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"
32 #include "TemperatureControlPublicAccess.h"
33 #include "EndstopsPublicAccess.h"
34 #include "NetworkPublicAccess.h"
35 #include "platform_memory.h"
36 #include "SwitchPublicAccess.h"
38 #include "Thermistor.h"
42 #include "system_LPC17xx.h"
45 #include "mbed.h" // for wait_ms()
47 extern unsigned int g_maximumHeapAddress
;
54 extern "C" uint32_t __end__
;
55 extern "C" uint32_t __malloc_free_list
;
56 extern "C" uint32_t _sbrk(int size
);
58 // command lookup table
59 const SimpleShell::ptentry_t
SimpleShell::commands_table
[] = {
60 {"ls", SimpleShell::ls_command
},
61 {"cd", SimpleShell::cd_command
},
62 {"pwd", SimpleShell::pwd_command
},
63 {"cat", SimpleShell::cat_command
},
64 {"rm", SimpleShell::rm_command
},
65 {"mv", SimpleShell::mv_command
},
66 {"upload", SimpleShell::upload_command
},
67 {"reset", SimpleShell::reset_command
},
68 {"dfu", SimpleShell::dfu_command
},
69 {"break", SimpleShell::break_command
},
70 {"help", SimpleShell::help_command
},
71 {"?", SimpleShell::help_command
},
72 {"version", SimpleShell::version_command
},
73 {"mem", SimpleShell::mem_command
},
74 {"get", SimpleShell::get_command
},
75 {"set_temp", SimpleShell::set_temp_command
},
76 {"switch", SimpleShell::switch_command
},
77 {"net", SimpleShell::net_command
},
78 {"load", SimpleShell::load_command
},
79 {"save", SimpleShell::save_command
},
80 {"remount", SimpleShell::remount_command
},
81 {"calc_thermistor", SimpleShell::calc_thermistor_command
},
82 {"thermistors", SimpleShell::print_thermistors_command
},
83 {"md5sum", SimpleShell::md5sum_command
},
84 {"test", SimpleShell::test_command
},
90 int SimpleShell::reset_delay_secs
= 0;
92 // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556
93 static uint32_t heapWalk(StreamOutput
*stream
, bool verbose
)
95 uint32_t chunkNumber
= 1;
96 // The __end__ linker symbol points to the beginning of the heap.
97 uint32_t chunkCurr
= (uint32_t)&__end__
;
98 // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks.
99 uint32_t freeCurr
= __malloc_free_list
;
100 // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap.
101 uint32_t heapEnd
= _sbrk(0);
103 uint32_t freeSize
= 0;
104 uint32_t usedSize
= 0;
106 stream
->printf("Used Heap Size: %lu\n", heapEnd
- chunkCurr
);
108 // Walk through the chunks until we hit the end of the heap.
109 while (chunkCurr
< heapEnd
) {
110 // Assume the chunk is in use. Will update later.
112 // The first 32-bit word in a chunk is the size of the allocation. newlib-nano over allocates by 8 bytes.
113 // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer.
114 uint32_t chunkSize
= *(uint32_t *)chunkCurr
;
115 // The start of the next chunk is right after the end of this one.
116 uint32_t chunkNext
= chunkCurr
+ chunkSize
;
118 // The free list is sorted by address.
119 // Check to see if we have found the next free chunk in the heap.
120 if (chunkCurr
== freeCurr
) {
121 // Chunk is free so flag it as such.
123 // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address).
124 freeCurr
= *(uint32_t *)(freeCurr
+ 4);
127 // Skip past the 32-bit size field in the chunk header.
129 // 8-byte align the data pointer.
130 chunkCurr
= (chunkCurr
+ 7) & ~7;
131 // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8
132 // byte-alignment of the returned pointer.
