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/Player.h"
  16 #include "system_LPC17xx.h"
  17
  18
  19 void SimpleShell::on_module_loaded(){
  20     this->current_path = "/";
  21     this->playing_file = false;
  22     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  23     this->register_for_event(ON_MAIN_LOOP);
  24 }
  25
  26 // When a new line is received, check if it is a command, and if it is, act upon it
  27 void SimpleShell::on_console_line_received( void* argument ){
  28     SerialMessage new_message = *static_cast<SerialMessage*>(argument);
  29     string possible_command = new_message.message;
  30
  31     // We don't compare to a string but to a checksum of that string, this saves some space in flash memory
  32     unsigned short check_sum = get_checksum( possible_command.substr(0,possible_command.find_first_of(" \r\n")) );  // todo: put this method somewhere more convenient
  33
  34     // Act depending on command
  35     switch( check_sum ){
  36         case ls_command_checksum      : this->ls_command(  get_arguments(possible_command), new_message.stream ); break;
  37         case cd_command_checksum      : this->cd_command(  get_arguments(possible_command), new_message.stream ); break;
  38         case cat_command_checksum     : this->cat_command( get_arguments(possible_command), new_message.stream ); break;
  39         case play_command_checksum    : this->play_command(get_arguments(possible_command), new_message.stream ); break;
  40         case reset_command_checksum   : this->reset_command(get_arguments(possible_command),new_message.stream ); break;
  41     }
  42 }
  43
  44 // Convert a path indication ( absolute or relative ) into a path ( absolute )
  45 string SimpleShell::absolute_from_relative( string path ){
  46     if( path[0] == '/' ){ return path; }
  47     if( path[0] == '.' ){ return this->current_path; }
  48     return this->current_path + path;
  49 }
  50
  51 // Act upon an ls command
  52 // Convert the first parameter into an absolute path, then list the files in that path
  53 void SimpleShell::ls_command( string parameters, StreamOutput* stream ){
  54     string folder = this->absolute_from_relative( parameters );
  55     DIR* d;
  56     struct dirent* p;
  57     d = opendir(folder.c_str());
  58     if(d != NULL) {
  59         while((p = readdir(d)) != NULL) { stream->printf("%s\r\n", lc(string(p->d_name)).c_str()); }
  60     } else {
  61         stream->printf("Could not open directory %s \r\n", folder.c_str());
  62     }
  63 }
  64
  65 // Change current absolute path to provided path
  66 void SimpleShell::cd_command( string parameters, StreamOutput* stream ){
  67     string folder = this->absolute_from_relative( parameters );
  68     if( folder[folder.length()-1] != '/' ){ folder += "/"; }
  69     DIR *d;
  70     struct dirent *p;
  71     d = opendir(folder.c_str());
  72     if(d == NULL) {
  73         stream->printf("Could not open directory %s \r\n", folder.c_str() );
  74     }else{
  75         this->current_path = folder;
  76     }
  77 }
  78
  79 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
  80 void SimpleShell::cat_command( string parameters, StreamOutput* stream ){
  81
  82     // Get parameters ( filename and line limit )
  83     string filename          = this->absolute_from_relative(shift_parameter( parameters ));
  84     string limit_paramater   = shift_parameter( parameters );
  85     int limit = -1;
  86     if( limit_paramater != "" ){ limit = int(atof(limit_paramater.c_str())); }
  87
  88     // Open file
  89     FILE *lp = fopen(filename.c_str(), "r");
  90     if(lp == NULL) {
  91         stream->printf("File not found: %s\r\n", filename.c_str());
  92         return;
  93     }
  94     string buffer;
  95     int c;
  96     int newlines = 0;
  97
  98     // Print each line of the file
  99     while ((c = fgetc (lp)) != EOF){
 100         buffer.append((char *)&c, 1);
 101         if( char(c) == '\n' ){
 102                 newlines++;
 103                 stream->printf("%s", buffer.c_str());
 104                 buffer.clear();
 105         }
 106         if( newlines == limit ){ break; }
 107     };
 108     fclose(lp);
 109
 110 }
 111
 112 // Play a gcode file by considering each line as if it was received on the serial console
 113 void SimpleShell::play_command( string parameters, StreamOutput* stream ){
 114     // Get filename
 115     string filename          = this->absolute_from_relative(shift_parameter( parameters ));
 116     this->current_file_handler = fopen( filename.c_str(), "r");
 117     if(this->current_file_handler == NULL)
 118     {
 119         stream->printf("File not found: %s\r\n", filename.c_str());
 120         return;
 121     }
 122     this->playing_file = true;
 123     this->current_stream = stream;
 124 }
 125
 126 // Reset the system
 127 void SimpleShell::reset_command( string parameters, StreamOutput* stream){
 128     stream->printf("Smoothie out. Peace.\r\n");
 129
 130     LPC_WDT->WDCLKSEL = 0x1;                // Set CLK src to PCLK
 131     uint32_t clk = SystemCoreClock / 16;    // WD has a fixed /4 prescaler, PCLK default is /4
 132     LPC_WDT->WDTC = 1 * (float)clk;         // Reset in 1 second
 133     LPC_WDT->WDMOD = 0x3;                   // Enabled and Reset
 134     LPC_WDT->WDFEED = 0xAA;                 // Kick the dog!
 135     LPC_WDT->WDFEED = 0x55;
 136 }
 137
 138 void SimpleShell::on_main_loop(void* argument){
 139
 140     if( this->playing_file ){
 141         string buffer;
 142         int c;
 143         // Print each line of the file
 144         while ((c = fgetc(this->current_file_handler)) != EOF){
 145             if (c == '\n'){
 146                 this->current_stream->printf("%s\n", buffer.c_str());
 147                 struct SerialMessage message;
 148                 message.message = buffer;
 149                 message.stream = this->current_stream;
 150                 // wait for the queue to have enough room that a serial message could still be received before sending
 151                 this->kernel->player->wait_for_queue(2);
 152                 this->kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
 153                 buffer.clear();
 154                 return;
 155             }else{
 156                 buffer += c;
 157             }
 158         };
 159
 160         fclose(this->current_file_handler);
 161         this->playing_file = false;
 162     }
 163 }