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