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 #include "version.h"
  19 #include "PublicDataRequest.h"
  20
  21 #include "modules/tools/temperaturecontrol/TemperatureControlPublicAccess.h"
  22 #include "modules/robot/RobotPublicAccess.h"
  23
  24 extern unsigned int g_maximumHeapAddress;
  25
  26 #include <malloc.h>
  27 #include <mri.h>
  28 #include <stdio.h>
  29 #include <stdint.h>
  30
  31 extern "C" uint32_t  __end__;
  32 extern "C" uint32_t  __malloc_free_list;
  33 extern "C" uint32_t  _sbrk(int size);
  34
  35 #define get_temp_command_checksum CHECKSUM("temp")
  36 #define get_pos_command_checksum  CHECKSUM("pos")
  37
  38 // command lookup table
  39 SimpleShell::ptentry_t SimpleShell::commands_table[] = {
  40     {CHECKSUM("ls"),       &SimpleShell::ls_command},
  41     {CHECKSUM("cd"),       &SimpleShell::cd_command},
  42     {CHECKSUM("pwd"),      &SimpleShell::pwd_command},
  43     {CHECKSUM("cat"),      &SimpleShell::cat_command},
  44     {CHECKSUM("rm"),       &SimpleShell::rm_command},
  45     {CHECKSUM("reset"),    &SimpleShell::reset_command},
  46     {CHECKSUM("dfu"),      &SimpleShell::dfu_command},
  47     {CHECKSUM("break"),    &SimpleShell::break_command},
  48     {CHECKSUM("help"),     &SimpleShell::help_command},
  49     {CHECKSUM("version"),  &SimpleShell::version_command},
  50     {CHECKSUM("mem"),      &SimpleShell::mem_command},
  51     {CHECKSUM("get"),      &SimpleShell::get_command},
  52     {CHECKSUM("set_temp"), &SimpleShell::set_temp_command},
  53
  54     // unknown command
  55     {0, NULL}
  56 };
  57
  58 // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556
  59 static void heapWalk(StreamOutput *stream, bool verbose)
  60 {
  61     uint32_t chunkNumber = 1;
  62     // The __end__ linker symbol points to the beginning of the heap.
  63     uint32_t chunkCurr = (uint32_t)&__end__;
  64     // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks.
  65     uint32_t freeCurr = __malloc_free_list;
  66     // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap.
  67     uint32_t heapEnd = _sbrk(0);
  68     // accumulate totals
  69     uint32_t freeSize = 0;
  70     uint32_t usedSize = 0;
  71
  72     stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr);
  73
  74     // Walk through the chunks until we hit the end of the heap.
  75     while (chunkCurr < heapEnd) {
  76         // Assume the chunk is in use.  Will update later.
  77         int      isChunkFree = 0;
  78         // The first 32-bit word in a chunk is the size of the allocation.  newlib-nano over allocates by 8 bytes.
  79         // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer.
  80         uint32_t chunkSize = *(uint32_t *)chunkCurr;
  81         // The start of the next chunk is right after the end of this one.
  82         uint32_t chunkNext = chunkCurr + chunkSize;
  83
  84         // The free list is sorted by address.
  85         // Check to see if we have found the next free chunk in the heap.
  86         if (chunkCurr == freeCurr) {
  87             // Chunk is free so flag it as such.
  88             isChunkFree = 1;
  89             // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address).
  90             freeCurr = *(uint32_t *)(freeCurr + 4);
  91         }
  92
  93         // Skip past the 32-bit size field in the chunk header.
  94         chunkCurr += 4;
  95         // 8-byte align the data pointer.
  96         chunkCurr = (chunkCurr + 7) & ~7;
  97         // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8
  98         // byte-alignment of the returned pointer.