135 stream
->printf(" Chunk: %lu Address: 0x%08lX Size: %lu %s\n", chunkNumber
, chunkCurr
, chunkSize
, isChunkFree
? "CHUNK FREE" : "");
137 if (isChunkFree
) freeSize
+= chunkSize
;
138 else usedSize
+= chunkSize
;
140 chunkCurr
= chunkNext
;
143 stream
->printf("Allocated: %lu, Free: %lu\r\n", usedSize
, freeSize
);
148 void SimpleShell::on_module_loaded()
150 this->register_for_event(ON_CONSOLE_LINE_RECEIVED
);
151 this->register_for_event(ON_GCODE_RECEIVED
);
152 this->register_for_event(ON_SECOND_TICK
);
154 reset_delay_secs
= 0;
157 void SimpleShell::on_second_tick(void *)
159 // we are timing out for the reset
160 if (reset_delay_secs
> 0) {
161 if (--reset_delay_secs
== 0) {
167 void SimpleShell::on_gcode_received(void *argument
)
169 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
170 string args
= get_arguments(gcode
->get_command());
173 if (gcode
->m
== 20) { // list sd card
174 gcode
->stream
->printf("Begin file list\r\n");
175 ls_command("/sd", gcode
->stream
);
176 gcode
->stream
->printf("End file list\r\n");
178 } else if (gcode
->m
== 30) { // remove file
179 if(!args
.empty() && !THEKERNEL
->is_grbl_mode())
180 rm_command("/sd/" + args
, gcode
->stream
);
185 bool SimpleShell::parse_command(const char *cmd
, string args
, StreamOutput
*stream
)
187 for (const ptentry_t
*p
= commands_table
; p
->command
!= NULL
; ++p
) {
188 if (strncasecmp(cmd
, p
->command
, strlen(p
->command
)) == 0) {
189 p
->func(args
, stream
);
197 // When a new line is received, check if it is a command, and if it is, act upon it
198 void SimpleShell::on_console_line_received( void *argument
)
200 SerialMessage new_message
= *static_cast<SerialMessage
*>(argument
);
201 string possible_command
= new_message
.message
;
203 // ignore anything that is not lowercase or a $ as it is not a command
204 if(possible_command
.size() == 0 || (!islower(possible_command
[0]) && possible_command
[0] != '$')) {
208 // it is a grbl compatible command
209 if(possible_command
[0] == '$' && possible_command
.size() >= 2) {
210 switch(possible_command
[1]) {
213 get_command("state", new_message
.stream
);
214 new_message
.stream
->printf("ok\n");
218 THEKERNEL
->call_event(ON_HALT
, (void *)1); // clears on_halt
219 new_message
.stream
->printf("[Caution: Unlocked]\nok\n");
223 grblDP_command("", new_message
.stream
);
224 new_message
.stream
->printf("ok\n");
228 if(THEKERNEL
->is_grbl_mode()) {
229 THEKERNEL
->call_event(ON_HALT
, (void *)1); // clears on_halt
230 // issue G28.2 which is force homing cycle
231 Gcode
gcode("G28.2", new_message
.stream
);
232 THEKERNEL
->call_event(ON_GCODE_RECEIVED
, &gcode
);
234 new_message
.stream
->printf("error:only supported in GRBL mode\n");
239 new_message
.stream
->printf("error:Invalid statement\n");
245 //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
246 string cmd
= shift_parameter(possible_command
);
248 // Configurator commands
249 if (cmd
== "config-get"){
250 THEKERNEL
->configurator
->config_get_command( possible_command
, new_message
.stream
);
252 } else if (cmd
== "config-set"){
253 THEKERNEL
->configurator
->config_set_command( possible_command
, new_message
.stream
);
255 } else if (cmd
== "config-load"){
256 THEKERNEL
->configurator
->config_load_command( possible_command
, new_message
.stream
);
258 } else if (cmd
== "play" || cmd
== "progress" || cmd
== "abort" || cmd
== "suspend" || cmd
== "resume") {
259 // these are handled by Player module
261 } else if (cmd
== "ok") {
262 // probably an echo so reply ok
263 new_message
.stream
->printf("ok\n");
265 }else if(!parse_command(cmd
.c_str(), possible_command
, new_message
.stream
)) {
266 new_message
.stream
->printf("error:Unsupported command - %s\n", cmd
.c_str());
271 // Act upon an ls command
272 // Convert the first parameter into an absolute path, then list the files in that path
273 void SimpleShell::ls_command( string parameters
, StreamOutput
*stream
)
276 while(!parameters
.empty()) {
277 string s
= shift_parameter( parameters
);
