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 #include "FileStream.h"
  21
  22 #include "modules/tools/temperaturecontrol/TemperatureControlPublicAccess.h"
  23 #include "modules/robot/RobotPublicAccess.h"
  24 #include "NetworkPublicAccess.h"
  25 #include "platform_memory.h"
  26
  27 extern unsigned int g_maximumHeapAddress;
  28
  29 #include <malloc.h>
  30 #include <mri.h>
  31 #include <stdio.h>
  32 #include <stdint.h>
  33
  34 extern "C" uint32_t  __end__;
  35 extern "C" uint32_t  __malloc_free_list;
  36 extern "C" uint32_t  _sbrk(int size);
  37
  38 #define get_temp_command_checksum CHECKSUM("temp")
  39 #define get_pos_command_checksum  CHECKSUM("pos")
  40
  41 // command lookup table
  42 SimpleShell::ptentry_t SimpleShell::commands_table[] = {
  43     {CHECKSUM("ls"),       &SimpleShell::ls_command},
  44     {CHECKSUM("cd"),       &SimpleShell::cd_command},
  45     {CHECKSUM("pwd"),      &SimpleShell::pwd_command},
  46     {CHECKSUM("cat"),      &SimpleShell::cat_command},
  47     {CHECKSUM("rm"),       &SimpleShell::rm_command},
  48     {CHECKSUM("reset"),    &SimpleShell::reset_command},
  49     {CHECKSUM("dfu"),      &SimpleShell::dfu_command},
  50     {CHECKSUM("break"),    &SimpleShell::break_command},
  51     {CHECKSUM("help"),     &SimpleShell::help_command},
  52     {CHECKSUM("?"),        &SimpleShell::help_command},
  53     {CHECKSUM("version"),  &SimpleShell::version_command},
  54     {CHECKSUM("mem"),      &SimpleShell::mem_command},
  55     {CHECKSUM("get"),      &SimpleShell::get_command},
  56     {CHECKSUM("set_temp"), &SimpleShell::set_temp_command},
  57     {CHECKSUM("net"),      &SimpleShell::net_command},
  58     {CHECKSUM("load"),     &SimpleShell::load_command},
  59     {CHECKSUM("save"),     &SimpleShell::save_command},
  60
  61     // unknown command
  62     {0, NULL}
  63 };
  64
  65 // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556
  66 static uint32_t heapWalk(StreamOutput *stream, bool verbose)
  67 {
  68     uint32_t chunkNumber = 1;
  69     // The __end__ linker symbol points to the beginning of the heap.
  70     uint32_t chunkCurr = (uint32_t)&__end__;
  71     // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks.
  72     uint32_t freeCurr = __malloc_free_list;
  73     // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap.
  74     uint32_t heapEnd = _sbrk(0);
  75     // accumulate totals
  76     uint32_t freeSize = 0;
  77     uint32_t usedSize = 0;
  78
  79     stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr);
  80
  81     // Walk through the chunks until we hit the end of the heap.
  82     while (chunkCurr < heapEnd) {
  83         // Assume the chunk is in use.  Will update later.
  84         int      isChunkFree = 0;
  85         // The first 32-bit word in a chunk is the size of the allocation.  newlib-nano over allocates by 8 bytes.
  86         // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer.
  87         uint32_t chunkSize = *(uint32_t *)chunkCurr;
  88         // The start of the next chunk is right after the end of this one.
  89         uint32_t chunkNext = chunkCurr + chunkSize;
  90
  91         // The free list is sorted by address.
  92         // Check to see if we have found the next free chunk in the heap.
  93         if (chunkCurr == freeCurr) {
  94             // Chunk is free so flag it as such.
  95             isChunkFree = 1;
  96             // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address).
  97             freeCurr = *(uint32_t *)(freeCurr + 4);
  98         }
  99
 100         // Skip past the 32-bit size field in the chunk header.
 101         chunkCurr += 4;
 102         // 8-byte align the data pointer.
 103         chunkCurr = (chunkCurr + 7) & ~7;
 104         // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8
 105         // byte-alignment of the returned pointer.
