ){ return this->current_path
; }
65 return this->current_path
+ path
;
68 // Act upon an ls command
69 // Convert the first parameter into an absolute path, then list the files in that path
70 void SimpleShell::ls_command( string parameters
, StreamOutput
* stream
){
71 string folder
= this->absolute_from_relative( parameters
);
74 d
= opendir(folder
.c_str());
76 while((p
= readdir(d
)) != NULL
) { stream
->printf("%s\r\n", lc(string(p
->d_name
)).c_str()); }
79 stream
->printf("Could not open directory %s \r\n", folder
.c_str());
83 // Change current absolute path to provided path
84 void SimpleShell::cd_command( string parameters
, StreamOutput
* stream
){
85 string folder
= this->absolute_from_relative( parameters
);
86 if( folder
[folder
.length()-1] != '/' ){ folder
+= "/"; }
88 d
= opendir(folder
.c_str());
90 stream
->printf("Could not open directory %s \r\n", folder
.c_str() );
92 this->current_path
= folder
;
97 // Responds with the present working directory
98 void SimpleShell::pwd_command( string parameters
, StreamOutput
* stream
){
99 stream
->printf("%s\r\n", this->current_path
.c_str());
102 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
103 void SimpleShell::cat_command( string parameters
, StreamOutput
* stream
){
105 // Get parameters ( filename and line limit )
106 string filename
= this->absolute_from_relative(shift_parameter( parameters
));
107 string limit_paramater
= shift_parameter( parameters
);
109 if( limit_paramater
!= "" )
112 limit
= strtol(limit_paramater
.c_str(), &e
, 10);
113 if (e
<= limit_paramater
.c_str())
118 FILE *lp
= fopen(filename
.c_str(), "r");
120 stream
->printf("File not found: %s\r\n", filename
.c_str());
127 // Print each line of the file
128 while ((c
= fgetc (lp
)) != EOF
){
129 buffer
.append((char *)&c
, 1);
130 if( char(c
) == '\n' ){
132 stream
->puts(buffer
.c_str());
135 if( newlines
== limit
){ break; }
141 // Play a gcode file by considering each line as if it was received on the serial console
142 void SimpleShell::play_command( string parameters
, StreamOutput
* stream
){
145 string filename
= this->absolute_from_relative(shift_parameter( parameters
));
146 stream
->printf("Playing %s\r\n", filename
.c_str());
147 string options
= shift_parameter( parameters
);
149 this->current_file_handler
= fopen( filename
.c_str(), "r");
150 if(this->current_file_handler
== NULL
)
152 stream
->printf("File not found: %s\r\n", filename
.c_str());
155 this->playing_file
= true;
156 if( options
.find_first_of("Qq") == string::npos
){
157 this->current_stream
= stream
;
159 this->current_stream
= kernel
->streams
;
163 int result
= fseek(this->current_file_handler
, 0, SEEK_END
);
165 stream
->printf("WARNING - Could not get file size\r\n");
168 file_size
= ftell(this->current_file_handler
);
169 fseek(this->current_file_handler
, 0, SEEK_SET
);
170 stream
->printf(" File size %ld\r\n", file_size
);
175 void SimpleShell::progress_command( string parameters
, StreamOutput
* stream
){
177 stream
->printf("Not currently playing\r\n");
182 int pcnt
= (file_size
- (file_size
- played_cnt
)) * 100 / file_size
;
183 stream
->printf("%d %% complete\r\n", pcnt
);
185 stream
->printf("File size is unknown\r\n");
189 void SimpleShell::abort_command( string parameters
, StreamOutput
* stream
){
191 stream
->printf("Not currently playing\r\n");
194 playing_file
= false;
197 fclose(current_file_handler
);
198 stream
->printf("Aborted playing file\r\n");
202 void SimpleShell::reset_command( string parameters
, StreamOutput
* stream
){
203 stream
->printf("Smoothie out. Peace.\r\n");
207 // Break out into the MRI debugging system
208 void SimpleShell::break_command( string parameters
, StreamOutput
* stream
){
209 stream
->printf("Entering MRI debug mode...\r\n");
213 void SimpleShell::help_command( string parameters
, StreamOutput
* stream
){
214 stream
->printf("Commands:\r\n");
215 stream
->printf("ls [folder]\r\n");
216 stream
->printf("cd folder\r\n");
217 stream
->printf("pwd\r\n");
218 stream
->printf("cat file [limit]\r\n");
219 stream
->printf("play file [-q]\r\n");
220 stream
->printf("progress\r\n");
221 stream
->printf("abort\r\n");
222 stream
->printf("reset\r\n");
223 stream
->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
224 stream
->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
225 stream
->printf("config-load [<file_name>]\r\n");
228 void SimpleShell::on_main_loop(void* argument
){
230 if( this->playing_file
){
234 // Print each line of the file
235 while ((c
= fgetc(this->current_file_handler
)) != EOF
){
237 this->current_stream
->printf("%s\n", buffer
.c_str());
238 struct SerialMessage message
;
239 message
.message
= buffer
;
240 message
.stream
= this->current_stream
;
241 // wait for the queue to have enough room that a serial message could still be received before sending
242 this->kernel
->player
->wait_for_queue(2);
243 this->kernel
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
244 played_cnt
+= buffer
.size();
251 this->playing_file
= false;
254 fclose(this->current_file_handler
);