278 if(s
.front() == '-') {
282 if(!parameters
.empty()) {
284 path
.append(parameters
);
290 path
= absolute_from_relative(path
);
294 d
= opendir(path
.c_str());
296 while ((p
= readdir(d
)) != NULL
) {
297 stream
->printf("%s", lc(string(p
->d_name
)).c_str());
300 } else if(opts
.find("-s", 0, 2) != string::npos
) {
301 stream
->printf(" %d", p
->d_fsize
);
303 stream
->printf("\r\n");
307 stream
->printf("Could not open directory %s\r\n", path
.c_str());
311 extern SDFAT mounter
;
313 void SimpleShell::remount_command( string parameters
, StreamOutput
*stream
)
316 stream
->printf("remounted\r\n");
320 void SimpleShell::rm_command( string parameters
, StreamOutput
*stream
)
322 const char *fn
= absolute_from_relative(shift_parameter( parameters
)).c_str();
324 if (s
!= 0) stream
->printf("Could not delete %s \r\n", fn
);
328 void SimpleShell::mv_command( string parameters
, StreamOutput
*stream
)
330 string from
= absolute_from_relative(shift_parameter( parameters
));
331 string to
= absolute_from_relative(shift_parameter(parameters
));
332 int s
= rename(from
.c_str(), to
.c_str());
333 if (s
!= 0) stream
->printf("Could not rename %s to %s\r\n", from
.c_str(), to
.c_str());
334 else stream
->printf("renamed %s to %s\r\n", from
.c_str(), to
.c_str());
337 // Change current absolute path to provided path
338 void SimpleShell::cd_command( string parameters
, StreamOutput
*stream
)
340 string folder
= absolute_from_relative( parameters
);
343 d
= opendir(folder
.c_str());
345 stream
->printf("Could not open directory %s \r\n", folder
.c_str() );
347 THEKERNEL
->current_path
= folder
;
352 // Responds with the present working directory
353 void SimpleShell::pwd_command( string parameters
, StreamOutput
*stream
)
355 stream
->printf("%s\r\n", THEKERNEL
->current_path
.c_str());
358 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
359 void SimpleShell::cat_command( string parameters
, StreamOutput
*stream
)
361 // Get parameters ( filename and line limit )
362 string filename
= absolute_from_relative(shift_parameter( parameters
));
363 string limit_parameter
= shift_parameter( parameters
);
366 bool send_eof
= false;
367 if ( limit_parameter
== "-d" ) {
368 string d
= shift_parameter( parameters
);
370 delay
= strtol(d
.c_str(), &e
, 10);
371 if (e
<= d
.c_str()) {
375 send_eof
= true; // we need to terminate file send with an eof
378 }else if ( limit_parameter
!= "" ) {
380 limit
= strtol(limit_parameter
.c_str(), &e
, 10);
381 if (e
<= limit_parameter
.c_str())
385 // we have been asked to delay before cat, probably to allow time to issue upload command
387 safe_delay(delay
*1000);
391 FILE *lp
= fopen(filename
.c_str(), "r");
393 stream
->printf("File not found: %s\r\n", filename
.c_str());
400 // Print each line of the file
401 while ((c
= fgetc (lp
)) != EOF
) {
402 buffer
.append((char *)&c
, 1);
403 if ( c
== '\n' || ++linecnt
> 80) {
404 if(c
== '\n') newlines
++;
405 stream
->puts(buffer
.c_str());
407 if(linecnt
> 80) linecnt
= 0;
408 // we need to kick things or they die
409 THEKERNEL
->call_event(ON_IDLE
);
411 if ( newlines
== limit
) {
418 stream
->puts("\032"); // ^Z terminates the upload
422 void SimpleShell::upload_command( string parameters
, StreamOutput
*stream
)
424 // this needs to be a hack. it needs to read direct from serial and not allow on_main_loop run until done
425 // NOTE this will block all operation until the upload is complete, so do not do while printing
426 if(!THEKERNEL
->conveyor
->is_queue_empty()) {
427 stream
->printf("upload not allowed while printing or busy\n");
431 // open file to upload to
432 string upload_filename
= absolute_from_relative( parameters
);
433 FILE *fd
= fopen(upload_filename
.c_str(), "w");
435 stream
->printf("uploading to file: %s, send control-D or control-Z to finish\r\n", upload_filename
.c_str());
437 stream
->printf("failed to open file: %s.\r\n", upload_filename
.c_str());
442 bool uploading
= true;
444 if(!stream
->ready()) {
445 // we need to kick things or they die