 106         chunkSize -= 8;
 107         if (verbose)
 108             stream->printf("  Chunk: %lu  Address: 0x%08lX  Size: %lu  %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : "");
 109
 110         if (isChunkFree) freeSize += chunkSize;
 111         else usedSize += chunkSize;
 112
 113         chunkCurr = chunkNext;
 114         chunkNumber++;
 115     }
 116     stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize);
 117     return freeSize;
 118 }
 119
 120
 121 void SimpleShell::on_module_loaded()
 122 {
 123     this->current_path = "/";
 124     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
 125         this->register_for_event(ON_GCODE_RECEIVED);
 126         this->register_for_event(ON_SECOND_TICK);
 127
 128     this->reset_delay_secs = 0;
 129 }
 130
 131 void SimpleShell::on_second_tick(void *)
 132 {
 133     // we are timing out for the reset
 134     if (this->reset_delay_secs > 0) {
 135         if (--this->reset_delay_secs == 0) {
 136             system_reset(false);
 137         }
 138     }
 139 }
 140
 141 void SimpleShell::on_gcode_received(void *argument)
 142 {
 143     Gcode *gcode = static_cast<Gcode *>(argument);
 144     string args= get_arguments(gcode->command);
 145
 146     if (gcode->has_m) {
 147         if (gcode->m == 20) { // list sd card
 148             gcode->mark_as_taken();
 149             gcode->stream->printf("Begin file list\r\n");
 150             ls_command("/sd", gcode->stream);
 151             gcode->stream->printf("End file list\r\n");
 152
 153         } else if (gcode->m == 30) { // remove file
 154             gcode->mark_as_taken();
 155             rm_command("/sd/" + args, gcode->stream);
 156
 157         }else if(gcode->m == 501) { // load config override
 158             gcode->mark_as_taken();
 159             if(args.empty()) {
 160                 load_command("/sd/config-override", gcode->stream);
 161             }else{
 162                 load_command("/sd/config-override." + args, gcode->stream);
 163             }
 164
 165         }else if(gcode->m == 504) { // save to specific config override file
 166             gcode->mark_as_taken();
 167             if(args.empty()) {
 168                 save_command("/sd/config-override", gcode->stream);
 169             }else{
 170                 save_command("/sd/config-override." + args, gcode->stream);
 171             }
 172         }
 173     }
 174 }
 175
 176 bool SimpleShell::parse_command(unsigned short cs, string args, StreamOutput *stream)
 177 {
 178     for (ptentry_t *p = commands_table; p->pfunc != NULL; ++p) {
 179         if (cs == p->command_cs) {
 180             PFUNC fnc= p->pfunc;
 181             (this->*fnc)(args, stream);
 182             return true;
 183         }
 184     }
 185
 186     return false;
 187 }
 188
 189 // When a new line is received, check if it is a command, and if it is, act upon it
 190 void SimpleShell::on_console_line_received( void *argument )
 191 {
 192     SerialMessage new_message = *static_cast<SerialMessage *>(argument);
 193
 194     // ignore comments
 195     if (new_message.message[0] == ';') return;
 196
 197     string possible_command = new_message.message;
 198
 199     //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
 200
 201     unsigned short check_sum = get_checksum( possible_command.substr(0, possible_command.find_first_of(" \r\n")) ); // todo: put this method somewhere more convenient
 202
 203     // find command and execute it
 204     parse_command(check_sum, get_arguments(possible_command), new_message.stream);
 205 }
 206
 207 // Convert a path indication ( absolute or relative ) into a path ( absolute )
 208 string SimpleShell::absolute_from_relative( string path )
 209 {
 210     string cwd = this->current_path;
 211
 212     if ( path.empty() ) {
 213             return this->current_path;
 214         }
 215
 216         if ( path[0] == '/' ) {
 217         return path;
 218     }
 219
 220         string match = "../" ;
 221     while ( path.substr(0,3) == match ) {
 222                 path = path.substr(3);
 223                 unsigned found = cwd.find_last_of("/");
 224                 cwd = cwd.substr(0,found);
 225     }
 226
 227         match = ".." ;
 228         if ( path.substr(0,2) == match ) {
 229                 path = path.substr(2);
 230                 unsigned found = cwd.find_last_of("/");
 231                 cwd = cwd.substr(0,found);
 232         }
 233
 234     if ( cwd[cwd.length() - 1] == '/' ) {
 235          return cwd + path;
 236     }
 237
 238         return cwd + '/' + path;
 239 }
 240
 241 // Act upon an ls command
 242 // Convert the first parameter into an absolute path, then list the files in that path
 243 void SimpleShell::ls_command( string parameters, StreamOutput *stream )
 244 {
 245     string folder = this->absolute_from_relative( parameters );
 246     DIR *d;
 247     struct dirent *p;
 248     d = opendir(folder.c_str());
 249     if (d != NULL) {
 250         while ((p = readdir(d)) != NULL) {
 251             stream->printf("%s\r\n", lc(string(p->d_name)).c_str());
 252         }
 253         closedir(d);
 254     } else {
