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 "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"
19 #include "PublicDataRequest.h"
20 #include "AppendFileStream.h"
21 #include "FileStream.h"
22 #include "checksumm.h"
23 #include "PublicData.h"
26 #include "ToolManagerPublicAccess.h"
27 #include "GcodeDispatch.h"
28 #include "BaseSolution.h"
29 #include "StepperMotor.h"
30 #include "Configurator.h"
33 #include "TemperatureControlPublicAccess.h"
34 #include "EndstopsPublicAccess.h"
35 #include "NetworkPublicAccess.h"
36 #include "platform_memory.h"
37 #include "SwitchPublicAccess.h"
39 #include "Thermistor.h"
43 #include "system_LPC17xx.h"
46 #include "mbed.h" // for wait_ms()
48 extern unsigned int g_maximumHeapAddress
;
56 extern "C" uint32_t __end__
;
57 extern "C" uint32_t __malloc_free_list
;
58 extern "C" uint32_t _sbrk(int size
);
61 // command lookup table
62 const SimpleShell::ptentry_t
SimpleShell::commands_table
[] = {
63 {"ls", SimpleShell::ls_command
},
64 {"cd", SimpleShell::cd_command
},
65 {"pwd", SimpleShell::pwd_command
},
66 {"cat", SimpleShell::cat_command
},
67 {"rm", SimpleShell::rm_command
},
68 {"mv", SimpleShell::mv_command
},
69 {"mkdir", SimpleShell::mkdir_command
},
70 {"upload", SimpleShell::upload_command
},
71 {"reset", SimpleShell::reset_command
},
72 {"dfu", SimpleShell::dfu_command
},
73 {"break", SimpleShell::break_command
},
74 {"help", SimpleShell::help_command
},
75 {"?", SimpleShell::help_command
},
76 {"version", SimpleShell::version_command
},
77 {"mem", SimpleShell::mem_command
},
78 {"get", SimpleShell::get_command
},
79 {"set_temp", SimpleShell::set_temp_command
},
80 {"switch", SimpleShell::switch_command
},
81 {"net", SimpleShell::net_command
},
82 {"load", SimpleShell::load_command
},
83 {"save", SimpleShell::save_command
},
84 {"remount", SimpleShell::remount_command
},
85 {"calc_thermistor", SimpleShell::calc_thermistor_command
},
86 {"thermistors", SimpleShell::print_thermistors_command
},
87 {"md5sum", SimpleShell::md5sum_command
},
88 {"test", SimpleShell::test_command
},
94 int SimpleShell::reset_delay_secs
= 0;
96 // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556
97 static uint32_t heapWalk(StreamOutput
*stream
, bool verbose
)
99 uint32_t chunkNumber
= 1;
100 // The __end__ linker symbol points to the beginning of the heap.
101 uint32_t chunkCurr
= (uint32_t)&__end__
;
102 // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks.
103 uint32_t freeCurr
= __malloc_free_list
;
104 // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap.
105 uint32_t heapEnd
= _sbrk(0);
107 uint32_t freeSize
= 0;
108 uint32_t usedSize
= 0;
110 stream
->printf("Used Heap Size: %lu\n", heapEnd
- chunkCurr
);
112 // Walk through the chunks until we hit the end of the heap.
113 while (chunkCurr
< heapEnd
) {
114 // Assume the chunk is in use. Will update later.
116 // The first 32-bit word in a chunk is the size of the allocation. newlib-nano over allocates by 8 bytes.
117 // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer.
118 uint32_t chunkSize
= *(uint32_t *)chunkCurr
;
119 // The start of the next chunk is right after the end of this one.
120 uint32_t chunkNext
= chunkCurr
+ chunkSize
;
122 // The free list is sorted by address.
123 // Check to see if we have found the next free chunk in the heap.
124 if (chunkCurr
== freeCurr
) {
125 // Chunk is free so flag it as such.
127 // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address).
128 freeCurr
= *(uint32_t *)(freeCurr
+ 4);
131 // Skip past the 32-bit size field in the chunk header.
133 // 8-byte align the data pointer.
134 chunkCurr
= (chunkCurr
+ 7) & ~7;
135 // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8
136 // byte-alignment of the returned pointer.