446 THEKERNEL
->call_event(ON_IDLE
);
450 char c
= stream
->_getc();
451 if( c
== 4 || c
== 26) { // ctrl-D or ctrl-Z
455 stream
->printf("uploaded %d bytes\n", cnt
);
459 // write character to file
461 if(fputc(c
, fd
) != c
) {
462 // error writing to file
463 stream
->printf("error writing to file. ignoring all characters until EOF\r\n");
469 if ((cnt
%400) == 0) {
470 // HACK ALERT to get around fwrite corruption close and re open for append
472 fd
= fopen(upload_filename
.c_str(), "a");
473 // we need to kick things or they die
474 THEKERNEL
->call_event(ON_IDLE
);
479 // we got an error so ignore everything until EOF
482 if(stream
->ready()) {
485 THEKERNEL
->call_event(ON_IDLE
);
488 } while(c
!= 4 && c
!= 26);
491 // loads the specified config-override file
492 void SimpleShell::load_command( string parameters
, StreamOutput
*stream
)
494 // Get parameters ( filename )
495 string filename
= absolute_from_relative(parameters
);
496 if(filename
== "/") {
497 filename
= THEKERNEL
->config_override_filename();
500 FILE *fp
= fopen(filename
.c_str(), "r");
503 stream
->printf("Loading config override file: %s...\n", filename
.c_str());
504 while(fgets(buf
, sizeof buf
, fp
) != NULL
) {
505 stream
->printf(" %s", buf
);
506 if(buf
[0] == ';') continue; // skip the comments
507 // NOTE only Gcodes and Mcodes can be in the config-override
508 Gcode
*gcode
= new Gcode(buf
, &StreamOutput::NullStream
);
509 THEKERNEL
->call_event(ON_GCODE_RECEIVED
, gcode
);
511 THEKERNEL
->call_event(ON_IDLE
);
513 stream
->printf("config override file executed\n");
517 stream
->printf("File not found: %s\n", filename
.c_str());
521 // saves the specified config-override file
522 void SimpleShell::save_command( string parameters
, StreamOutput
*stream
)
524 // Get parameters ( filename )
525 string filename
= absolute_from_relative(parameters
);
526 if(filename
== "/") {
527 filename
= THEKERNEL
->config_override_filename();
530 THEKERNEL
->conveyor
->wait_for_empty_queue(); //just to be safe as it can take a while to run
532 //remove(filename.c_str()); // seems to cause a hang every now and then
534 FileStream
fs(filename
.c_str());
535 fs
.printf("; DO NOT EDIT THIS FILE\n");
536 // this also will truncate the existing file instead of deleting it
539 // stream that appends to file
540 AppendFileStream
*gs
= new AppendFileStream(filename
.c_str());
541 // if(!gs->is_open()) {
542 // stream->printf("Unable to open File %s for write\n", filename.c_str());
547 // issue a M500 which will store values in the file stream
548 Gcode
*gcode
= new Gcode("M500", gs
);
549 THEKERNEL
->call_event(ON_GCODE_RECEIVED
, gcode
);
554 stream
->printf("Settings Stored to %s\r\n", filename
.c_str());
558 void SimpleShell::mem_command( string parameters
, StreamOutput
*stream
)
560 bool verbose
= shift_parameter( parameters
).find_first_of("Vv") != string::npos
;
561 unsigned long heap
= (unsigned long)_sbrk(0);
562 unsigned long m
= g_maximumHeapAddress
- heap
;
563 stream
->printf("Unused Heap: %lu bytes\r\n", m
);
565 uint32_t f
= heapWalk(stream
, verbose
);
566 stream
->printf("Total Free RAM: %lu bytes\r\n", m
+ f
);
568 stream
->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0
.free(), AHB1
.free());
575 static uint32_t getDeviceType()
577 #define IAP_LOCATION 0x1FFF1FF1
580 typedef void (*IAP
)(uint32_t *, uint32_t *);
581 IAP iap
= (IAP
) IAP_LOCATION
;
586 iap(command
, result
);
593 // get network config
594 void SimpleShell::net_command( string parameters
, StreamOutput
*stream
)
597 bool ok
= PublicData::get_value( network_checksum
, get_ipconfig_checksum
, &returned_data
);
599 char *str
= (char *)returned_data
;
600 stream
->printf("%s\r\n", str
);
604 stream
->printf("No network detected\n");
608 // print out build version
609 void SimpleShell::version_command( string parameters
, StreamOutput
*stream
)
612 uint32_t dev
= getDeviceType();
613 const char *mcu
= (dev
& 0x00100000) ? "LPC1769" : "LPC1768";
614 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);
