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 "SimpleShell.h"
  10 #include "libs/Kernel.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 "DirHandle.h"
  17 #include "mri.h"
  18 #include "version.h"
  19 #include "PublicDataRequest.h"
  20 #include "FileStream.h"
  21 #include "checksumm.h"
  22 #include "PublicData.h"
  23 #include "Gcode.h"
  24
  25 #include "modules/tools/temperaturecontrol/TemperatureControlPublicAccess.h"
  26 #include "modules/robot/RobotPublicAccess.h"
  27 #include "modules/robot/Pauser.h"
  28 #include "NetworkPublicAccess.h"
  29 #include "platform_memory.h"
  30
  31 #include "system_LPC17xx.h"
  32 #include "LPC17xx.h"
  33
  34 extern unsigned int g_maximumHeapAddress;
  35
  36 #include <malloc.h>
  37 #include <mri.h>
  38 #include <stdio.h>
  39 #include <stdint.h>
  40
  41 extern "C" uint32_t  __end__;
  42 extern "C" uint32_t  __malloc_free_list;
  43 extern "C" uint32_t  _sbrk(int size);
  44
  45 // command lookup table
  46 const SimpleShell::ptentry_t SimpleShell::commands_table[] = {
  47     {"ls",       SimpleShell::ls_command},
  48     {"cd",       SimpleShell::cd_command},
  49     {"pwd",      SimpleShell::pwd_command},
  50     {"cat",      SimpleShell::cat_command},
  51     {"rm",       SimpleShell::rm_command},
  52     {"reset",    SimpleShell::reset_command},
  53     {"dfu",      SimpleShell::dfu_command},
  54     {"break",    SimpleShell::break_command},
  55     {"help",     SimpleShell::help_command},
  56     {"?",        SimpleShell::help_command},
  57     {"version",  SimpleShell::version_command},
  58     {"mem",      SimpleShell::mem_command},
  59     {"freeze",   SimpleShell::freeze_command},
  60     {"unfreeze", SimpleShell::unfreeze_command},
  61     {"get",      SimpleShell::get_command},
  62     {"set_temp", SimpleShell::set_temp_command},
  63     {"net",      SimpleShell::net_command},
  64     {"load",     SimpleShell::load_command},
  65     {"save",     SimpleShell::save_command},
  66
  67     // unknown command
  68     {NULL, NULL}
  69 };
  70
  71 int SimpleShell::reset_delay_secs= 0;
  72
  73 // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556
  74 static uint32_t heapWalk(StreamOutput *stream, bool verbose)
  75 {
  76     uint32_t chunkNumber = 1;
  77     // The __end__ linker symbol points to the beginning of the heap.
  78     uint32_t chunkCurr = (uint32_t)&__end__;
  79     // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks.
  80     uint32_t freeCurr = __malloc_free_list;
  81     // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap.
  82     uint32_t heapEnd = _sbrk(0);
  83     // accumulate totals
  84     uint32_t freeSize = 0;
  85     uint32_t usedSize = 0;
  86
  87     stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr);
  88
  89     // Walk through the chunks until we hit the end of the heap.
  90     while (chunkCurr < heapEnd) {
  91         // Assume the chunk is in use.  Will update later.
  92         int      isChunkFree = 0;
  93         // The first 32-bit word in a chunk is the size of the allocation.  newlib-nano over allocates by 8 bytes.
  94         // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer.
  95         uint32_t chunkSize = *(uint32_t *)chunkCurr;
  96         // The start of the next chunk is right after the end of this one.
  97         uint32_t chunkNext = chunkCurr + chunkSize;
  98
  99         // The free list is sorted by address.
 100         // Check to see if we have found the next free chunk in the heap.
 101         if (chunkCurr == freeCurr) {
 102             // Chunk is free so flag it as such.
 103             isChunkFree = 1;
 104             // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address).
 105             freeCurr = *(uint32_t *)(freeCurr + 4);
 106         }
 107
 108         // Skip past the 32-bit size field in the chunk header.
 109         chunkCurr += 4;
 110         // 8-byte align the data pointer.
 111         chunkCurr = (chunkCurr + 7) & ~7;
 112         // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8
 113         // byte-alignment of the returned pointer.