139 stream
->printf(" Chunk: %lu Address: 0x%08lX Size: %lu %s\n", chunkNumber
, chunkCurr
, chunkSize
, isChunkFree
? "CHUNK FREE" : "");
141 if (isChunkFree
) freeSize
+= chunkSize
;
142 else usedSize
+= chunkSize
;
144 chunkCurr
= chunkNext
;
147 stream
->printf("Allocated: %lu, Free: %lu\r\n", usedSize
, freeSize
);
152 void SimpleShell::on_module_loaded()
154 this->register_for_event(ON_CONSOLE_LINE_RECEIVED
);
155 this->register_for_event(ON_GCODE_RECEIVED
);
156 this->register_for_event(ON_SECOND_TICK
);
158 reset_delay_secs
= 0;
161 void SimpleShell::on_second_tick(void *)
163 // we are timing out for the reset
164 if (reset_delay_secs
> 0) {
165 if (--reset_delay_secs
== 0) {
171 void SimpleShell::on_gcode_received(void *argument
)
173 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
174 string args
= get_arguments(gcode
->get_command());
177 if (gcode
->m
== 20) { // list sd card
178 gcode
->stream
->printf("Begin file list\r\n");
179 ls_command("/sd", gcode
->stream
);
180 gcode
->stream
->printf("End file list\r\n");
182 } else if (gcode
->m
== 30) { // remove file
183 if(!args
.empty() && !THEKERNEL
->is_grbl_mode())
184 rm_command("/sd/" + args
, gcode
->stream
);
189 bool SimpleShell::parse_command(const char *cmd
, string args
, StreamOutput
*stream
)
191 for (const ptentry_t
*p
= commands_table
; p
->command
!= NULL
; ++p
) {
192 if (strncasecmp(cmd
, p
->command
, strlen(p
->command
)) == 0) {
193 p
->func(args
, stream
);
201 // When a new line is received, check if it is a command, and if it is, act upon it
202 void SimpleShell::on_console_line_received( void *argument
)
204 SerialMessage new_message
= *static_cast<SerialMessage
*>(argument
);
205 string possible_command
= new_message
.message
;
207 // ignore anything that is not lowercase or a $ as it is not a command
208 if(possible_command
.size() == 0 || (!islower(possible_command
[0]) && possible_command
[0] != '$')) {
212 // it is a grbl compatible command
213 if(possible_command
[0] == '$' && possible_command
.size() >= 2) {
214 switch(possible_command
[1]) {
217 get_command("state", new_message
.stream
);
218 new_message
.stream
->printf("ok\n");
222 if(THEKERNEL
->is_halted()) {
223 THEKERNEL
->call_event(ON_HALT
, (void *)1); // clears on_halt
224 new_message
.stream
->printf("[Caution: Unlocked]\nok\n");
229 grblDP_command("", new_message
.stream
);
230 new_message
.stream
->printf("ok\n");
234 THEKERNEL
->call_event(ON_HALT
, (void *)1); // clears on_halt
235 if(THEKERNEL
->is_grbl_mode()) {
236 // issue G28.2 which is force homing cycle
237 Gcode
gcode("G28.2", new_message
.stream
);
238 THEKERNEL
->call_event(ON_GCODE_RECEIVED
, &gcode
);
240 Gcode
gcode("G28", new_message
.stream
);
241 THEKERNEL
->call_event(ON_GCODE_RECEIVED
, &gcode
);
243 new_message
.stream
->printf("ok\n");
247 new_message
.stream
->printf("error:Invalid statement\n");
253 //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
254 string cmd
= shift_parameter(possible_command
);
256 // Configurator commands
257 if (cmd
== "config-get"){
258 THEKERNEL
->configurator
->config_get_command( possible_command
, new_message
.stream
);
260 } else if (cmd
== "config-set"){
261 THEKERNEL
->configurator
->config_set_command( possible_command
, new_message
.stream
);
263 } else if (cmd
== "config-load"){
264 THEKERNEL
->configurator
->config_load_command( possible_command
, new_message
.stream
);
266 } else if (cmd
== "play" || cmd
== "progress" || cmd
== "abort" || cmd
== "suspend" || cmd
== "resume") {
267 // these are handled by Player module
269 } else if (cmd
== "fire") {
270 // these are handled by Laser module
272 } else if (cmd
== "ok") {
273 // probably an echo so reply ok
274 new_message
.stream
->printf("ok\n");
276 }else if(!parse_command(cmd
.c_str(), possible_command
, new_message
.stream
)) {
277 new_message
.stream
->printf("error:Unsupported command - %s\n", cmd
.c_str());
282 // Act upon an ls command
283 // Convert the first parameter into an absolute path, then list the files in that path
284 void SimpleShell::ls_command( string parameters
, StreamOutput
*stream
)
287 while(!parameters
.empty()) {
288 string s
= shift_parameter( parameters
);
289 if(s
.front() == '-') {
293 if(!parameters
.empty()) {
295 path