618 void SimpleShell::reset_command( string parameters
, StreamOutput
*stream
)
620 stream
->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
621 reset_delay_secs
= 5; // reboot in 5 seconds
624 // go into dfu boot mode
625 void SimpleShell::dfu_command( string parameters
, StreamOutput
*stream
)
627 stream
->printf("Entering boot mode...\r\n");
631 // Break out into the MRI debugging system
632 void SimpleShell::break_command( string parameters
, StreamOutput
*stream
)
634 stream
->printf("Entering MRI debug mode...\r\n");
638 static int get_active_tool()
641 bool ok
= PublicData::get_value(tool_manager_checksum
, get_active_tool_checksum
, &returned_data
);
643 int active_tool
= *static_cast<int *>(returned_data
);
650 void SimpleShell::grblDP_command( string parameters
, StreamOutput
*stream
)
653 [G54:95.000,40.000,-23.600]
654 [G55:0.000,0.000,0.000]
655 [G56:0.000,0.000,0.000]
656 [G57:0.000,0.000,0.000]
657 [G58:0.000,0.000,0.000]
658 [G59:0.000,0.000,0.000]
659 [G28:0.000,0.000,0.000]
660 [G30:0.000,0.000,0.000]
661 [G92:0.000,0.000,0.000]
663 [PRB:0.000,0.000,0.000:0]
666 bool verbose
= shift_parameter( parameters
).find_first_of("Vv") != string::npos
;
668 std::vector
<Robot::wcs_t
> v
= THEKERNEL
->robot
->get_wcs_state();
670 char current_wcs
= std::get
<0>(v
[0]);
671 stream
->printf("[current WCS: %s]\n", wcs2gcode(current_wcs
).c_str());
674 int n
= std::get
<1>(v
[0]);
675 for (int i
= 1; i
<= n
; ++i
) {
676 stream
->printf("[%s:%1.4f,%1.4f,%1.4f]\n", wcs2gcode(i
-1).c_str(), std::get
<0>(v
[i
]), std::get
<1>(v
[i
]), std::get
<2>(v
[i
]));
680 PublicData::get_value( endstops_checksum
, saved_position_checksum
, &rd
);
681 stream
->printf("[G28:%1.4f,%1.4f,%1.4f]\n", rd
[0], rd
[1], rd
[2]);
682 stream
->printf("[G30:%1.4f,%1.4f,%1.4f]\n", 0.0F
, 0.0F
, 0.0F
); // not implemented
684 stream
->printf("[G92:%1.4f,%1.4f,%1.4f]\n", std::get
<0>(v
[n
+1]), std::get
<1>(v
[n
+1]), std::get
<2>(v
[n
+1]));
686 stream
->printf("[Tool Offset:%1.4f,%1.4f,%1.4f]\n", std::get
<0>(v
[n
+2]), std::get
<1>(v
[n
+2]), std::get
<2>(v
[n
+2]));
688 stream
->printf("[TL0:%1.4f]\n", std::get
<2>(v
[n
+2]));
691 // this is the last probe position, updated when a probe completes, also stores the number of steps moved after a homing cycle
694 std::tie(px
, py
, pz
, ps
) = THEKERNEL
->robot
->get_last_probe_position();
695 stream
->printf("[PRB:%1.4f,%1.4f,%1.4f:%d]\n", px
, py
, pz
, ps
);
698 void SimpleShell::get_command( string parameters
, StreamOutput
*stream
)
700 string what
= shift_parameter( parameters
);
702 if (what
== "temp") {
703 struct pad_temperature temp
;
704 string type
= shift_parameter( parameters
);
706 // scan all temperature controls
707 std::vector
<struct pad_temperature
> controllers
;
708 bool ok
= PublicData::get_value(temperature_control_checksum
, poll_controls_checksum
, &controllers
);
710 for (auto &c
: controllers
) {
711 stream
->printf("%s (%d) temp: %f/%f @%d\r\n", c
.designator
.c_str(), c
.id
, c
.current_temperature
, c
.target_temperature
, c
.pwm
);
715 stream
->printf("no heaters found\r\n");
719 bool ok
= PublicData::get_value( temperature_control_checksum
, current_temperature_checksum
, get_checksum(type
), &temp
);
722 stream
->printf("%s temp: %f/%f @%d\r\n", type
.c_str(), temp
.current_temperature
, temp
.target_temperature
, temp
.pwm
);
724 stream
->printf("%s is not a known temperature device\r\n", type
.c_str());
728 } else if (what
== "fk" || what
== "ik") {
729 string p
= shift_parameter( parameters
);
733 p
= shift_parameter( parameters
);
736 std::vector
<float> v
= parse_number_list(p
.c_str());
737 if(p
.empty() || v
.size() < 1) {
738 stream
->printf("error:usage: get [fk|ik] [-m] x[,y,z]\n");
743 float y
= (v
.size() > 1) ? v
[1] : x
;
744 float z
= (v
.size() > 2) ? v
[2] : y
;
747 // do forward kinematics on the given actuator position and display the cartesian coordinates
748 ActuatorCoordinates apos
{x
, y
, z
};
750 THEKERNEL
->robot
->arm_solution
