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/Conveyor.h"
  16 #include "DirHandle.h"
  17 #include "mri.h"
  18
  19
  20 void SimpleShell::on_module_loaded(){
  21     this->current_path = "/";
  22     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  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 == break_command_checksum)
  45         this->break_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         else if (check_sum == help_command_checksum)
  51                 this->help_command(get_arguments(possible_command),new_message.stream );
  52 }
  53
  54 // Convert a path indication ( absolute or relative ) into a path ( absolute )
  55 string SimpleShell::absolute_from_relative( string path ){
  56     if( path[0] == '/' ){ return path; }
  57     if( path[0] == '.' ){ return this->current_path; }
  58     return this->current_path + path;
  59 }
  60
  61 // Act upon an ls command
  62 // Convert the first parameter into an absolute path, then list the files in that path
  63 void SimpleShell::ls_command( string parameters, StreamOutput* stream ){
  64     string folder = this->absolute_from_relative( parameters );
  65     DIR* d;
  66     struct dirent* p;
  67     d = opendir(folder.c_str());
  68     if(d != NULL) {
  69                 while((p = readdir(d)) != NULL) { stream->printf("%s\r\n", lc(string(p->d_name)).c_str()); }
  70                 closedir(d);
  71     } else {
  72         stream->printf("Could not open directory %s \r\n", folder.c_str());
  73     }
  74 }
  75
  76 // Change current absolute path to provided path
  77 void SimpleShell::cd_command( string parameters, StreamOutput* stream ){
  78     string folder = this->absolute_from_relative( parameters );
  79     if( folder[folder.length()-1] != '/' ){ folder += "/"; }
  80     DIR *d;
  81     d = opendir(folder.c_str());
  82     if(d == NULL) {
  83         stream->printf("Could not open directory %s \r\n", folder.c_str() );
  84     }else{
  85                 this->current_path = folder;
  86                 closedir(d);
  87     }
  88 }
  89
  90 // Responds with the present working directory
  91 void SimpleShell::pwd_command( string parameters, StreamOutput* stream ){
  92     stream->printf("%s\r\n", this->current_path.c_str());
  93 }
  94
  95 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
  96 void SimpleShell::cat_command( string parameters, StreamOutput* stream ){
  97
  98     // Get parameters ( filename and line limit )
  99     string filename          = this->absolute_from_relative(shift_parameter( parameters ));
 100     string limit_paramater   = shift_parameter( parameters );
 101     int limit = -1;
 102     if( limit_paramater != "" )
 103     {
 104         char* e = NULL;
 105         limit = strtol(limit_paramater.c_str(), &e, 10);
 106         if (e <= limit_paramater.c_str())
 107             limit = -1;
 108     }
 109
 110     // Open file
 111     FILE *lp = fopen(filename.c_str(), "r");
 112     if(lp == NULL) {
 113         stream->printf("File not found: %s\r\n", filename.c_str());
 114         return;
 115     }
 116     string buffer;
 117     int c;
 118     int newlines = 0;
 119
 120     // Print each line of the file
 121     while ((c = fgetc (lp)) != EOF){
 122         buffer.append((char *)&c, 1);
 123         if( char(c) == '\n' ){
 124             newlines++;
 125             stream->puts(buffer.c_str());
 126             buffer.clear();
 127         }
 128         if( newlines == limit ){ break; }
 129     };
 130     fclose(lp);
 131
 132 }
 133
 134 // Reset the system
 135 void SimpleShell::reset_command( string parameters, StreamOutput* stream){
 136     stream->printf("Smoothie out. Peace.\r\n");
 137     system_reset();
 138 }
 139
 140 // Break out into the MRI debugging system
 141 void SimpleShell::break_command( string parameters, StreamOutput* stream){
 142     stream->printf("Entering MRI debug mode...\r\n");
 143     __debugbreak();
 144 }
 145
 146 void SimpleShell::help_command( string parameters, StreamOutput* stream ){
 147         stream->printf("Commands:\r\n");
 148         stream->printf("ls [folder]\r\n");
 149         stream->printf("cd folder\r\n");
 150         stream->printf("pwd\r\n");
 151         stream->printf("cat file [limit]\r\n");
 152         stream->printf("play file [-q]\r\n");
 153         stream->printf("progress\r\n");
 154         stream->printf("abort\r\n");
 155         stream->printf("reset\r\n");
 156         stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
 157         stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
 158         stream->printf("config-load [<file_name>]\r\n");
 159 }
 160