.append(parameters
);
301 path
= absolute_from_relative(path
);
305 d
= opendir(path
.c_str());
307 while ((p
= readdir(d
)) != NULL
) {
308 stream
->printf("%s", lc(string(p
->d_name
)).c_str());
311 } else if(opts
.find("-s", 0, 2) != string::npos
) {
312 stream
->printf(" %d", p
->d_fsize
);
314 stream
->printf("\r\n");
318 stream
->printf("Could not open directory %s\r\n", path
.c_str());
322 extern SDFAT mounter
;
324 void SimpleShell::remount_command( string parameters
, StreamOutput
*stream
)
327 stream
->printf("remounted\r\n");
331 void SimpleShell::rm_command( string parameters
, StreamOutput
*stream
)
333 const char *fn
= absolute_from_relative(shift_parameter( parameters
)).c_str();
335 if (s
!= 0) stream
->printf("Could not delete %s \r\n", fn
);
339 void SimpleShell::mv_command( string parameters
, StreamOutput
*stream
)
341 string from
= absolute_from_relative(shift_parameter( parameters
));
342 string to
= absolute_from_relative(shift_parameter(parameters
));
343 int s
= rename(from
.c_str(), to
.c_str());
344 if (s
!= 0) stream
->printf("Could not rename %s to %s\r\n", from
.c_str(), to
.c_str());
345 else stream
->printf("renamed %s to %s\r\n", from
.c_str(), to
.c_str());
348 // Create a new directory
349 void SimpleShell::mkdir_command( string parameters
, StreamOutput
*stream
)
351 string path
= absolute_from_relative(shift_parameter( parameters
));
352 int result
= mkdir(path
.c_str(), 0);
353 if (result
!= 0) stream
->printf("could not create directory %s\r\n", path
.c_str());
354 else stream
->printf("created directory %s\r\n", path
.c_str());
357 // Change current absolute path to provided path
358 void SimpleShell::cd_command( string parameters
, StreamOutput
*stream
)
360 string folder
= absolute_from_relative( parameters
);
363 d
= opendir(folder
.c_str());
365 stream
->printf("Could not open directory %s \r\n", folder
.c_str() );
367 THEKERNEL
->current_path
= folder
;
372 // Responds with the present working directory
373 void SimpleShell::pwd_command( string parameters
, StreamOutput
*stream
)
375 stream
->printf("%s\r\n", THEKERNEL
->current_path
.c_str());
378 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
379 void SimpleShell::cat_command( string parameters
, StreamOutput
*stream
)
381 // Get parameters ( filename and line limit )
382 string filename
= absolute_from_relative(shift_parameter( parameters
));
383 string limit_parameter
= shift_parameter( parameters
);
386 bool send_eof
= false;
387 if ( limit_parameter
== "-d" ) {
388 string d
= shift_parameter( parameters
);
390 delay
= strtol(d
.c_str(), &e
, 10);
391 if (e
<= d
.c_str()) {
395 send_eof
= true; // we need to terminate file send with an eof
398 }else if ( limit_parameter
!= "" ) {
400 limit
= strtol(limit_parameter
.c_str(), &e
, 10);
401 if (e
<= limit_parameter
.c_str())
405 // we have been asked to delay before cat, probably to allow time to issue upload command
407 safe_delay_ms(delay
*1000);
411 FILE *lp
= fopen(filename
.c_str(), "r");
413 stream
->printf("File not found: %s\r\n", filename
.c_str());
420 // Print each line of the file
421 while ((c
= fgetc (lp
)) != EOF
) {
422 buffer
.append((char *)&c
, 1);
423 if ( c
== '\n' || ++linecnt
> 80) {
424 if(c
== '\n') newlines
++;
425 stream
->puts(buffer
.c_str());
427 if(linecnt
> 80) linecnt
= 0;
428 // we need to kick things or they die
429 THEKERNEL
->call_event(ON_IDLE
);
431 if ( newlines
== limit
) {
438 stream
->puts("\032"); // ^Z terminates the upload
442 void SimpleShell::upload_command( string parameters
, StreamOutput
*stream
)
444 // this needs to be a hack. it needs to read direct from serial and not allow on_main_loop run until done
445 // NOTE this will block all operation until the upload is complete, so do not do while printing
446 if(!THECONVEYOR
->is_idle()) {
447 stream
->printf("upload not allowed while printing or busy\n");
451 // open file to upload to
452 string upload_filename
= absolute_from_relative( parameters
);
453 FILE *fd
= fopen(upload_filename
.c_str(), "w");
455 stream
->printf("uploading to file: %s, send control-D or control-Z to finish\r\n", upload_filename
.c_str());
457 stream
->printf("failed to open file: %s.\r\n", upload_filename
.c_str());
462 bool uploading
= true;
464 if(!stream