 114         chunkSize -= 8;
 115         if (verbose)
 116             stream->printf("  Chunk: %lu  Address: 0x%08lX  Size: %lu  %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : "");
 117
 118         if (isChunkFree) freeSize += chunkSize;
 119         else usedSize += chunkSize;
 120
 121         chunkCurr = chunkNext;
 122         chunkNumber++;
 123     }
 124     stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize);
 125     return freeSize;
 126 }
 127
 128
 129 void SimpleShell::on_module_loaded()
 130 {
 131     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
 132         this->register_for_event(ON_GCODE_RECEIVED);
 133         this->register_for_event(ON_SECOND_TICK);
 134
 135     reset_delay_secs = 0;
 136 }
 137
 138 void SimpleShell::on_second_tick(void *)
 139 {
 140     // we are timing out for the reset
 141     if (reset_delay_secs > 0) {
 142         if (--reset_delay_secs == 0) {
 143             system_reset(false);
 144         }
 145     }
 146 }
 147
 148 void SimpleShell::on_gcode_received(void *argument)
 149 {
 150     Gcode *gcode = static_cast<Gcode *>(argument);
 151     string args= get_arguments(gcode->command);
 152
 153     if (gcode->has_m) {
 154         if (gcode->m == 20) { // list sd card
 155             gcode->mark_as_taken();
 156             gcode->stream->printf("Begin file list\r\n");
 157             ls_command("/sd", gcode->stream);
 158             gcode->stream->printf("End file list\r\n");
 159
 160         } else if (gcode->m == 30) { // remove file
 161             gcode->mark_as_taken();
 162             rm_command("/sd/" + args, gcode->stream);
 163
 164         }else if(gcode->m == 501) { // load config override
 165             gcode->mark_as_taken();
 166             if(args.empty()) {
 167                 load_command("/sd/config-override", gcode->stream);
 168             }else{
 169                 load_command("/sd/config-override." + args, gcode->stream);
 170             }
 171
 172         }else if(gcode->m == 504) { // save to specific config override file
 173             gcode->mark_as_taken();
 174             if(args.empty()) {
 175                 save_command("/sd/config-override", gcode->stream);
 176             }else{
 177                 save_command("/sd/config-override." + args, gcode->stream);
 178             }
 179         }
 180     }
 181 }
 182
 183 bool SimpleShell::parse_command(const char *cmd, string args, StreamOutput *stream)
 184 {
 185     for (const ptentry_t *p = commands_table; p->command != NULL; ++p) {
 186         if (strncasecmp(cmd, p->command, strlen(p->command)) == 0) {
 187             p->func(args, stream);
 188             return true;
 189         }
 190     }
 191
 192     return false;
 193 }
 194
 195 // When a new line is received, check if it is a command, and if it is, act upon it
 196 void SimpleShell::on_console_line_received( void *argument )
 197 {
 198     SerialMessage new_message = *static_cast<SerialMessage *>(argument);
 199
 200     // ignore comments and blank lines and if this is a G code then also ignore it
 201     char first_char = new_message.message[0];
 202     if(strchr(";( \n\rGMTN", first_char) != NULL) return;
 203
 204     string possible_command = new_message.message;
 205
 206     //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
 207     string cmd = shift_parameter(possible_command);
 208
 209     // find command and execute it
 210     parse_command(cmd.c_str(), possible_command, new_message.stream);
 211 }
 212
 213 // Act upon an ls command
 214 // Convert the first parameter into an absolute path, then list the files in that path
 215 void SimpleShell::ls_command( string parameters, StreamOutput *stream )
 216 {
 217     string folder = absolute_from_relative( parameters );
 218     DIR *d;
 219     struct dirent *p;
 220     d = opendir(folder.c_str());
 221     if (d != NULL) {
 222         while ((p = readdir(d)) != NULL) {
 223             stream->printf("%s\r\n", lc(string(p->d_name)).c_str());
 224         }
 225         closedir(d);
 226     } else {
 227         stream->printf("Could not open directory %s \r\n", folder.c_str());
 228     }
 229 }
 230
 231 // Delete a file
 232 void SimpleShell::rm_command( string parameters, StreamOutput *stream )
 233 {
 234     const char *fn= absolute_from_relative(shift_parameter( parameters )).c_str();
 235     int s = remove(fn);
 236     if (s != 0) stream->printf("Could not delete %s \r\n", fn);
 237 }
 238
 239 // Change current absolute path to provided path
 240 void SimpleShell::cd_command( string parameters, StreamOutput *stream )
 241 {
 242     string folder = absolute_from_relative( parameters );
 243
 244     DIR *d;
 245     d = opendir(folder.c_str());
 246     if (d == NULL) {
 247         stream->printf("Could not open directory %s \r\n", folder.c_str() );
 248     } else {
 249         THEKERNEL->current_path = folder;