  99         chunkSize -= 8;
 100         if (verbose)
 101             stream->printf("  Chunk: %lu  Address: 0x%08lX  Size: %lu  %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : "");
 102
 103         if (isChunkFree) freeSize += chunkSize;
 104         else usedSize += chunkSize;
 105
 106         chunkCurr = chunkNext;
 107         chunkNumber++;
 108     }
 109     stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize);
 110 }
 111
 112
 113 void SimpleShell::on_module_loaded()
 114 {
 115     this->current_path = "/";
 116     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
 117     this->reset_delay_secs = 0;
 118
 119     this->register_for_event(ON_SECOND_TICK);
 120     this->register_for_event(ON_GCODE_RECEIVED);
 121 }
 122
 123 void SimpleShell::on_second_tick(void *)
 124 {
 125     // we are timing out for the reset
 126     if (this->reset_delay_secs > 0) {
 127         if (--this->reset_delay_secs == 0) {
 128             system_reset(false);
 129         }
 130     }
 131 }
 132
 133 void SimpleShell::on_gcode_received(void *argument)
 134 {
 135     Gcode *gcode = static_cast<Gcode *>(argument);
 136     string args= get_arguments(gcode->command);
 137
 138     if (gcode->has_m) {
 139         if (gcode->m == 20) { // list sd card
 140             gcode->mark_as_taken();
 141             gcode->stream->printf("Begin file list\r\n");
 142             ls_command("/sd", gcode->stream);
 143             gcode->stream->printf("End file list\r\n");
 144         }
 145         else if (gcode->m == 30) { // remove file
 146             gcode->mark_as_taken();
 147             rm_command("/sd/" + args, gcode->stream);
 148         }
 149     }
 150 }
 151
 152 bool SimpleShell::parse_command(unsigned short cs, string args, StreamOutput *stream)
 153 {
 154     for (ptentry_t *p = commands_table; p->pfunc != NULL; ++p) {
 155         if (cs == p->command_cs) {
 156             PFUNC fnc= p->pfunc;
 157             (this->*fnc)(args, stream);
 158             return true;
 159         }
 160     }
 161
 162     return false;
 163 }
 164
 165 // When a new line is received, check if it is a command, and if it is, act upon it
 166 void SimpleShell::on_console_line_received( void *argument )
 167 {
 168     SerialMessage new_message = *static_cast<SerialMessage *>(argument);
 169
 170     // ignore comments
 171     if (new_message.message[0] == ';') return;
 172
 173     string possible_command = new_message.message;
 174
 175     //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
 176
 177     // We don't compare to a string but to a checksum of that string, this saves some space in flash memory
 178     unsigned short check_sum = get_checksum( possible_command.substr(0, possible_command.find_first_of(" \r\n")) ); // todo: put this method somewhere more convenient
 179
 180     // find command and execute it
 181     parse_command(check_sum, get_arguments(possible_command), new_message.stream);
 182 }
 183
 184 // Convert a path indication ( absolute or relative ) into a path ( absolute )
 185 string SimpleShell::absolute_from_relative( string path )
 186 {
 187     if ( path[0] == '/' ) {
 188         return path;
 189     }
 190     if ( path[0] == '.' ) {
 191         return this->current_path;
 192     }
 193     return this->current_path + path;
 194 }
 195
 196 // Act upon an ls command
 197 // Convert the first parameter into an absolute path, then list the files in that path
 198 void SimpleShell::ls_command( string parameters, StreamOutput *stream )
 199 {
 200     string folder = this->absolute_from_relative( parameters );
 201     DIR *d;
 202     struct dirent *p;
 203     d = opendir(folder.c_str());
 204     if (d != NULL) {
 205         while ((p = readdir(d)) != NULL) {
 206             stream->printf("%s\r\n", lc(string(p->d_name)).c_str());
 207         }
 208         closedir(d);
 209     } else {
 210         stream->printf("Could not open directory %s \r\n", folder.c_str());
 211     }
 212 }
 213
 214 // Delete a file
 215 void SimpleShell::rm_command( string parameters, StreamOutput *stream )
 216 {
 217     const char *fn= this->absolute_from_relative(shift_parameter( parameters )).c_str();
 218     int s = remove(fn);
 219     if (s != 0) stream->printf("Could not delete %s \r\n", fn);
 220 }
 221
 222 // Change current absolute path to provided path
 223 void SimpleShell::cd_command( string parameters, StreamOutput *stream )
 224 {
 225     string folder = this->absolute_from_relative( parameters );
 226     if ( folder[folder.length() - 1] != '/' ) {
 227         folder += "/";
 228     }
 229     DIR *d;
 230     d = opendir(folder.c_str());
 231     if (d == NULL) {
 232         stream->printf("Could not open directory %s \r\n", folder.c_str() );
 233     } else {
 234         this->current_path = folder;
 235         closedir(d);
 236     }
 237 }
 238
 239 // Responds with the present working directory
 240 void SimpleShell::pwd_command( string parameters, StreamOutput *stream )
 241 {
 242     stream->printf("%s\r\n", this->current_path.c_str());
 243 }
 244
 245 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
 246 void SimpleShell::cat_command( string parameters, StreamOutput *stream )
 247 {
 248
 249     // Get parameters ( filename and line limit )
 250     string filename          = this->absolute_from_relative(shift_parameter( parameters ));
 251     string limit_paramater   = shift_parameter( parameters );
 252     int limit = -1;
 253     if ( limit_paramater != "" ) {
 254         char *e = NULL;
 255         limit = strtol(limit_paramater.c_str(), &e, 10);