->ready()) {
465 // we need to kick things or they die
466 THEKERNEL
->call_event(ON_IDLE
);
470 char c
= stream
->_getc();
471 if( c
== 4 || c
== 26) { // ctrl-D or ctrl-Z
475 stream
->printf("uploaded %d bytes\n", cnt
);
479 // write character to file
481 if(fputc(c
, fd
) != c
) {
482 // error writing to file
483 stream
->printf("error writing to file. ignoring all characters until EOF\r\n");
489 if ((cnt
%400) == 0) {
490 // HACK ALERT to get around fwrite corruption close and re open for append
492 fd
= fopen(upload_filename
.c_str(), "a");
493 // we need to kick things or they die
494 THEKERNEL
->call_event(ON_IDLE
);
499 // we got an error so ignore everything until EOF
502 if(stream
->ready()) {
505 THEKERNEL
->call_event(ON_IDLE
);
508 } while(c
!= 4 && c
!= 26);
511 // loads the specified config-override file
512 void SimpleShell::load_command( string parameters
, StreamOutput
*stream
)
514 // Get parameters ( filename )
515 string filename
= absolute_from_relative(parameters
);
516 if(filename
== "/") {
517 filename
= THEKERNEL
->config_override_filename();
520 FILE *fp
= fopen(filename
.c_str(), "r");
523 stream
->printf("Loading config override file: %s...\n", filename
.c_str());
524 while(fgets(buf
, sizeof buf
, fp
) != NULL
) {
525 stream
->printf(" %s", buf
);
526 if(buf
[0] == ';') continue; // skip the comments
527 // NOTE only Gcodes and Mcodes can be in the config-override
528 Gcode
*gcode
= new Gcode(buf
, &StreamOutput::NullStream
);
529 THEKERNEL
->call_event(ON_GCODE_RECEIVED
, gcode
);
531 THEKERNEL
->call_event(ON_IDLE
);
533 stream
->printf("config override file executed\n");
537 stream
->printf("File not found: %s\n", filename
.c_str());
541 // saves the specified config-override file
542 void SimpleShell::save_command( string parameters
, StreamOutput
*stream
)
544 // Get parameters ( filename )
545 string filename
= absolute_from_relative(parameters
);
546 if(filename
== "/") {
547 filename
= THEKERNEL
->config_override_filename();
550 THECONVEYOR
->wait_for_idle(); //just to be safe as it can take a while to run
552 //remove(filename.c_str()); // seems to cause a hang every now and then
554 FileStream
fs(filename
.c_str());
555 fs
.printf("; DO NOT EDIT THIS FILE\n");
556 // this also will truncate the existing file instead of deleting it
559 // stream that appends to file
560 AppendFileStream
*gs
= new AppendFileStream(filename
.c_str());
561 // if(!gs->is_open()) {
562 // stream->printf("Unable to open File %s for write\n", filename.c_str());
567 // issue a M500 which will store values in the file stream
568 Gcode
*gcode
= new Gcode("M500", gs
);
569 THEKERNEL
->call_event(ON_GCODE_RECEIVED
, gcode
);
574 stream
->printf("Settings Stored to %s\r\n", filename
.c_str());
578 void SimpleShell::mem_command( string parameters
, StreamOutput
*stream
)
580 bool verbose
= shift_parameter( parameters
).find_first_of("Vv") != string::npos
;
581 unsigned long heap
= (unsigned long)_sbrk(0);
582 unsigned long m
= g_maximumHeapAddress
- heap
;
583 stream
->printf("Unused Heap: %lu bytes\r\n", m
);
585 uint32_t f
= heapWalk(stream
, verbose
);
586 stream
->printf("Total Free RAM: %lu bytes\r\n", m
+ f
);
588 stream
->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0
.free(), AHB1
.free());
594 stream
->printf("Block size: %u bytes\n", sizeof(Block
));
597 static uint32_t getDeviceType()
599 #define IAP_LOCATION 0x1FFF1FF1
602 typedef void (*IAP
)(uint32_t *, uint32_t *);
603 IAP iap
= (IAP
) IAP_LOCATION
;
608 iap(command
, result
);
615 // get network config
616 void SimpleShell::net_command( string parameters
, StreamOutput
*stream
)
619 bool ok
= PublicData::get_value( network_checksum
, get_ipconfig_checksum
, &returned_data
);
621 char *str
= (char *)returned_data
;
622 stream
->printf("%s\r\n", str
);
626 stream
->printf("No network detected\n");
630 // print out build version
631 void SimpleShell::version_command( string parameters
, StreamOutput
*stream
)
634 uint32_t dev
= getDeviceType();
635 const char *mcu
= (dev
& 0x00100000) ? "LPC1769" : "LPC1768";
636 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);
638 stream
->printf(" CNC Build\r\n");
643 void SimpleShell::reset_command( string parameters
, StreamOutput
*stream
)
645 stream
