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->register_for_event(ON_CONSOLE_LINE_RECEIVED);
 124         this->register_for_event(ON_GCODE_RECEIVED);
 125         this->register_for_event(ON_SECOND_TICK);
 126
 127     this->reset_delay_secs = 0;
 128 }
 129
 130 void SimpleShell::on_second_tick(void *)
 131 {
 132     // we are timing out for the reset
 133     if (this->reset_delay_secs > 0) {
 134         if (--this->reset_delay_secs == 0) {
 135             system_reset(false);
 136         }
 137     }
 138 }
 139
 140 void SimpleShell::on_gcode_received(void *argument)
 141 {
 142     Gcode *gcode = static_cast<Gcode *>(argument);
 143     string args= get_arguments(gcode->command);
 144
 145     if (gcode->has_m) {
 146         if (gcode->m == 20) { // list sd card
 147             gcode->mark_as_taken();
 148             gcode->stream->printf("Begin file list\r\n");
 149             ls_command("/sd", gcode->stream);
 150             gcode->stream->printf("End file list\r\n");
 151
 152         } else if (gcode->m == 30) { // remove file
 153             gcode->mark_as_taken();
 154             rm_command("/sd/" + args, gcode->stream);
 155
 156         }else if(gcode->m == 501) { // load config override
 157             gcode->mark_as_taken();
 158             if(args.empty()) {
 159                 load_command("/sd/config-override", gcode->stream);
 160             }else{
 161                 load_command("/sd/config-override." + args, gcode->stream);
 162             }
 163
 164         }else if(gcode->m == 504) { // save to specific config override file
 165             gcode->mark_as_taken();
 166             if(args.empty()) {
 167                 save_command("/sd/config-override", gcode->stream);
 168             }else{
 169                 save_command("/sd/config-override." + args, gcode->stream);
 170             }
 171         }
 172     }
 173 }
 174
 175 bool SimpleShell::parse_command(unsigned short cs, string args, StreamOutput *stream)
 176 {
 177     for (ptentry_t *p = commands_table; p->pfunc != NULL; ++p) {
 178         if (cs == p->command_cs) {
 179             PFUNC fnc= p->pfunc;
 180             (this->*fnc)(args, stream);
 181             return true;
 182         }
 183     }
 184
 185     return false;
 186 }
 187
 188 // When a new line is received, check if it is a command, and if it is, act upon it
 189 void SimpleShell::on_console_line_received( void *argument )
 190 {
 191     SerialMessage new_message = *static_cast<SerialMessage *>(argument);
 192
 193     // ignore comments
 194     if (new_message.message[0] == ';') return;
 195
 196     string possible_command = new_message.message;
 197
 198     //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
 199
 200     unsigned short check_sum = get_checksum( possible_command.substr(0, possible_command.find_first_of(" \r\n")) ); // todo: put this method somewhere more convenient
 201
 202     // find command and execute it
 203     parse_command(check_sum, get_arguments(possible_command), new_message.stream);
 204 }
 205
 206 // Act upon an ls command
 207 // Convert the first parameter into an absolute path, then list the files in that path
 208 void SimpleShell::ls_command( string parameters, StreamOutput *stream )
 209 {
 210     string folder = absolute_from_relative( parameters );
 211     DIR *d;
 212     struct dirent *p;
 213     d = opendir(folder.c_str());
 214     if (d != NULL) {
 215         while ((p = readdir(d)) != NULL) {
 216             stream->printf("%s\r\n", lc(string(p->d_name)).c_str());
 217         }
 218         closedir(d);
 219     } else {
 220         stream->printf("Could not open directory %s \r\n", folder.c_str());
 221     }
 222 }
 223
 224 // Delete a file
 225 void SimpleShell::rm_command( string parameters, StreamOutput *stream )
 226 {
 227     const char *fn= absolute_from_relative(shift_parameter( parameters )).c_str();
 228     int s = remove(fn);
 229     if (s != 0) stream->printf("Could not delete %s \r\n", fn);
 230 }
 231
 232 // Change current absolute path to provided path
 233 void SimpleShell::cd_command( string parameters, StreamOutput *stream )
 234 {
 235     string folder = absolute_from_relative( parameters );
 236
 237     DIR *d;
 238     d = opendir(folder.c_str());
 239     if (d == NULL) {
 240         stream->printf("Could not open directory %s \r\n", folder.c_str() );
 241     } else {
 242         THEKERNEL->current_path = folder;
 243         closedir(d);
 244     }
 245 }
 246
 247 // Responds with the present working directory
 248 void SimpleShell::pwd_command( string parameters, StreamOutput *stream )
