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 void SimpleShell::on_module_loaded(){
  25     this->current_path = "/";
  26     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  27     this->reset_delay_secs= 0;
  28
  29     register_for_event(ON_SECOND_TICK);
  30 }
  31
  32 void SimpleShell::on_second_tick(void*) {
  33     // we are timing out for the reset
  34     if (this->reset_delay_secs > 0) {
  35         if(--this->reset_delay_secs == 0){
  36             system_reset(false);
  37         }
  38     }
  39 }
  40
  41 // When a new line is received, check if it is a command, and if it is, act upon it
  42 void SimpleShell::on_console_line_received( void* argument ){
  43     SerialMessage new_message = *static_cast<SerialMessage*>(argument);
  44     string possible_command = new_message.message;
  45
  46     //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
  47
  48     // We don't compare to a string but to a checksum of that string, this saves some space in flash memory
  49     unsigned short check_sum = get_checksum( possible_command.substr(0,possible_command.find_first_of(" \r\n")) );  // todo: put this method somewhere more convenient
  50
  51     // Act depending on command
  52     if (check_sum == ls_command_checksum)
  53         this->ls_command(  get_arguments(possible_command), new_message.stream );
  54     else if (check_sum == cd_command_checksum)
  55         this->cd_command(  get_arguments(possible_command), new_message.stream );
  56     else if (check_sum == pwd_command_checksum)
  57         this->pwd_command( get_arguments(possible_command), new_message.stream );
  58     else if (check_sum == cat_command_checksum)
  59         this->cat_command( get_arguments(possible_command), new_message.stream );
  60     else if (check_sum == break_command_checksum)
  61         this->break_command(get_arguments(possible_command),new_message.stream );
  62     else if (check_sum == reset_command_checksum)
  63         this->reset_command(get_arguments(possible_command),new_message.stream );
  64     else if (check_sum == dfu_command_checksum)
  65         this->dfu_command(get_arguments(possible_command),new_message.stream );
  66     else if (check_sum == help_command_checksum)
  67         this->help_command(get_arguments(possible_command),new_message.stream );
  68     else if (check_sum == version_command_checksum)
  69         this->version_command(get_arguments(possible_command),new_message.stream );
  70     else if (check_sum == get_command_checksum)
  71         this->get_command(get_arguments(possible_command),new_message.stream );
  72     else if (check_sum == set_temp_command_checksum)
  73         this->set_temp_command(get_arguments(possible_command),new_message.stream );
  74 }
  75
  76 // Convert a path indication ( absolute or relative ) into a path ( absolute )
  77 string SimpleShell::absolute_from_relative( string path ){
  78     if( path[0] == '/' ){ return path; }
  79     if( path[0] == '.' ){ return this->current_path; }
  80     return this->current_path + path;
  81 }
  82
  83 // Act upon an ls command
  84 // Convert the first parameter into an absolute path, then list the files in that path
  85 void SimpleShell::ls_command( string parameters, StreamOutput* stream ){
  86     string folder = this->absolute_from_relative( parameters );
  87     DIR* d;
  88     struct dirent* p;
  89     d = opendir(folder.c_str());
  90     if(d != NULL) {
  91         while((p = readdir(d)) != NULL) { stream->printf("%s\r\n", lc(string(p->d_name)).c_str()); }
  92         closedir(d);
  93     } else {
  94         stream->printf("Could not open directory %s \r\n", folder.c_str());
  95     }
  96 }
  97
  98 // Change current absolute path to provided path
  99 void SimpleShell::cd_command( string parameters, StreamOutput* stream ){
 100     string folder = this->absolute_from_relative( parameters );
 101     if( folder[folder.length()-1] != '/' ){ folder += "/"; }
 102     DIR *d;
 103     d = opendir(folder.c_str());
 104     if(d == NULL) {
 105         stream->printf("Could not open directory %s \r\n", folder.c_str() );
 106     }else{
 107         this->current_path = folder;
 108         closedir(d);
 109     }
 110 }
 111
 112 // Responds with the present working directory
 113 void SimpleShell::pwd_command( string parameters, StreamOutput* stream ){
 114     stream->printf("%s\r\n", this->current_path.c_str());
 115 }
 116
 117 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
 118 void SimpleShell::cat_command( string parameters, StreamOutput* stream ){
 119
 120     // Get parameters ( filename and line limit )
 121     string filename          = this->absolute_from_relative(shift_parameter( parameters ));
 122     string limit_paramater   = shift_parameter( parameters );