->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
646 reset_delay_secs
= 5; // reboot in 5 seconds
649 // go into dfu boot mode
650 void SimpleShell::dfu_command( string parameters
, StreamOutput
*stream
)
652 stream
->printf("Entering boot mode...\r\n");
656 // Break out into the MRI debugging system
657 void SimpleShell::break_command( string parameters
, StreamOutput
*stream
)
659 stream
->printf("Entering MRI debug mode...\r\n");
663 static int get_active_tool()
666 bool ok
= PublicData::get_value(tool_manager_checksum
, get_active_tool_checksum
, &returned_data
);
668 int active_tool
= *static_cast<int *>(returned_data
);
675 void SimpleShell::grblDP_command( string parameters
, StreamOutput
*stream
)
678 [G54:95.000,40.000,-23.600]
679 [G55:0.000,0.000,0.000]
680 [G56:0.000,0.000,0.000]
681 [G57:0.000,0.000,0.000]
682 [G58:0.000,0.000,0.000]
683 [G59:0.000,0.000,0.000]
684 [G28:0.000,0.000,0.000]
685 [G30:0.000,0.000,0.000]
686 [G92:0.000,0.000,0.000]
688 [PRB:0.000,0.000,0.000:0]
691 bool verbose
= shift_parameter( parameters
).find_first_of("Vv") != string::npos
;
693 std::vector
<Robot::wcs_t
> v
= THEROBOT
->get_wcs_state();
695 char current_wcs
= std::get
<0>(v
[0]);
696 stream
->printf("[current WCS: %s]\n", wcs2gcode(current_wcs
).c_str());
699 int n
= std::get
<1>(v
[0]);
700 for (int i
= 1; i
<= n
; ++i
) {
701 stream
->printf("[%s:%1.4f,%1.4f,%1.4f]\n", wcs2gcode(i
-1).c_str(),
702 THEROBOT
->from_millimeters(std::get
<0>(v
[i
])),
703 THEROBOT
->from_millimeters(std::get
<1>(v
[i
])),
704 THEROBOT
->from_millimeters(std::get
<2>(v
[i
])));
708 PublicData::get_value( endstops_checksum
, saved_position_checksum
, &rd
);
709 stream
->printf("[G28:%1.4f,%1.4f,%1.4f]\n",
710 THEROBOT
->from_millimeters(rd
[0]),
711 THEROBOT
->from_millimeters(rd
[1]),
712 THEROBOT
->from_millimeters(rd
[2]));
714 stream
->printf("[G30:%1.4f,%1.4f,%1.4f]\n", 0.0F
, 0.0F
, 0.0F
); // not implemented
716 stream
->printf("[G92:%1.4f,%1.4f,%1.4f]\n",
717 THEROBOT
->from_millimeters(std::get
<0>(v
[n
+1])),
718 THEROBOT
->from_millimeters(std::get
<1>(v
[n
+1])),
719 THEROBOT
->from_millimeters(std::get
<2>(v
[n
+1])));
722 stream
->printf("[Tool Offset:%1.4f,%1.4f,%1.4f]\n",
723 THEROBOT
->from_millimeters(std::get
<0>(v
[n
+2])),
724 THEROBOT
->from_millimeters(std::get
<1>(v
[n
+2])),
725 THEROBOT
->from_millimeters(std::get
<2>(v
[n
+2])));
727 stream
->printf("[TL0:%1.4f]\n", THEROBOT
->from_millimeters(std::get
<2>(v
[n
+2])));
730 // this is the last probe position, updated when a probe completes, also stores the number of steps moved after a homing cycle
733 std::tie(px
, py
, pz
, ps
) = THEROBOT
->get_last_probe_position();
734 stream
->printf("[PRB:%1.4f,%1.4f,%1.4f:%d]\n", THEROBOT
->from_millimeters(px
), THEROBOT
->from_millimeters(py
), THEROBOT
->from_millimeters(pz
), ps
);
737 void SimpleShell::get_command( string parameters
, StreamOutput
*stream
)
739 string what
= shift_parameter( parameters
);
741 if (what
== "temp") {
742 struct pad_temperature temp
;
743 string type
= shift_parameter( parameters
);
745 // scan all temperature controls
746 std::vector
<struct pad_temperature
> controllers
;
747 bool ok
= PublicData::get_value(temperature_control_checksum
, poll_controls_checksum
, &controllers
);
749 for (auto &c
: controllers
) {
750 stream
->printf("%s (%d) temp: %f/%f @%d\r\n", c
.designator
.c_str(), c
.id
, c
.current_temperature
, c
.target_temperature
, c
.pwm
);
754 stream
->printf("no heaters found\r\n");
758 bool ok
= PublicData::get_value( temperature_control_checksum
, current_temperature_checksum
, get_checksum(type
), &temp
);
761 stream
->printf("%s temp: %f/%f @%d\r\n", type
.c_str(), temp
.current_temperature
, temp
.target_temperature
, temp
.pwm
);
763 stream
->printf("%s is not a known temperature device\r\n", type
.c_str());
767 } else if (what
== "fk" || what
== "ik") {
768 string p
= shift_parameter( parameters
);
772 p
= shift_parameter( parameters
);
775 std::vector
<float> v
= parse_number_list(p
.c_str());
776 if(p
.empty() || v
.size() < 1) {
777 stream
->printf("error:usage: get [fk|ik] [-m] x[,y,z]\n");
782 float y
= (v
.size() > 1) ? v
[1] : x
;
783 float z
= (v
.size() > 2) ? v
[2] : y
;
786 // do forward kinematics on the given actuator position and display the cartesian coordinates