 255         stream->printf("Could not open directory %s \r\n", folder.c_str());
 256     }
 257 }
 258
 259 // Delete a file
 260 void SimpleShell::rm_command( string parameters, StreamOutput *stream )
 261 {
 262     const char *fn= this->absolute_from_relative(shift_parameter( parameters )).c_str();
 263     int s = remove(fn);
 264     if (s != 0) stream->printf("Could not delete %s \r\n", fn);
 265 }
 266
 267 // Change current absolute path to provided path
 268 void SimpleShell::cd_command( string parameters, StreamOutput *stream )
 269 {
 270     string folder = this->absolute_from_relative( parameters );
 271
 272     DIR *d;
 273     d = opendir(folder.c_str());
 274     if (d == NULL) {
 275         stream->printf("Could not open directory %s \r\n", folder.c_str() );
 276     } else {
 277         this->current_path = folder;
 278         closedir(d);
 279     }
 280 }
 281
 282 // Responds with the present working directory
 283 void SimpleShell::pwd_command( string parameters, StreamOutput *stream )
 284 {
 285     stream->printf("%s\r\n", this->current_path.c_str());
 286 }
 287
 288 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
 289 void SimpleShell::cat_command( string parameters, StreamOutput *stream )
 290 {
 291     // Get parameters ( filename and line limit )
 292     string filename          = this->absolute_from_relative(shift_parameter( parameters ));
 293     string limit_paramater   = shift_parameter( parameters );
 294     int limit = -1;
 295     if ( limit_paramater != "" ) {
 296         char *e = NULL;
 297         limit = strtol(limit_paramater.c_str(), &e, 10);
 298         if (e <= limit_paramater.c_str())
 299             limit = -1;
 300     }
 301
 302     // Open file
 303     FILE *lp = fopen(filename.c_str(), "r");
 304     if (lp == NULL) {
 305         stream->printf("File not found: %s\r\n", filename.c_str());
 306         return;
 307     }
 308     string buffer;
 309     int c;
 310     int newlines = 0;
 311     int linecnt= 0;
 312     // Print each line of the file
 313     while ((c = fgetc (lp)) != EOF) {
 314         buffer.append((char *)&c, 1);
 315         if ( char(c) == '\n' || ++linecnt > 80) {
 316             newlines++;
 317             stream->puts(buffer.c_str());
 318             buffer.clear();
 319             if(linecnt > 80) linecnt= 0;
 320         }
 321         if ( newlines == limit ) {
 322             break;
 323         }
 324     };
 325     fclose(lp);
 326
 327 }
 328
 329 // loads the specified config-override file
 330 void SimpleShell::load_command( string parameters, StreamOutput *stream )
 331 {
 332     // Get parameters ( filename )
 333     string filename = this->absolute_from_relative(parameters);
 334     if(filename == "/") {
 335         filename = THEKERNEL->config_override_filename();
 336     }
 337
 338     FILE *fp= fopen(filename.c_str(), "r");
 339     if(fp != NULL) {
 340         char buf[132];
 341         stream->printf("Loading config override file: %s...\n", filename.c_str());
 342         while(fgets(buf, sizeof buf, fp) != NULL) {
 343             stream->printf("  %s", buf);
 344             if(buf[0] == ';') continue; // skip the comments
 345             struct SerialMessage message= {&(StreamOutput::NullStream), buf};
 346             THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
 347         }
 348         stream->printf("config override file executed\n");
 349         fclose(fp);
 350
 351     }else{
 352         stream->printf("File not found: %s\n", filename.c_str());
 353     }
 354 }
 355
 356 // saves the specified config-override file
 357 void SimpleShell::save_command( string parameters, StreamOutput *stream )
 358 {
 359     // Get parameters ( filename )
 360     string filename = this->absolute_from_relative(parameters);
 361     if(filename == "/") {
 362         filename = THEKERNEL->config_override_filename();
 363     }
 364
 365     // replace stream with one that writes to config-override file
 366     FileStream *gs = new FileStream(filename.c_str());
 367     if(!gs->is_open()) {
 368         stream->printf("Unable to open File %s for write\n", filename.c_str());
 369         return;
 370     }
 371
 372     // issue a M500 which will store values in the file stream
 373     Gcode *gcode = new Gcode("M500", gs);
 374     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 375     delete gs;
 376     delete gcode;
 377
 378     stream->printf("Settings Stored to %s\r\n", filename.c_str());
 379 }
 380
 381 // show free memory
 382 void SimpleShell::mem_command( string parameters, StreamOutput *stream)
 383 {
 384     bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos ;
 385     unsigned long heap = (unsigned long)_sbrk(0);
 386     unsigned long m = g_maximumHeapAddress - heap;
 387     stream->printf("Unused Heap: %lu bytes\r\n", m);
 388
 389     uint32_t f= heapWalk(stream, verbose);
 390     stream->printf("Total Free RAM: %lu bytes\r\n", m + f);
 391
 392     stream->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0.free(), AHB1.free());
 393     if (verbose)
 394     {
 395         AHB0.debug(stream);