 256         if (e <= limit_paramater.c_str())
 257             limit = -1;
 258     }
 259
 260     // Open file
 261     FILE *lp = fopen(filename.c_str(), "r");
 262     if (lp == NULL) {
 263         stream->printf("File not found: %s\r\n", filename.c_str());
 264         return;
 265     }
 266     string buffer;
 267     int c;
 268     int newlines = 0;
 269
 270     // Print each line of the file
 271     while ((c = fgetc (lp)) != EOF) {
 272         buffer.append((char *)&c, 1);
 273         if ( char(c) == '\n' ) {
 274             newlines++;
 275             stream->puts(buffer.c_str());
 276             buffer.clear();
 277         }
 278         if ( newlines == limit ) {
 279             break;
 280         }
 281     };
 282     fclose(lp);
 283
 284 }
 285
 286 // show free memory
 287 void SimpleShell::mem_command( string parameters, StreamOutput *stream)
 288 {
 289     bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos ;
 290     unsigned long heap = (unsigned long)_sbrk(0);
 291     unsigned long m = g_maximumHeapAddress - heap;
 292     stream->printf("Unused Heap: %lu bytes\r\n", m);
 293
 294     heapWalk(stream, verbose);
 295 }
 296
 297 static uint32_t getDeviceType()
 298 {
 299 #define IAP_LOCATION 0x1FFF1FF1
 300     uint32_t command[1];
 301     uint32_t result[5];
 302     typedef void (*IAP)(uint32_t *, uint32_t *);
 303     IAP iap = (IAP) IAP_LOCATION;
 304
 305     __disable_irq();
 306
 307     command[0] = 54;
 308     iap(command, result);
 309
 310     __enable_irq();
 311
 312     return result[1];
 313 }
 314
 315 // print out build version
 316 void SimpleShell::version_command( string parameters, StreamOutput *stream)
 317 {
 318     Version vers;
 319     uint32_t dev = getDeviceType();
 320     const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768";
 321     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);
 322 }
 323
 324 // Reset the system
 325 void SimpleShell::reset_command( string parameters, StreamOutput *stream)
 326 {
 327     stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
 328     this->reset_delay_secs = 5; // reboot in 5 seconds
 329 }
 330
 331 // go into dfu boot mode
 332 void SimpleShell::dfu_command( string parameters, StreamOutput *stream)
 333 {
 334     stream->printf("Entering boot mode...\r\n");
 335     system_reset(true);
 336 }
 337
 338 // Break out into the MRI debugging system
 339 void SimpleShell::break_command( string parameters, StreamOutput *stream)
 340 {
 341     stream->printf("Entering MRI debug mode...\r\n");
 342     __debugbreak();
 343 }
 344
 345 // used to test out the get public data events
 346 void SimpleShell::get_command( string parameters, StreamOutput *stream)
 347 {
 348     int what = get_checksum(shift_parameter( parameters ));
 349     void *returned_data;
 350
 351     if (what == get_temp_command_checksum) {
 352         string type = shift_parameter( parameters );
 353         bool ok = this->kernel->public_data->get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data );
 354
 355         if (ok) {
 356             struct pad_temperature temp =  *static_cast<struct pad_temperature *>(returned_data);
 357             stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
 358         } else {
 359             stream->printf("%s is not a known temperature device\r\n", type.c_str());
 360         }
 361
 362     } else if (what == get_pos_command_checksum) {
 363         bool ok = this->kernel->public_data->get_value( robot_checksum, current_position_checksum, &returned_data );
 364
 365         if (ok) {
 366             double *pos = static_cast<double *>(returned_data);
 367             stream->printf("Position X: %f, Y: %f, Z: %f\r\n", pos[0], pos[1], pos[2]);
 368
 369         } else {
 370             stream->printf("get pos command failed\r\n");
 371         }
 372     }
 373 }
 374
 375 // used to test out the get public data events
 376 void SimpleShell::set_temp_command( string parameters, StreamOutput *stream)
 377 {
 378     string type = shift_parameter( parameters );
 379     string temp = shift_parameter( parameters );
 380     double t = temp.empty() ? 0.0 : strtod(temp.c_str(), NULL);
 381     bool ok = this->kernel->public_data->set_value( temperature_control_checksum, get_checksum(type), &t );
 382
 383     if (ok) {
 384         stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t);
 385     } else {
 386         stream->printf("%s is not a known temperature device\r\n", type.c_str());
 387     }
 388 }
 389
 390 void SimpleShell::help_command( string parameters, StreamOutput *stream )
 391 {
 392     stream->printf("Commands:\r\n");
 393     stream->printf("version\r\n");
 394     stream->printf("mem [-v]\r\n");
 395     stream->printf("ls [folder]\r\n");
 396     stream->printf("cd folder\r\n");
 397     stream->printf("pwd\r\n");
 398     stream->printf("cat file [limit]\r\n");
 399     stream->printf("rm file\r\n");
 400     stream->printf("play file [-q]\r\n");
 401     stream->printf("progress - shows progress of current play\r\n");
 402     stream->printf("abort - abort currently playing file\r\n");
 403     stream->printf("reset - reset smoothie\r\n");
 404     stream->printf("dfu - enter dfu boot loader\r\n");
 405     stream->printf("break - break into debugger\r\n");
 406     stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
 407     stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
 408     stream->printf("config-load [<file_name>]\r\n");
 409     stream->printf("get temp [bed|hotend]\r\n");
 410     stream->printf("set_temp bed|hotend 185\r\n");
 411     stream->printf("get pos\r\n");
 412 }
 413