787 ActuatorCoordinates apos
{x
, y
, z
};
789 THEROBOT
->arm_solution
->actuator_to_cartesian(apos
, pos
);
790 stream
->printf("cartesian= X %f, Y %f, Z %f\n", pos
[0], pos
[1], pos
[2]);
796 // do inverse kinematics on the given cartesian position and display the actuator coordinates
797 float pos
[3]{x
, y
, z
};
798 ActuatorCoordinates apos
;
799 THEROBOT
->arm_solution
->cartesian_to_actuator(pos
, apos
);
800 stream
->printf("actuator= X %f, Y %f, Z %f\n", apos
[0], apos
[1], apos
[2]);
804 // move to the calculated, or given, XYZ
806 snprintf(cmd
, sizeof(cmd
), "G53 G0 X%f Y%f Z%f", x
, y
, z
);
807 struct SerialMessage message
;
808 message
.message
= cmd
;
809 message
.stream
= &(StreamOutput::NullStream
);
810 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
811 THECONVEYOR
->wait_for_idle();
814 } else if (what
== "pos") {
815 // convenience to call all the various M114 variants
817 THEROBOT
->print_position(0, buf
, sizeof buf
); stream
->printf("last %s\n", buf
);
818 THEROBOT
->print_position(1, buf
, sizeof buf
); stream
->printf("realtime %s\n", buf
);
819 THEROBOT
->print_position(2, buf
, sizeof buf
); stream
->printf("%s\n", buf
);
820 THEROBOT
->print_position(3, buf
, sizeof buf
); stream
->printf("%s\n", buf
);
821 THEROBOT
->print_position(4, buf
, sizeof buf
); stream
->printf("%s\n", buf
);
822 THEROBOT
->print_position(5, buf
, sizeof buf
); stream
->printf("%s\n", buf
);
824 } else if (what
== "wcs") {
825 // print the wcs state
826 grblDP_command("-v", stream
);
828 } else if (what
== "state") {
830 // [G0 G54 G17 G21 G90 G94 M0 M5 M9 T0 F0.]
831 stream
->printf("[G%d %s G%d G%d G%d G94 M0 M5 M9 T%d F%1.4f S%1.4f]\n",
832 THEKERNEL
->gcode_dispatch
->get_modal_command(),
833 wcs2gcode(THEROBOT
->get_current_wcs()).c_str(),
834 THEROBOT
->plane_axis_0
== X_AXIS
&& THEROBOT
->plane_axis_1
== Y_AXIS
&& THEROBOT
->plane_axis_2
== Z_AXIS
? 17 :
835 THEROBOT
->plane_axis_0
== X_AXIS
&& THEROBOT
->plane_axis_1
== Z_AXIS
&& THEROBOT
->plane_axis_2
== Y_AXIS
? 18 :
836 THEROBOT
->plane_axis_0
== Y_AXIS
&& THEROBOT
->plane_axis_1
== Z_AXIS
&& THEROBOT
->plane_axis_2
== X_AXIS
? 19 : 17,
837 THEROBOT
->inch_mode
? 20 : 21,
838 THEROBOT
->absolute_mode
? 90 : 91,
840 THEROBOT
->from_millimeters(THEROBOT
->get_feed_rate()),
841 THEROBOT
->get_s_value());
843 } else if (what
== "status") {
844 // also ? on serial and usb
845 stream
->printf("%s\n", THEKERNEL
->get_query_string().c_str());
848 stream
->printf("error:unknown option %s\n", what
.c_str());
852 // used to test out the get public data events
853 void SimpleShell::set_temp_command( string parameters
, StreamOutput
*stream
)
855 string type
= shift_parameter( parameters
);
856 string temp
= shift_parameter( parameters
);
857 float t
= temp
.empty() ? 0.0 : strtof(temp
.c_str(), NULL
);
858 bool ok
= PublicData::set_value( temperature_control_checksum
, get_checksum(type
), &t
);
861 stream
->printf("%s temp set to: %3.1f\r\n", type
.c_str(), t
);
863 stream
->printf("%s is not a known temperature device\r\n", type
.c_str());
867 void SimpleShell::print_thermistors_command( string parameters
, StreamOutput
*stream
)
869 #ifndef NO_TOOLS_TEMPERATURECONTROL
870 Thermistor::print_predefined_thermistors(stream
);
874 void SimpleShell::calc_thermistor_command( string parameters
, StreamOutput
*stream
)
876 #ifndef NO_TOOLS_TEMPERATURECONTROL
877 string s
= shift_parameter( parameters
);
879 // see if we have -sn as first argument
880 if(s
.find("-s", 0, 2) != string::npos
) {
881 // save the results to thermistor n
882 saveto
= strtol(s
.substr(2).c_str(), nullptr, 10);
887 std::vector
<float> trl
= parse_number_list(parameters
.c_str());
888 if(trl
.size() == 6) {
889 // calculate the coefficients
891 std::tie(c1
, c2
, c3
) = Thermistor::calculate_steinhart_hart_coefficients(trl
[0], trl
[1], trl
[2], trl
[3], trl
[4], trl
[5]);
892 stream
->printf("Steinhart Hart coefficients: I%1.18f J%1.18f K%1.18f\n", c1
, c2
, c3
);
894 stream
->printf(" Paste the above in the M305 S0 command, then save with M500\n");
897 int n
= snprintf(buf
, sizeof(buf
), "M305 S%d I%1.18f J%1.18f K%1.18f", saveto
, c1
, c2
, c3
);
899 Gcode
gcode(g
, &(StreamOutput::NullStream
));
900 THEKERNEL