 396         AHB1.debug(stream);
 397     }
 398 }
 399
 400 static uint32_t getDeviceType()
 401 {
 402 #define IAP_LOCATION 0x1FFF1FF1
 403     uint32_t command[1];
 404     uint32_t result[5];
 405     typedef void (*IAP)(uint32_t *, uint32_t *);
 406     IAP iap = (IAP) IAP_LOCATION;
 407
 408     __disable_irq();
 409
 410     command[0] = 54;
 411     iap(command, result);
 412
 413     __enable_irq();
 414
 415     return result[1];
 416 }
 417
 418 // get network config
 419 void SimpleShell::net_command( string parameters, StreamOutput *stream)
 420 {
 421     void *returned_data;
 422     bool ok= THEKERNEL->public_data->get_value( network_checksum, get_ipconfig_checksum, &returned_data );
 423     if(ok) {
 424         char *str= (char *)returned_data;
 425         stream->printf("%s\r\n", str);
 426         free(str);
 427
 428     }else{
 429         stream->printf("No network detected\n");
 430     }
 431 }
 432
 433 // print out build version
 434 void SimpleShell::version_command( string parameters, StreamOutput *stream)
 435 {
 436     Version vers;
 437     uint32_t dev = getDeviceType();
 438     const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768";
 439     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);
 440 }
 441
 442 // Reset the system
 443 void SimpleShell::reset_command( string parameters, StreamOutput *stream)
 444 {
 445     stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
 446     this->reset_delay_secs = 5; // reboot in 5 seconds
 447 }
 448
 449 // go into dfu boot mode
 450 void SimpleShell::dfu_command( string parameters, StreamOutput *stream)
 451 {
 452     stream->printf("Entering boot mode...\r\n");
 453     system_reset(true);
 454 }
 455
 456 // Break out into the MRI debugging system
 457 void SimpleShell::break_command( string parameters, StreamOutput *stream)
 458 {
 459     stream->printf("Entering MRI debug mode...\r\n");
 460     __debugbreak();
 461 }
 462
 463 // used to test out the get public data events
 464 void SimpleShell::get_command( string parameters, StreamOutput *stream)
 465 {
 466     int what = get_checksum(shift_parameter( parameters ));
 467     void *returned_data;
 468
 469     if (what == get_temp_command_checksum) {
 470         string type = shift_parameter( parameters );
 471         bool ok = THEKERNEL->public_data->get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data );
 472
 473         if (ok) {
 474             struct pad_temperature temp =  *static_cast<struct pad_temperature *>(returned_data);
 475             stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
 476         } else {
 477             stream->printf("%s is not a known temperature device\r\n", type.c_str());
 478         }
 479
 480     } else if (what == get_pos_command_checksum) {
 481         bool ok = THEKERNEL->public_data->get_value( robot_checksum, current_position_checksum, &returned_data );
 482
 483         if (ok) {
 484             float *pos = static_cast<float *>(returned_data);
 485             stream->printf("Position X: %f, Y: %f, Z: %f\r\n", pos[0], pos[1], pos[2]);
 486
 487         } else {
 488             stream->printf("get pos command failed\r\n");
 489         }
 490     }
 491 }
 492
 493 // used to test out the get public data events
 494 void SimpleShell::set_temp_command( string parameters, StreamOutput *stream)
 495 {
 496     string type = shift_parameter( parameters );
 497     string temp = shift_parameter( parameters );
 498     float t = temp.empty() ? 0.0 : strtof(temp.c_str(), NULL);
 499     bool ok = THEKERNEL->public_data->set_value( temperature_control_checksum, get_checksum(type), &t );
 500
 501     if (ok) {
 502         stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t);
 503     } else {
 504         stream->printf("%s is not a known temperature device\r\n", type.c_str());
 505     }
 506 }
 507
 508 void SimpleShell::help_command( string parameters, StreamOutput *stream )
 509 {
 510     stream->printf("Commands:\r\n");
 511     stream->printf("version\r\n");
 512     stream->printf("mem [-v]\r\n");
 513     stream->printf("ls [folder]\r\n");
 514     stream->printf("cd folder\r\n");
 515     stream->printf("pwd\r\n");
 516     stream->printf("cat file [limit]\r\n");
 517     stream->printf("rm file\r\n");
 518     stream->printf("play file [-v]\r\n");
 519     stream->printf("progress - shows progress of current play\r\n");
 520     stream->printf("abort - abort currently playing file\r\n");
 521     stream->printf("reset - reset smoothie\r\n");
 522     stream->printf("dfu - enter dfu boot loader\r\n");
 523     stream->printf("break - break into debugger\r\n");
 524     stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
 525     stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
 526     stream->printf("config-load [<file_name>]\r\n");
 527     stream->printf("get temp [bed|hotend]\r\n");
 528     stream->printf("set_temp bed|hotend 185\r\n");
 529     stream->printf("get pos\r\n");
 530     stream->printf("net\r\n");
 531     stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n");
 532     stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n");
 533 }
 534