 123     int limit = -1;
 124     if( limit_paramater != "" )
 125     {
 126         char* e = NULL;
 127         limit = strtol(limit_paramater.c_str(), &e, 10);
 128         if (e <= limit_paramater.c_str())
 129             limit = -1;
 130     }
 131
 132     // Open file
 133     FILE *lp = fopen(filename.c_str(), "r");
 134     if(lp == NULL) {
 135         stream->printf("File not found: %s\r\n", filename.c_str());
 136         return;
 137     }
 138     string buffer;
 139     int c;
 140     int newlines = 0;
 141
 142     // Print each line of the file
 143     while ((c = fgetc (lp)) != EOF){
 144         buffer.append((char *)&c, 1);
 145         if( char(c) == '\n' ){
 146             newlines++;
 147             stream->puts(buffer.c_str());
 148             buffer.clear();
 149         }
 150         if( newlines == limit ){ break; }
 151     };
 152     fclose(lp);
 153
 154 }
 155
 156 // print out build version
 157 void SimpleShell::version_command( string parameters, StreamOutput* stream){
 158     Version vers;
 159     stream->printf("Build version: %s, Build date: %s,  System Clock: %ldMHz\r\n", vers.get_build(), vers.get_build_date(), SystemCoreClock / 1000000);
 160 }
 161
 162 // Reset the system
 163 void SimpleShell::reset_command( string parameters, StreamOutput* stream){
 164     stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
 165     this->reset_delay_secs= 5; // reboot in 5 seconds
 166 }
 167
 168 // go into dfu boot mode
 169 void SimpleShell::dfu_command( string parameters, StreamOutput* stream){
 170     stream->printf("Entering boot mode...\r\n");
 171     system_reset(true);
 172 }
 173
 174 // Break out into the MRI debugging system
 175 void SimpleShell::break_command( string parameters, StreamOutput* stream){
 176     stream->printf("Entering MRI debug mode...\r\n");
 177     __debugbreak();
 178 }
 179
 180 // used to test out the get public data events
 181 void SimpleShell::get_command( string parameters, StreamOutput* stream){
 182     int what= get_checksum(shift_parameter( parameters ));
 183     void *returned_data;
 184
 185     if(what == get_temp_command_checksum) {
 186         string type= shift_parameter( parameters );
 187         bool ok= this->kernel->public_data->get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data );
 188
 189         if(ok) {
 190             struct pad_temperature temp=  *static_cast<struct pad_temperature*>(returned_data);
 191             stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
 192         }else{
 193             stream->printf("%s is not a known temperature device\r\n", type.c_str());
 194         }
 195
 196     }else if(what == get_pos_command_checksum) {
 197         bool ok= this->kernel->public_data->get_value( robot_checksum, current_position_checksum, &returned_data );
 198
 199         if(ok) {
 200             double *pos= static_cast<double *>(returned_data);
 201             stream->printf("Position X: %f, Y: %f, Z: %f\r\n", pos[0], pos[1], pos[2]);
 202
 203         }else{
 204             stream->printf("get pos command failed\r\n");
 205         }
 206     }
 207 }
 208
 209 // used to test out the get public data events
 210 void SimpleShell::set_temp_command( string parameters, StreamOutput* stream){
 211     string type= shift_parameter( parameters );
 212     string temp= shift_parameter( parameters );
 213     double t= temp.empty() ? 0.0 : strtod(temp.c_str(), NULL);
 214     bool ok= this->kernel->public_data->set_value( temperature_control_checksum, get_checksum(type), &t );
 215
 216     if(ok) {
 217         stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t);
 218     }else{
 219         stream->printf("%s is not a known temperature device\r\n", type.c_str());
 220     }
 221 }
 222
 223 void SimpleShell::help_command( string parameters, StreamOutput* stream ){
 224     stream->printf("Commands:\r\n");
 225     stream->printf("version\r\n");
 226     stream->printf("ls [folder]\r\n");
 227     stream->printf("cd folder\r\n");
 228     stream->printf("pwd\r\n");
 229     stream->printf("cat file [limit]\r\n");
 230     stream->printf("play file [-q]\r\n");
 231     stream->printf("progress - shows progress of current play\r\n");
 232     stream->printf("abort - abort currently playing file\r\n");
 233     stream->printf("reset - reset smoothie\r\n");
 234     stream->printf("dfu - enter dfu boot loader\r\n");
 235     stream->printf("break - break into debugger\r\n");
 236     stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
 237     stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
 238     stream->printf("config-load [<file_name>]\r\n");
 239     stream->printf("get temp [bed|hotend]\r\n");
 240     stream->printf("set_temp bed|hotend 185\r\n");
 241     stream->printf("get pos\r\n");
 242 }
 243