->call_event(ON_GCODE_RECEIVED
, &gcode
);
901 stream
->printf(" Setting Thermistor %d to those settings, save with M500\n", saveto
);
906 stream
->printf("Usage: calc_thermistor T1,R1,T2,R2,T3,R3\n");
911 // used to test out the get public data events for switch
912 void SimpleShell::switch_command( string parameters
, StreamOutput
*stream
)
914 string type
= shift_parameter( parameters
);
915 string value
= shift_parameter( parameters
);
917 if(value
== "on" || value
== "off") {
918 bool b
= value
== "on";
919 ok
= PublicData::set_value( switch_checksum
, get_checksum(type
), state_checksum
, &b
);
921 float v
= strtof(value
.c_str(), NULL
);
922 ok
= PublicData::set_value( switch_checksum
, get_checksum(type
), value_checksum
, &v
);
925 stream
->printf("switch %s set to: %s\r\n", type
.c_str(), value
.c_str());
927 stream
->printf("%s is not a known switch device\r\n", type
.c_str());
931 void SimpleShell::md5sum_command( string parameters
, StreamOutput
*stream
)
933 string filename
= absolute_from_relative(parameters
);
936 FILE *lp
= fopen(filename
.c_str(), "r");
938 stream
->printf("File not found: %s\r\n", filename
.c_str());
944 size_t n
= fread(buf
, 1, sizeof buf
, lp
);
945 if(n
> 0) md5
.update(buf
, n
);
946 THEKERNEL
->call_event(ON_IDLE
);
949 stream
->printf("%s %s\n", md5
.finalize().hexdigest().c_str(), filename
.c_str());
953 // runs several types of test on the mechanisms
954 void SimpleShell::test_command( string parameters
, StreamOutput
*stream
)
956 string what
= shift_parameter( parameters
);
959 // jogs back and forth usage: axis distance iterations [feedrate]
960 string axis
= shift_parameter( parameters
);
961 string dist
= shift_parameter( parameters
);
962 string iters
= shift_parameter( parameters
);
963 string speed
= shift_parameter( parameters
);
964 if(axis
.empty() || dist
.empty() || iters
.empty()) {
965 stream
->printf("error: Need axis distance iterations\n");
968 float d
= strtof(dist
.c_str(), NULL
);
969 float f
= speed
.empty() ? THEROBOT
->get_feed_rate() : strtof(speed
.c_str(), NULL
);
970 uint32_t n
= strtol(iters
.c_str(), NULL
, 10);
973 for (uint32_t i
= 0; i
< n
; ++i
) {
975 snprintf(cmd
, sizeof(cmd
), "G91 G0 %c%f F%f G90", toupper(axis
[0]), toggle
? -d
: d
, f
);
976 stream
->printf("%s\n", cmd
);
977 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
978 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
979 if(THEKERNEL
->is_halted()) break;
980 THECONVEYOR
->wait_for_idle();
983 stream
->printf("done\n");
985 }else if (what
== "circle") {
986 // draws a circle around origin. usage: radius iterations [feedrate]
987 string radius
= shift_parameter( parameters
);
988 string iters
= shift_parameter( parameters
);
989 string speed
= shift_parameter( parameters
);
990 if(radius
.empty() || iters
.empty()) {
991 stream
->printf("error: Need radius iterations\n");
995 float r
= strtof(radius
.c_str(), NULL
);
996 uint32_t n
= strtol(iters
.c_str(), NULL
, 10);
997 float f
= speed
.empty() ? THEROBOT
->get_feed_rate() : strtof(speed
.c_str(), NULL
);
999 THEROBOT
->push_state();
1001 snprintf(cmd
, sizeof(cmd
), "G91 G0 X%f F%f G90", -r
, f
);
1002 stream
->printf("%s\n", cmd
);
1003 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
1004 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
1006 for (uint32_t i
= 0; i
< n
; ++i
) {
1007 if(THEKERNEL
->is_halted()) break;
1008 snprintf(cmd
, sizeof(cmd
), "G2 I%f J0 F%f", r
, f
);
1009 stream
->printf("%s\n", cmd
);
1010 message
.message
= cmd
;
1011 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
1012 THECONVEYOR
->wait_for_idle();
1015 // leave it where it started
1016 if(!THEKERNEL
->is_halted()) {
1017 snprintf(cmd
, sizeof(cmd
), "G91 G0 X%f F%f G90", r
, f
);
1018 stream
->printf("%s\n", cmd
);
1019 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
1020 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
1023 THEROBOT
->pop_state();
1024 stream
->printf("done\n");
1026 }else if (what
== "square") {
1027 // draws a square usage: size iterations [feedrate]
1028 string size
= shift_parameter( parameters
);
1029 string iters
= shift_parameter( parameters
);
1030 string speed
= shift_parameter( parameters
);
1031 if(size
.empty() || iters
.empty()) {
1032 stream