 249 {
 250     stream->printf("%s\r\n", THEKERNEL->current_path.c_str());
 251 }
 252
 253 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
 254 void SimpleShell::cat_command( string parameters, StreamOutput *stream )
 255 {
 256     // Get parameters ( filename and line limit )
 257     string filename          = absolute_from_relative(shift_parameter( parameters ));
 258     string limit_paramater   = shift_parameter( parameters );
 259     int limit = -1;
 260     if ( limit_paramater != "" ) {
 261         char *e = NULL;
 262         limit = strtol(limit_paramater.c_str(), &e, 10);
 263         if (e <= limit_paramater.c_str())
 264             limit = -1;
 265     }
 266
 267     // Open file
 268     FILE *lp = fopen(filename.c_str(), "r");
 269     if (lp == NULL) {
 270         stream->printf("File not found: %s\r\n", filename.c_str());
 271         return;
 272     }
 273     string buffer;
 274     int c;
 275     int newlines = 0;
 276     int linecnt= 0;
 277     // Print each line of the file
 278     while ((c = fgetc (lp)) != EOF) {
 279         buffer.append((char *)&c, 1);
 280         if ( char(c) == '\n' || ++linecnt > 80) {
 281             newlines++;
 282             stream->puts(buffer.c_str());
 283             buffer.clear();
 284             if(linecnt > 80) linecnt= 0;
 285         }
 286         if ( newlines == limit ) {
 287             break;
 288         }
 289     };
 290     fclose(lp);
 291
 292 }
 293
 294 // loads the specified config-override file
 295 void SimpleShell::load_command( string parameters, StreamOutput *stream )
 296 {
 297     // Get parameters ( filename )
 298     string filename = absolute_from_relative(parameters);
 299     if(filename == "/") {
 300         filename = THEKERNEL->config_override_filename();
 301     }
 302
 303     FILE *fp= fopen(filename.c_str(), "r");
 304     if(fp != NULL) {
 305         char buf[132];
 306         stream->printf("Loading config override file: %s...\n", filename.c_str());
 307         while(fgets(buf, sizeof buf, fp) != NULL) {
 308             stream->printf("  %s", buf);
 309             if(buf[0] == ';') continue; // skip the comments
 310             struct SerialMessage message= {&(StreamOutput::NullStream), buf};
 311             THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
 312         }
 313         stream->printf("config override file executed\n");
 314         fclose(fp);
 315
 316     }else{
 317         stream->printf("File not found: %s\n", filename.c_str());
 318     }
 319 }
 320
 321 // saves the specified config-override file
 322 void SimpleShell::save_command( string parameters, StreamOutput *stream )
 323 {
 324     // Get parameters ( filename )
 325     string filename = absolute_from_relative(parameters);
 326     if(filename == "/") {
 327         filename = THEKERNEL->config_override_filename();
 328     }
 329
 330     // replace stream with one that writes to config-override file
 331     FileStream *gs = new FileStream(filename.c_str());
 332     if(!gs->is_open()) {
 333         stream->printf("Unable to open File %s for write\n", filename.c_str());
 334         return;
 335     }
 336
 337     // issue a M500 which will store values in the file stream
 338     Gcode *gcode = new Gcode("M500", gs);
 339     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 340     delete gs;
 341     delete gcode;
 342
 343     stream->printf("Settings Stored to %s\r\n", filename.c_str());
 344 }
 345
 346 // show free memory
 347 void SimpleShell::mem_command( string parameters, StreamOutput *stream)
 348 {
 349     bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos ;
 350     unsigned long heap = (unsigned long)_sbrk(0);
 351     unsigned long m = g_maximumHeapAddress - heap;
 352     stream->printf("Unused Heap: %lu bytes\r\n", m);
 353
 354     uint32_t f= heapWalk(stream, verbose);
 355     stream->printf("Total Free RAM: %lu bytes\r\n", m + f);
 356
 357     stream->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0.free(), AHB1.free());
 358     if (verbose)
 359     {
 360         AHB0.debug(stream);
 361         AHB1.debug(stream);
 362     }
 363 }
 364
 365 static uint32_t getDeviceType()
 366 {
 367 #define IAP_LOCATION 0x1FFF1FF1
 368     uint32_t command[1];
 369     uint32_t result[5];
 370     typedef void (*IAP)(uint32_t *, uint32_t *);
 371     IAP iap = (IAP) IAP_LOCATION;
 372
 373     __disable_irq();
 374
 375     command[0] = 54;
 376     iap(command, result);
 377
 378     __enable_irq();
 379
 380     return result[1];
 381 }
 382
 383 // get network config
 384 void SimpleShell::net_command( string parameters, StreamOutput *stream)