->actuator_to_cartesian(apos
, pos
);
751 stream
->printf("cartesian= X %f, Y %f, Z %f, Steps= A %lu, B %lu, C %lu\n",
752 pos
[0], pos
[1], pos
[2],
753 lroundf(x
*THEKERNEL
->robot
->actuators
[0]->get_steps_per_mm()),
754 lroundf(y
*THEKERNEL
->robot
->actuators
[1]->get_steps_per_mm()),
755 lroundf(z
*THEKERNEL
->robot
->actuators
[2]->get_steps_per_mm()));
761 // do inverse kinematics on the given cartesian position and display the actuator coordinates
762 float pos
[3]{x
, y
, z
};
763 ActuatorCoordinates apos
;
764 THEKERNEL
->robot
->arm_solution
->cartesian_to_actuator(pos
, apos
);
765 stream
->printf("actuator= A %f, B %f, C %f\n", apos
[0], apos
[1], apos
[2]);
769 // move to the calculated, or given, XYZ
771 snprintf(cmd
, sizeof(cmd
), "G53 G0 X%f Y%f Z%f", x
, y
, z
);
772 struct SerialMessage message
;
773 message
.message
= cmd
;
774 message
.stream
= &(StreamOutput::NullStream
);
775 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
776 THEKERNEL
->conveyor
->wait_for_empty_queue();
779 } else if (what
== "pos") {
780 // convenience to call all the various M114 variants
782 THEKERNEL
->robot
->print_position(0, buf
, sizeof buf
); stream
->printf("last %s\n", buf
);
783 THEKERNEL
->robot
->print_position(1, buf
, sizeof buf
); stream
->printf("realtime %s\n", buf
);
784 THEKERNEL
->robot
->print_position(2, buf
, sizeof buf
); stream
->printf("%s\n", buf
);
785 THEKERNEL
->robot
->print_position(3, buf
, sizeof buf
); stream
->printf("%s\n", buf
);
786 THEKERNEL
->robot
->print_position(4, buf
, sizeof buf
); stream
->printf("%s\n", buf
);
787 THEKERNEL
->robot
->print_position(5, buf
, sizeof buf
); stream
->printf("%s\n", buf
);
789 } else if (what
== "wcs") {
790 // print the wcs state
791 grblDP_command("-v", stream
);
793 } else if (what
== "state") {
795 // [G0 G54 G17 G21 G90 G94 M0 M5 M9 T0 F0.]
796 stream
->printf("[G%d %s G%d G%d G%d G94 M0 M5 M9 T%d F%1.4f]\n",
797 THEKERNEL
->gcode_dispatch
->get_modal_command(),
798 wcs2gcode(THEKERNEL
->robot
->get_current_wcs()).c_str(),
799 THEKERNEL
->robot
->plane_axis_0
== X_AXIS
&& THEKERNEL
->robot
->plane_axis_1
== Y_AXIS
&& THEKERNEL
->robot
->plane_axis_2
== Z_AXIS
? 17 :
800 THEKERNEL
->robot
->plane_axis_0
== X_AXIS
&& THEKERNEL
->robot
->plane_axis_1
== Z_AXIS
&& THEKERNEL
->robot
->plane_axis_2
== Y_AXIS
? 18 :
801 THEKERNEL
->robot
->plane_axis_0
== Y_AXIS
&& THEKERNEL
->robot
->plane_axis_1
== Z_AXIS
&& THEKERNEL
->robot
->plane_axis_2
== X_AXIS
? 19 : 17,
802 THEKERNEL
->robot
->inch_mode
? 20 : 21,
803 THEKERNEL
->robot
->absolute_mode
? 90 : 91,
805 THEKERNEL
->robot
->get_feed_rate());
807 } else if (what
== "status") {
808 // also ? on serial and usb
809 stream
->printf("%s\n", THEKERNEL
->get_query_string().c_str());
812 stream
->printf("error:unknown option %s\n", what
.c_str());
816 // used to test out the get public data events
817 void SimpleShell::set_temp_command( string parameters
, StreamOutput
*stream
)
819 string type
= shift_parameter( parameters
);
820 string temp
= shift_parameter( parameters
);
821 float t
= temp
.empty() ? 0.0 : strtof(temp
.c_str(), NULL
);
822 bool ok
= PublicData::set_value( temperature_control_checksum
, get_checksum(type
), &t
);
825 stream
->printf("%s temp set to: %3.1f\r\n", type
.c_str(), t
);
827 stream
->printf("%s is not a known temperature device\r\n", type
.c_str());
831 void SimpleShell::print_thermistors_command( string parameters
, StreamOutput
*stream
)
833 #ifndef NO_TOOLS_TEMPERATURECONTROL
834 Thermistor::print_predefined_thermistors(stream
);
838 void SimpleShell::calc_thermistor_command( string parameters
, StreamOutput
*stream
)
840 #ifndef NO_TOOLS_TEMPERATURECONTROL
841 string s
= shift_parameter( parameters
);
843 // see if we have -sn as first argument
844 if(s
.find("-s", 0, 2) != string::npos
) {
845 // save the results to thermistor n
846 saveto
= strtol(s
.substr(2).c_str(), nullptr, 10);
851 std::vector
<float> trl
= parse_number_list(parameters
.c_str());
852 if(trl
.size() == 6) {