->printf("error: Need size iterations\n");
1035 float d
= strtof(size
.c_str(), NULL
);
1036 float f
= speed
.empty() ? THEROBOT
->get_feed_rate() : strtof(speed
.c_str(), NULL
);
1037 uint32_t n
= strtol(iters
.c_str(), NULL
, 10);
1039 for (uint32_t i
= 0; i
< n
; ++i
) {
1042 snprintf(cmd
, sizeof(cmd
), "G91 G0 X%f F%f", d
, f
);
1043 stream
->printf("%s\n", cmd
);
1044 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
1045 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
1048 snprintf(cmd
, sizeof(cmd
), "G0 Y%f", d
);
1049 stream
->printf("%s\n", cmd
);
1050 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
1051 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
1054 snprintf(cmd
, sizeof(cmd
), "G0 X%f", -d
);
1055 stream
->printf("%s\n", cmd
);
1056 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
1057 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
1060 snprintf(cmd
, sizeof(cmd
), "G0 Y%f G90", -d
);
1061 stream
->printf("%s\n", cmd
);
1062 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
1063 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
1065 if(THEKERNEL
->is_halted()) break;
1066 THECONVEYOR
->wait_for_idle();
1068 stream
->printf("done\n");
1070 }else if (what
== "raw") {
1071 // issues raw steps to the specified axis usage: axis steps steps/sec
1072 string axis
= shift_parameter( parameters
);
1073 string stepstr
= shift_parameter( parameters
);
1074 string stepspersec
= shift_parameter( parameters
);
1075 if(axis
.empty() || stepstr
.empty() || stepspersec
.empty()) {
1076 stream
->printf("error: Need axis steps steps/sec\n");
1080 uint8_t a
= toupper(axis
[0]) - 'X';
1081 int steps
= strtol(stepstr
.c_str(), NULL
, 10);
1082 bool dir
= steps
>= 0;
1083 steps
= std::abs(steps
);
1086 stream
->printf("error: axis must be x y or z\n");
1090 uint32_t sps
= strtol(stepspersec
.c_str(), NULL
, 10);
1091 sps
= std::max(sps
, 1UL);
1093 uint32_t delayus
= 1000000.0F
/ sps
;
1094 for(int s
= 0;s
<steps
;s
++) {
1095 if(THEKERNEL
->is_halted()) break;
1096 THEROBOT
->actuators
[a
]->manual_step(dir
);
1097 // delay but call on_idle
1098 safe_delay_us(delayus
);
1101 // reset the position based on current actuator position
1102 THEROBOT
->reset_position_from_current_actuator_position();
1104 stream
->printf("done\n");
1107 stream
->printf("usage:\n test jog axis distance iterations [feedrate]\n");
1108 stream
->printf(" test square size iterations [feedrate]\n");
1109 stream
->printf(" test circle radius iterations [feedrate]\n");
1110 stream
->printf(" test raw axis steps steps/sec\n");
1114 void SimpleShell::help_command( string parameters
, StreamOutput
*stream
)
1116 stream
->printf("Commands:\r\n");
1117 stream
->printf("version\r\n");
1118 stream
->printf("mem [-v]\r\n");
1119 stream
->printf("ls [-s] [folder]\r\n");
1120 stream
->printf("cd folder\r\n");
1121 stream
->printf("pwd\r\n");
1122 stream
->printf("cat file [limit] [-d 10]\r\n");
1123 stream
->printf("rm file\r\n");
1124 stream
->printf("mv file newfile\r\n");
1125 stream
->printf("remount\r\n");
1126 stream
->printf("play file [-v]\r\n");
1127 stream
->printf("progress - shows progress of current play\r\n");
1128 stream
->printf("abort - abort currently playing file\r\n");
1129 stream
->printf("reset - reset smoothie\r\n");
1130 stream
->printf("dfu - enter dfu boot loader\r\n");
1131 stream
->printf("break - break into debugger\r\n");
1132 stream
->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
1133 stream
->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
1134 stream
->printf("get [pos|wcs|state|status|fk|ik]\r\n");
1135 stream
->printf("get temp [bed|hotend]\r\n");
1136 stream
->printf("set_temp bed|hotend 185\r\n");
1137 stream
->printf("net\r\n");
1138 stream
->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n");
1139 stream
->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n");
1140 stream
->printf("upload filename - saves a stream of text to the named file\r\n");
1141 stream
->printf("calc_thermistor [-s0] T1,R1,T2,R2,T3,R3 - calculate the Steinhart Hart coefficients for a thermistor\r\n");
1142 stream
->printf("thermistors - print out the predefined thermistors\r\n");
1143 stream
->printf("md5sum file - prints md5 sum of the given file\r\n");