 250         closedir(d);
 251     }
 252 }
 253
 254 // Responds with the present working directory
 255 void SimpleShell::pwd_command( string parameters, StreamOutput *stream )
 256 {
 257     stream->printf("%s\r\n", THEKERNEL->current_path.c_str());
 258 }
 259
 260 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
 261 void SimpleShell::cat_command( string parameters, StreamOutput *stream )
 262 {
 263     // Get parameters ( filename and line limit )
 264     string filename          = absolute_from_relative(shift_parameter( parameters ));
 265     string limit_paramater   = shift_parameter( parameters );
 266     int limit = -1;
 267     if ( limit_paramater != "" ) {
 268         char *e = NULL;
 269         limit = strtol(limit_paramater.c_str(), &e, 10);
 270         if (e <= limit_paramater.c_str())
 271             limit = -1;
 272     }
 273
 274     // Open file
 275     FILE *lp = fopen(filename.c_str(), "r");
 276     if (lp == NULL) {
 277         stream->printf("File not found: %s\r\n", filename.c_str());
 278         return;
 279     }
 280     string buffer;
 281     int c;
 282     int newlines = 0;
 283     int linecnt= 0;
 284     // Print each line of the file
 285     while ((c = fgetc (lp)) != EOF) {
 286         buffer.append((char *)&c, 1);
 287         if ( char(c) == '\n' || ++linecnt > 80) {
 288             newlines++;
 289             stream->puts(buffer.c_str());
 290             buffer.clear();
 291             if(linecnt > 80) linecnt= 0;
 292         }
 293         if ( newlines == limit ) {
 294             break;
 295         }
 296     };
 297     fclose(lp);
 298
 299 }
 300
 301 // loads the specified config-override file
 302 void SimpleShell::load_command( string parameters, StreamOutput *stream )
 303 {
 304     // Get parameters ( filename )
 305     string filename = absolute_from_relative(parameters);
 306     if(filename == "/") {
 307         filename = THEKERNEL->config_override_filename();
 308     }
 309
 310     FILE *fp= fopen(filename.c_str(), "r");
 311     if(fp != NULL) {
 312         char buf[132];
 313         stream->printf("Loading config override file: %s...\n", filename.c_str());
 314         while(fgets(buf, sizeof buf, fp) != NULL) {
 315             stream->printf("  %s", buf);
 316             if(buf[0] == ';') continue; // skip the comments
 317             struct SerialMessage message= {&(StreamOutput::NullStream), buf};
 318             THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
 319         }
 320         stream->printf("config override file executed\n");
 321         fclose(fp);
 322
 323     }else{
 324         stream->printf("File not found: %s\n", filename.c_str());
 325     }
 326 }
 327
 328 // saves the specified config-override file
 329 void SimpleShell::save_command( string parameters, StreamOutput *stream )
 330 {
 331     // Get parameters ( filename )
 332     string filename = absolute_from_relative(parameters);
 333     if(filename == "/") {
 334         filename = THEKERNEL->config_override_filename();
 335     }
 336
 337     // replace stream with one that writes to config-override file
 338     FileStream *gs = new FileStream(filename.c_str());
 339     if(!gs->is_open()) {
 340         stream->printf("Unable to open File %s for write\n", filename.c_str());
 341         return;
 342     }
 343
 344     // issue a M500 which will store values in the file stream
 345     Gcode *gcode = new Gcode("M500", gs);
 346     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 347     delete gs;
 348     delete gcode;
 349
 350     stream->printf("Settings Stored to %s\r\n", filename.c_str());
 351 }
 352
 353 // show free memory
 354 void SimpleShell::mem_command( string parameters, StreamOutput *stream)
 355 {
 356     bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos ;
 357     unsigned long heap = (unsigned long)_sbrk(0);
 358     unsigned long m = g_maximumHeapAddress - heap;
 359     stream->printf("Unused Heap: %lu bytes\r\n", m);
 360
 361     uint32_t f= heapWalk(stream, verbose);
 362     stream->printf("Total Free RAM: %lu bytes\r\n", m + f);
 363
 364     stream->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0.free(), AHB1.free());
 365     if (verbose)
 366     {
 367         AHB0.debug(stream);
 368         AHB1.debug(stream);
 369     }
 370 }
 371
 372 // pause the machine
 373 void SimpleShell::freeze_command( string parameters, StreamOutput *stream)
 374 {
 375     if( ! THEKERNEL->pauser->paused() ){
 376         THEKERNEL->pauser->take();
 377     }
 378 }
 379
 380 // release pause system
 381 void SimpleShell::unfreeze_command( string parameters, StreamOutput *stream)
 382 {
 383     if( THEKERNEL->pauser->paused() ){
 384         THEKERNEL->pauser->release();
 385     }
 386 }
 387
 388 static uint32_t getDeviceType()
 389 {
 390 #define IAP_LOCATION 0x1FFF1FF1
 391     uint32_t command[1];
 392     uint32_t result[5];