853 // calculate the coefficients
855 std::tie(c1
, c2
, c3
) = Thermistor::calculate_steinhart_hart_coefficients(trl
[0], trl
[1], trl
[2], trl
[3], trl
[4], trl
[5]);
856 stream
->printf("Steinhart Hart coefficients: I%1.18f J%1.18f K%1.18f\n", c1
, c2
, c3
);
858 stream
->printf(" Paste the above in the M305 S0 command, then save with M500\n");
861 int n
= snprintf(buf
, sizeof(buf
), "M305 S%d I%1.18f J%1.18f K%1.18f", saveto
, c1
, c2
, c3
);
863 Gcode
gcode(g
, &(StreamOutput::NullStream
));
864 THEKERNEL
->call_event(ON_GCODE_RECEIVED
, &gcode
);
865 stream
->printf(" Setting Thermistor %d to those settings, save with M500\n", saveto
);
870 stream
->printf("Usage: calc_thermistor T1,R1,T2,R2,T3,R3\n");
875 // used to test out the get public data events for switch
876 void SimpleShell::switch_command( string parameters
, StreamOutput
*stream
)
878 string type
= shift_parameter( parameters
);
879 string value
= shift_parameter( parameters
);
881 if(value
== "on" || value
== "off") {
882 bool b
= value
== "on";
883 ok
= PublicData::set_value( switch_checksum
, get_checksum(type
), state_checksum
, &b
);
885 float v
= strtof(value
.c_str(), NULL
);
886 ok
= PublicData::set_value( switch_checksum
, get_checksum(type
), value_checksum
, &v
);
889 stream
->printf("switch %s set to: %s\r\n", type
.c_str(), value
.c_str());
891 stream
->printf("%s is not a known switch device\r\n", type
.c_str());
895 void SimpleShell::md5sum_command( string parameters
, StreamOutput
*stream
)
897 string filename
= absolute_from_relative(parameters
);
900 FILE *lp
= fopen(filename
.c_str(), "r");
902 stream
->printf("File not found: %s\r\n", filename
.c_str());
908 size_t n
= fread(buf
, 1, sizeof buf
, lp
);
909 if(n
> 0) md5
.update(buf
, n
);
910 THEKERNEL
->call_event(ON_IDLE
);
913 stream
->printf("%s %s\n", md5
.finalize().hexdigest().c_str(), filename
.c_str());
917 // runs several types of test on the mechanisms
918 void SimpleShell::test_command( string parameters
, StreamOutput
*stream
)
920 string what
= shift_parameter( parameters
);
923 // jogs back and forth usage: axis distance iterations [feedrate]
924 string axis
= shift_parameter( parameters
);
925 string dist
= shift_parameter( parameters
);
926 string iters
= shift_parameter( parameters
);
927 string speed
= shift_parameter( parameters
);
928 if(axis
.empty() || dist
.empty() || iters
.empty()) {
929 stream
->printf("error: Need axis distance iterations\n");
932 float d
= strtof(dist
.c_str(), NULL
);
933 float f
= speed
.empty() ? THEKERNEL
->robot
->get_feed_rate() : strtof(speed
.c_str(), NULL
);
934 uint32_t n
= strtol(iters
.c_str(), NULL
, 10);
937 for (uint32_t i
= 0; i
< n
; ++i
) {
939 snprintf(cmd
, sizeof(cmd
), "G91 G0 %c%f F%f G90", toupper(axis
[0]), toggle
? -d
: d
, f
);
940 stream
->printf("%s\n", cmd
);
941 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
942 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
943 if(THEKERNEL
->is_halted()) break;
944 THEKERNEL
->conveyor
->wait_for_empty_queue();
947 stream
->printf("done\n");
949 }else if (what
== "circle") {
950 // draws a circle around current position. usage: radius segments iterations [feedrate]
951 string radius
= shift_parameter( parameters
);
952 string segments
= shift_parameter( parameters
);
953 string iters
= shift_parameter( parameters
);
954 string speed
= shift_parameter( parameters
);
955 if(radius
.empty() || segments
.empty() || iters
.empty()) {
956 stream
->printf("error: Need radius segments iterations\n");
960 float r
= strtof(radius
.c_str(), NULL
);
961 uint32_t s
= strtol(segments
.c_str(), NULL
, 10);
962 uint32_t n
= strtol(iters
.c_str(), NULL
, 10);
963 float f
= speed
.empty() ? THEKERNEL
->robot
->get_feed_rate() : strtof(speed
.c_str(), NULL
);
965 std::tie(xoff
, yoff
, std::ignore
) = THEKERNEL
->robot
->mcs2wcs(THEKERNEL
->robot
->get_axis_position());
967 snprintf(cmd
, sizeof(cmd
), "G90\n");
968 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
969 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