 385 {
 386     void *returned_data;
 387     bool ok= THEKERNEL->public_data->get_value( network_checksum, get_ipconfig_checksum, &returned_data );
 388     if(ok) {
 389         char *str= (char *)returned_data;
 390         stream->printf("%s\r\n", str);
 391         free(str);
 392
 393     }else{
 394         stream->printf("No network detected\n");
 395     }
 396 }
 397
 398 // print out build version
 399 void SimpleShell::version_command( string parameters, StreamOutput *stream)
 400 {
 401     Version vers;
 402     uint32_t dev = getDeviceType();
 403     const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768";
 404     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);
 405 }
 406
 407 // Reset the system
 408 void SimpleShell::reset_command( string parameters, StreamOutput *stream)
 409 {
 410     stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
 411     this->reset_delay_secs = 5; // reboot in 5 seconds
 412 }
 413
 414 // go into dfu boot mode
 415 void SimpleShell::dfu_command( string parameters, StreamOutput *stream)
 416 {
 417     stream->printf("Entering boot mode...\r\n");
 418     system_reset(true);
 419 }
 420
 421 // Break out into the MRI debugging system
 422 void SimpleShell::break_command( string parameters, StreamOutput *stream)
 423 {
 424     stream->printf("Entering MRI debug mode...\r\n");
 425     __debugbreak();
 426 }
 427
 428 // used to test out the get public data events
 429 void SimpleShell::get_command( string parameters, StreamOutput *stream)
 430 {
 431     int what = get_checksum(shift_parameter( parameters ));
 432     void *returned_data;
 433
 434     if (what == get_temp_command_checksum) {
 435         string type = shift_parameter( parameters );
 436         bool ok = THEKERNEL->public_data->get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data );
 437
 438         if (ok) {
 439             struct pad_temperature temp =  *static_cast<struct pad_temperature *>(returned_data);
 440             stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
 441         } else {
 442             stream->printf("%s is not a known temperature device\r\n", type.c_str());
 443         }
 444
 445     } else if (what == get_pos_command_checksum) {
 446         bool ok = THEKERNEL->public_data->get_value( robot_checksum, current_position_checksum, &returned_data );
 447
 448         if (ok) {
 449             float *pos = static_cast<float *>(returned_data);
 450             stream->printf("Position X: %f, Y: %f, Z: %f\r\n", pos[0], pos[1], pos[2]);
 451
 452         } else {
 453             stream->printf("get pos command failed\r\n");
 454         }
 455     }
 456 }
 457
 458 // used to test out the get public data events
 459 void SimpleShell::set_temp_command( string parameters, StreamOutput *stream)
 460 {
 461     string type = shift_parameter( parameters );
 462     string temp = shift_parameter( parameters );
 463     float t = temp.empty() ? 0.0 : strtof(temp.c_str(), NULL);
 464     bool ok = THEKERNEL->public_data->set_value( temperature_control_checksum, get_checksum(type), &t );
 465
 466     if (ok) {
 467         stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t);
 468     } else {
 469         stream->printf("%s is not a known temperature device\r\n", type.c_str());
 470     }
 471 }
 472
 473 void SimpleShell::help_command( string parameters, StreamOutput *stream )
 474 {
 475     stream->printf("Commands:\r\n");
 476     stream->printf("version\r\n");
 477     stream->printf("mem [-v]\r\n");
 478     stream->printf("ls [folder]\r\n");
 479     stream->printf("cd folder\r\n");
 480     stream->printf("pwd\r\n");
 481     stream->printf("cat file [limit]\r\n");
 482     stream->printf("rm file\r\n");
 483     stream->printf("play file [-v]\r\n");
 484     stream->printf("progress - shows progress of current play\r\n");
 485     stream->printf("abort - abort currently playing file\r\n");
 486     stream->printf("reset - reset smoothie\r\n");
 487     stream->printf("dfu - enter dfu boot loader\r\n");
 488     stream->printf("break - break into debugger\r\n");
 489     stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
 490     stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
 491     stream->printf("config-load [<file_name>]\r\n");
 492     stream->printf("get temp [bed|hotend]\r\n");
 493     stream->printf("set_temp bed|hotend 185\r\n");
 494     stream->printf("get pos\r\n");
 495     stream->printf("net\r\n");
 496     stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n");
 497     stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n");
 498 }
 499