 393     typedef void (*IAP)(uint32_t *, uint32_t *);
 394     IAP iap = (IAP) IAP_LOCATION;
 395
 396     __disable_irq();
 397
 398     command[0] = 54;
 399     iap(command, result);
 400
 401     __enable_irq();
 402
 403     return result[1];
 404 }
 405
 406 // get network config
 407 void SimpleShell::net_command( string parameters, StreamOutput *stream)
 408 {
 409     void *returned_data;
 410     bool ok= THEKERNEL->public_data->get_value( network_checksum, get_ipconfig_checksum, &returned_data );
 411     if(ok) {
 412         char *str= (char *)returned_data;
 413         stream->printf("%s\r\n", str);
 414         free(str);
 415
 416     }else{
 417         stream->printf("No network detected\n");
 418     }
 419 }
 420
 421 // print out build version
 422 void SimpleShell::version_command( string parameters, StreamOutput *stream)
 423 {
 424     Version vers;
 425     uint32_t dev = getDeviceType();
 426     const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768";
 427     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);
 428 }
 429
 430 // Reset the system
 431 void SimpleShell::reset_command( string parameters, StreamOutput *stream)
 432 {
 433     stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
 434     reset_delay_secs = 5; // reboot in 5 seconds
 435 }
 436
 437 // go into dfu boot mode
 438 void SimpleShell::dfu_command( string parameters, StreamOutput *stream)
 439 {
 440     stream->printf("Entering boot mode...\r\n");
 441     system_reset(true);
 442 }
 443
 444 // Break out into the MRI debugging system
 445 void SimpleShell::break_command( string parameters, StreamOutput *stream)
 446 {
 447     stream->printf("Entering MRI debug mode...\r\n");
 448     __debugbreak();
 449 }
 450
 451 // used to test out the get public data events
 452 void SimpleShell::get_command( string parameters, StreamOutput *stream)
 453 {
 454     string what = shift_parameter( parameters );
 455     void *returned_data;
 456
 457     if (what == "temp") {
 458         string type = shift_parameter( parameters );
 459         bool ok = THEKERNEL->public_data->get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data );
 460
 461         if (ok) {
 462             struct pad_temperature temp =  *static_cast<struct pad_temperature *>(returned_data);
 463             stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
 464         } else {
 465             stream->printf("%s is not a known temperature device\r\n", type.c_str());
 466         }
 467
 468     } else if (what == "pos") {
 469         bool ok = THEKERNEL->public_data->get_value( robot_checksum, current_position_checksum, &returned_data );
 470
 471         if (ok) {
 472             float *pos = static_cast<float *>(returned_data);
 473             stream->printf("Position X: %f, Y: %f, Z: %f\r\n", pos[0], pos[1], pos[2]);
 474
 475         } else {
 476             stream->printf("get pos command failed\r\n");
 477         }
 478     }
 479 }
 480
 481 // used to test out the get public data events
 482 void SimpleShell::set_temp_command( string parameters, StreamOutput *stream)
 483 {
 484     string type = shift_parameter( parameters );
 485     string temp = shift_parameter( parameters );
 486     float t = temp.empty() ? 0.0 : strtof(temp.c_str(), NULL);
 487     bool ok = THEKERNEL->public_data->set_value( temperature_control_checksum, get_checksum(type), &t );
 488
 489     if (ok) {
 490         stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t);
 491     } else {
 492         stream->printf("%s is not a known temperature device\r\n", type.c_str());
 493     }
 494 }
 495
 496 void SimpleShell::help_command( string parameters, StreamOutput *stream )
 497 {
 498     stream->printf("Commands:\r\n");
 499     stream->printf("version\r\n");
 500     stream->printf("mem [-v]\r\n");
 501     stream->printf("ls [folder]\r\n");
 502     stream->printf("cd folder\r\n");
 503     stream->printf("pwd\r\n");
 504     stream->printf("cat file [limit]\r\n");
 505     stream->printf("rm file\r\n");
 506     stream->printf("play file [-v]\r\n");
 507     stream->printf("progress - shows progress of current play\r\n");
 508     stream->printf("abort - abort currently playing file\r\n");
 509     stream->printf("reset - reset smoothie\r\n");
 510     stream->printf("dfu - enter dfu boot loader\r\n");
 511     stream->printf("break - break into debugger\r\n");
 512     stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
 513     stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
 514     stream->printf("config-load [<file_name>]\r\n");
 515     stream->printf("get temp [bed|hotend]\r\n");
 516     stream->printf("set_temp bed|hotend 185\r\n");
 517     stream->printf("get pos\r\n");
 518     stream->printf("net\r\n");
 519     stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n");
 520     stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n");
 521 }
 522