971 for (uint32_t i
= 0; i
< n
; ++i
) {
972 for(uint32_t a
=0;a
<s
;a
++) {
973 snprintf(cmd
, sizeof(cmd
), "G0 X%f Y%f F%f",
974 xoff
+ (sinf(a
* (360.0F
/ s
) * (float)M_PI
/ 180.0F
) * r
),
975 yoff
+ (cosf(a
* (360.0F
/ s
) * (float)M_PI
/ 180.0F
) * r
),
977 stream
->printf("%s\n", cmd
);
978 message
.message
= cmd
;
979 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
980 if(THEKERNEL
->is_halted()) break;
982 if(THEKERNEL
->is_halted()) break;
983 THEKERNEL
->conveyor
->wait_for_empty_queue();
985 stream
->printf("done\n");
987 }else if (what
== "square") {
988 // draws a square usage: size iterations [feedrate]
989 string size
= shift_parameter( parameters
);
990 string iters
= shift_parameter( parameters
);
991 string speed
= shift_parameter( parameters
);
992 if(size
.empty() || iters
.empty()) {
993 stream
->printf("error: Need size iterations\n");
996 float d
= strtof(size
.c_str(), NULL
);
997 float f
= speed
.empty() ? THEKERNEL
->robot
->get_feed_rate() : strtof(speed
.c_str(), NULL
);
998 uint32_t n
= strtol(iters
.c_str(), NULL
, 10);
1000 for (uint32_t i
= 0; i
< n
; ++i
) {
1003 snprintf(cmd
, sizeof(cmd
), "G91 G0 X%f F%f", d
, f
);
1004 stream
->printf("%s\n", cmd
);
1005 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
1006 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
1009 snprintf(cmd
, sizeof(cmd
), "G0 Y%f", d
);
1010 stream
->printf("%s\n", cmd
);
1011 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
1012 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
1015 snprintf(cmd
, sizeof(cmd
), "G0 X%f", -d
);
1016 stream
->printf("%s\n", cmd
);
1017 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
1018 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
1021 snprintf(cmd
, sizeof(cmd
), "G0 Y%f G90", -d
);
1022 stream
->printf("%s\n", cmd
);
1023 struct SerialMessage message
{&StreamOutput::NullStream
, cmd
};
1024 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
1026 if(THEKERNEL
->is_halted()) break;
1027 THEKERNEL
->conveyor
->wait_for_empty_queue();
1029 stream
->printf("done\n");
1032 stream
->printf("usage:\n test jog axis distance iterations [feedrate]\n");
1033 stream
->printf(" test square size iterations [feedrate]\n");
1034 stream
->printf(" test circle radius segments iterations [feedrate]\n");
1039 void SimpleShell::help_command( string parameters
, StreamOutput
*stream
)
1041 stream
->printf("Commands:\r\n");
1042 stream
->printf("version\r\n");
1043 stream
->printf("mem [-v]\r\n");
1044 stream
->printf("ls [-s] [folder]\r\n");
1045 stream
->printf("cd folder\r\n");
1046 stream
->printf("pwd\r\n");
1047 stream
->printf("cat file [limit] [-d 10]\r\n");
1048 stream
->printf("rm file\r\n");
1049 stream
->printf("mv file newfile\r\n");
1050 stream
->printf("remount\r\n");
1051 stream
->printf("play file [-v]\r\n");
1052 stream
->printf("progress - shows progress of current play\r\n");
1053 stream
->printf("abort - abort currently playing file\r\n");
1054 stream
->printf("reset - reset smoothie\r\n");
1055 stream
->printf("dfu - enter dfu boot loader\r\n");
1056 stream
->printf("break - break into debugger\r\n");
1057 stream
->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
1058 stream
->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
1059 stream
->printf("get [pos|wcs|state|status|fk|ik]\r\n");
1060 stream
->printf("get temp [bed|hotend]\r\n");
1061 stream
->printf("set_temp bed|hotend 185\r\n");
1062 stream
->printf("net\r\n");
1063 stream
->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n");
1064 stream
->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n");
1065 stream
->printf("upload filename - saves a stream of text to the named file\r\n");
1066 stream
->printf("calc_thermistor [-s0] T1,R1,T2,R2,T3,R3 - calculate the Steinhart Hart coefficients for a thermistor\r\n");
1067 stream
->printf("thermistors - print out the predefined thermistors\r\n");
1068 stream
->printf("md5sum file - prints md5 sum of the given file\r\n");