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 "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/Player.h"
18 void SimpleShell::on_module_loaded(){
19 this->current_path
= "/";
20 this->playing_file
= false;
21 this->register_for_event(ON_CONSOLE_LINE_RECEIVED
);
22 this->register_for_event(ON_MAIN_LOOP
);
25 // When a new line is received, check if it is a command, and if it is, act upon it
26 void SimpleShell::on_console_line_received( void* argument
){
27 SerialMessage new_message
= *static_cast<SerialMessage
*>(argument
);
28 string possible_command
= new_message
.message
;
30 //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
32 // We don't compare to a string but to a checksum of that string, this saves some space in flash memory
33 unsigned short check_sum
= get_checksum( possible_command
.substr(0,possible_command
.find_first_of(" \r\n")) ); // todo: put this method somewhere more convenient
35 // Act depending on command
36 if (check_sum
== ls_command_checksum
)
37 this->ls_command( get_arguments(possible_command
), new_message
.stream
);
38 else if (check_sum
== cd_command_checksum
)
39 this->cd_command( get_arguments(possible_command
), new_message
.stream
);
40 else if (check_sum
== pwd_command_checksum
)
41 this->pwd_command( get_arguments(possible_command
), new_message
.stream
);
42 else if (check_sum
== cat_command_checksum
)
43 this->cat_command( get_arguments(possible_command
), new_message
.stream
);
44 else if (check_sum
== play_command_checksum
)
45 this->play_command(get_arguments(possible_command
), new_message
.stream
);
46 else if (check_sum
== reset_command_checksum
)
47 this->reset_command(get_arguments(possible_command
),new_message
.stream
);
48 else if (check_sum
== dfu_command_checksum
)
49 this->reset_command(get_arguments(possible_command
),new_message
.stream
);
52 // Convert a path indication ( absolute or relative ) into a path ( absolute )
53 string
SimpleShell::absolute_from_relative( string path
){
54 if( path
[0] == '/' ){ return path
; }
55 if( path
[0] == '.' ){ return this->current_path
; }
56 return this->current_path
+ path
;
59 // Act upon an ls command
60 // Convert the first parameter into an absolute path, then list the files in that path
61 void SimpleShell::ls_command( string parameters
, StreamOutput
* stream
){
62 string folder
= this->absolute_from_relative( parameters
);
65 d
= opendir(folder
.c_str());
67 while((p
= readdir(d
)) != NULL
) { stream
->printf("%s\r\n", lc(string(p
->d_name
)).c_str()); }
69 stream
->printf("Could not open directory %s \r\n", folder
.c_str());
73 // Change current absolute path to provided path
74 void SimpleShell::cd_command( string parameters
, StreamOutput
* stream
){
75 string folder
= this->absolute_from_relative( parameters
);
76 if( folder
[folder
.length()-1] != '/' ){ folder
+= "/"; }
78 d
= opendir(folder
.c_str());
80 stream
->printf("Could not open directory %s \r\n", folder
.c_str() );
82 this->current_path
= folder
;
86 // Responds with the present working directory
87 void SimpleShell::pwd_command( string parameters
, StreamOutput
* stream
){
88 stream
->printf("%s\r\n", this->current_path
.c_str());
91 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
92 void SimpleShell::cat_command( string parameters
, StreamOutput
* stream
){
94 // Get parameters ( filename and line limit )
95 string filename
= this->absolute_from_relative(shift_parameter( parameters
));
96 string limit_paramater
= shift_parameter( parameters
);
98 if( limit_paramater
!= "" ){ limit
= int(atof(limit_paramater
.c_str())); }
101 FILE *lp
= fopen(filename
.c_str(), "r");
103 stream
->printf("File not found: %s\r\n", filename
.c_str());
110 // Print each line of the file
111 while ((c
= fgetc (lp
)) != EOF
){
112 buffer
.append((char *)&c
, 1);
113 if( char(c
) == '\n' ){
115 stream
->printf("%s", buffer
.c_str());
118 if( newlines
== limit
){ break; }
124 // Play a gcode file by considering each line as if it was received on the serial console
125 void SimpleShell::play_command( string parameters
, StreamOutput
* stream
){
128 string filename
= this->absolute_from_relative(shift_parameter( parameters
));
129 stream
->printf("Playing %s\r\n", filename
.c_str());
130 string options
= shift_parameter( parameters
);
132 this->current_file_handler
= fopen( filename
.c_str(), "r");
133 if(this->current_file_handler
== NULL
)
135 stream
->printf("File not found: %s\r\n", filename
.c_str());
138 this->playing_file
= true;
139 if( options
.find_first_of("Qq") == string::npos
){
140 this->current_stream
= stream
;
142 this->current_stream
= kernel
->streams
;
147 void SimpleShell::reset_command( string parameters
, StreamOutput
* stream
){
148 stream
->printf("Smoothie out. Peace.\r\n");
152 void SimpleShell::on_main_loop(void* argument
){
154 if( this->playing_file
){
158 // Print each line of the file
159 while ((c
= fgetc(this->current_file_handler
)) != EOF
){
161 this->current_stream
->printf("%s\n", buffer
.c_str());
162 struct SerialMessage message
;
163 message
.message
= buffer
;
164 message
.stream
= this->current_stream
;
165 // wait for the queue to have enough room that a serial message could still be received before sending
166 this->kernel
->player
->wait_for_queue(2);
167 this->kernel
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
175 fclose(this->current_file_handler
);
176 this->playing_file
= false;