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
  19
  20 void SimpleShell::on_module_loaded(){
  21     this->current_path = "/";
  22     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  23     this->reset_delay_secs= 0;
  24
  25     register_for_event(ON_SECOND_TICK);
  26 }
  27
  28 void SimpleShell::on_second_tick(void*) {
  29     // we are timing out for the reset
  30     if (this->reset_delay_secs > 0) {
  31         if(--this->reset_delay_secs == 0){
  32             system_reset(false);
  33         }
  34     }
  35 }
  36
  37 // When a new line is received, check if it is a command, and if it is, act upon it
  38 void SimpleShell::on_console_line_received( void* argument ){
  39     SerialMessage new_message = *static_cast<SerialMessage*>(argument);
  40     string possible_command = new_message.message;
  41
  42     //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
  43
  44     // We don't compare to a string but to a checksum of that string, this saves some space in flash memory
  45     unsigned short check_sum = get_checksum( possible_command.substr(0,possible_command.find_first_of(" \r\n")) );  // todo: put this method somewhere more convenient
  46
  47     // Act depending on command
  48     if (check_sum == ls_command_checksum)
  49         this->ls_command(  get_arguments(possible_command), new_message.stream );
  50     else if (check_sum == cd_command_checksum)
  51         this->cd_command(  get_arguments(possible_command), new_message.stream );
  52     else if (check_sum == pwd_command_checksum)
  53         this->pwd_command( get_arguments(possible_command), new_message.stream );
  54     else if (check_sum == cat_command_checksum)
  55         this->cat_command( get_arguments(possible_command), new_message.stream );
  56     else if (check_sum == break_command_checksum)
  57         this->break_command(get_arguments(possible_command),new_message.stream );
  58     else if (check_sum == reset_command_checksum)
  59         this->reset_command(get_arguments(possible_command),new_message.stream );
  60     else if (check_sum == dfu_command_checksum)
  61         this->dfu_command(get_arguments(possible_command),new_message.stream );
  62     else if (check_sum == help_command_checksum)
  63         this->help_command(get_arguments(possible_command),new_message.stream );
  64 }
  65
  66 // Convert a path indication ( absolute or relative ) into a path ( absolute )
  67 string SimpleShell::absolute_from_relative( string path ){
  68     if( path[0] == '/' ){ return path; }
  69     if( path[0] == '.' ){ return this->current_path; }
  70     return this->current_path + path;
  71 }
  72
  73 // Act upon an ls command
  74 // Convert the first parameter into an absolute path, then list the files in that path
  75 void SimpleShell::ls_command( string parameters, StreamOutput* stream ){
  76     string folder = this->absolute_from_relative( parameters );
  77     DIR* d;
  78     struct dirent* p;
  79     d = opendir(folder.c_str());
  80     if(d != NULL) {
  81         while((p = readdir(d)) != NULL) { stream->printf("%s\r\n", lc(string(p->d_name)).c_str()); }
  82         closedir(d);
  83     } else {
  84         stream->printf("Could not open directory %s \r\n", folder.c_str());
  85     }
  86 }
  87
  88 // Change current absolute path to provided path
  89 void SimpleShell::cd_command( string parameters, StreamOutput* stream ){
  90     string folder = this->absolute_from_relative( parameters );
  91     if( folder[folder.length()-1] != '/' ){ folder += "/"; }
  92     DIR *d;
  93     d = opendir(folder.c_str());
  94     if(d == NULL) {
  95         stream->printf("Could not open directory %s \r\n", folder.c_str() );
  96     }else{
  97         this->current_path = folder;
  98         closedir(d);
  99     }
 100 }
 101
 102 // Responds with the present working directory
 103 void SimpleShell::pwd_command( string parameters, StreamOutput* stream ){
 104     stream->printf("%s\r\n", this->current_path.c_str());
 105 }
 106
 107 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
 108 void SimpleShell::cat_command( string parameters, StreamOutput* stream ){
 109
 110     // Get parameters ( filename and line limit )
 111     string filename          = this->absolute_from_relative(shift_parameter( parameters ));
 112     string limit_paramater   = shift_parameter( parameters );
 113     int limit = -1;
 114     if( limit_paramater != "" )
 115     {
 116         char* e = NULL;
 117         limit = strtol(limit_paramater.c_str(), &e, 10);
 118         if (e <= limit_paramater.c_str())
 119             limit = -1;
 120     }
 121
 122     // Open file
 123     FILE *lp = fopen(filename.c_str(), "r");
 124     if(lp == NULL) {
 125         stream->printf("File not found: %s\r\n", filename.c_str());
 126         return;
 127     }
 128     string buffer;
 129     int c;
 130     int newlines = 0;
 131
 132     // Print each line of the file
 133     while ((c = fgetc (lp)) != EOF){
 134         buffer.append((char *)&c, 1);
 135         if( char(c) == '\n' ){
 136             newlines++;
 137             stream->puts(buffer.c_str());
 138             buffer.clear();
 139         }
 140         if( newlines == limit ){ break; }
 141     };
 142     fclose(lp);
 143
 144 }
 145
 146 // Reset the system
 147 void SimpleShell::reset_command( string parameters, StreamOutput* stream){
 148     stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
 149     this->reset_delay_secs= 5; // reboot in 5 seconds
 150 }
 151
 152 // go into dfu boot mode
 153 void SimpleShell::dfu_command( string parameters, StreamOutput* stream){
 154     stream->printf("Entering boot mode...\r\n");
 155     system_reset(true);
 156 }
 157
 158 // Break out into the MRI debugging system
 159 void SimpleShell::break_command( string parameters, StreamOutput* stream){
 160     stream->printf("Entering MRI debug mode...\r\n");
 161     __debugbreak();
 162 }
 163
 164 void SimpleShell::help_command( string parameters, StreamOutput* stream ){
 165     stream->printf("Commands:\r\n");
 166     stream->printf("ls [folder]\r\n");
 167     stream->printf("cd folder\r\n");
 168     stream->printf("pwd\r\n");
 169     stream->printf("cat file [limit]\r\n");
 170     stream->printf("play file [-q]\r\n");
 171     stream->printf("progress - shows progress of current play\r\n");
 172     stream->printf("abort - abort currently playing file\r\n");
 173     stream->printf("reset - reset smoothie\r\n");
 174     stream->printf("dfu - enter dfu boot loader\r\n");
 175     stream->printf("break - break into debugger\r\n");
 176     stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
 177     stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
 178     stream->printf("config-load [<file_name>]\r\n");
 179 }
 180