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/>.
9 #include "SimpleShell.h"
10 #include "libs/Kernel.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"
19 #include "PublicDataRequest.h"
20 #include "FileStream.h"
21 #include "checksumm.h"
22 #include "PublicData.h"
24 //#include "StepTicker.h"
26 #include "modules/tools/temperaturecontrol/TemperatureControlPublicAccess.h"
27 #include "modules/robot/RobotPublicAccess.h"
28 #include "NetworkPublicAccess.h"
29 #include "platform_memory.h"
30 #include "SwitchPublicAccess.h"
33 #include "system_LPC17xx.h"
36 extern unsigned int g_maximumHeapAddress
;
43 extern "C" uint32_t __end__
;
44 extern "C" uint32_t __malloc_free_list
;
45 extern "C" uint32_t _sbrk(int size
);
47 // command lookup table
48 const SimpleShell::ptentry_t
SimpleShell::commands_table
[] = {
49 {"ls", SimpleShell::ls_command
},
50 {"cd", SimpleShell::cd_command
},
51 {"pwd", SimpleShell::pwd_command
},
52 {"cat", SimpleShell::cat_command
},
53 {"rm", SimpleShell::rm_command
},
54 {"mv", SimpleShell::mv_command
},
55 {"upload", SimpleShell::upload_command
},
56 {"reset", SimpleShell::reset_command
},
57 {"dfu", SimpleShell::dfu_command
},
58 {"break", SimpleShell::break_command
},
59 {"help", SimpleShell::help_command
},
60 {"?", SimpleShell::help_command
},
61 {"version", SimpleShell::version_command
},
62 {"mem", SimpleShell::mem_command
},
63 {"get", SimpleShell::get_command
},
64 {"set_temp", SimpleShell::set_temp_command
},
65 {"switch", SimpleShell::switch_command
},
66 {"net", SimpleShell::net_command
},
67 {"load", SimpleShell::load_command
},
68 {"save", SimpleShell::save_command
},
69 {"remount", SimpleShell::remount_command
},
75 int SimpleShell::reset_delay_secs
= 0;
77 // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556
78 static uint32_t heapWalk(StreamOutput
*stream
, bool verbose
)
80 uint32_t chunkNumber
= 1;
81 // The __end__ linker symbol points to the beginning of the heap.
82 uint32_t chunkCurr
= (uint32_t)&__end__
;
83 // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks.
84 uint32_t freeCurr
= __malloc_free_list
;
85 // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap.
86 uint32_t heapEnd
= _sbrk(0);
88 uint32_t freeSize
= 0;
89 uint32_t usedSize
= 0;
91 stream
->printf("Used Heap Size: %lu\n", heapEnd
- chunkCurr
);
93 // Walk through the chunks until we hit the end of the heap.
94 while (chunkCurr
< heapEnd
) {
95 // Assume the chunk is in use. Will update later.
97 // The first 32-bit word in a chunk is the size of the allocation. newlib-nano over allocates by 8 bytes.
98 // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer.
99 uint32_t chunkSize
= *(uint32_t *)chunkCurr
;
100 // The start of the next chunk is right after the end of this one.
101 uint32_t chunkNext
= chunkCurr
+ chunkSize
;
103 // The free list is sorted by address.
104 // Check to see if we have found the next free chunk in the heap.
105 if (chunkCurr
== freeCurr
) {
106 // Chunk is free so flag it as such.
108 // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address).
109 freeCurr
= *(uint32_t *)(freeCurr
+ 4);
112 // Skip past the 32-bit size field in the chunk header.
114 // 8-byte align the data pointer.
115 chunkCurr
= (chunkCurr
+ 7) & ~7;
116 // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8
117 // byte-alignment of the returned pointer.
120 stream
->printf(" Chunk: %lu Address: 0x%08lX Size: %lu %s\n", chunkNumber
, chunkCurr
, chunkSize
, isChunkFree
? "CHUNK FREE" : "");
122 if (isChunkFree
) freeSize
+= chunkSize
;
123 else usedSize
+= chunkSize
;
125 chunkCurr
= chunkNext
;
128 stream
->printf("Allocated: %lu, Free: %lu\r\n", usedSize
, freeSize
);
133 void SimpleShell::on_module_loaded()
135 this->register_for_event(ON_CONSOLE_LINE_RECEIVED
);
136 this->register_for_event(ON_GCODE_RECEIVED
);
137 this->register_for_event(ON_SECOND_TICK
);
139 reset_delay_secs
= 0;
142 void SimpleShell::on_second_tick(void *)
144 // we are timing out for the reset
145 if (reset_delay_secs
> 0) {
146 if (--reset_delay_secs
== 0) {
152 void SimpleShell::on_gcode_received(void *argument
)
154 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
155 string args
= get_arguments(gcode
->get_command());
158 if (gcode
->m
== 20) { // list sd card
159 gcode
->mark_as_taken();
160 gcode
->stream
->printf("Begin file list\r\n");
161 ls_command("/sd", gcode
->stream
);
162 gcode
->stream
->printf("End file list\r\n");
164 } else if (gcode
->m
== 30) { // remove file
165 gcode
->mark_as_taken();
166 rm_command("/sd/" + args
, gcode
->stream
);
168 } else if(gcode
->m
== 501) { // load config override
169 gcode
->mark_as_taken();
171 load_command("/sd/config-override", gcode
->stream
);
173 load_command("/sd/config-override." + args
, gcode
->stream
);
176 } else if(gcode
->m
== 504) { // save to specific config override file
177 gcode
->mark_as_taken();
179 save_command("/sd/config-override", gcode
->stream
);
181 save_command("/sd/config-override." + args
, gcode
->stream
);
187 bool SimpleShell::parse_command(const char *cmd
, string args
, StreamOutput
*stream
)
189 for (const ptentry_t
*p
= commands_table
; p
->command
!= NULL
; ++p
) {
190 if (strncasecmp(cmd
, p
->command
, strlen(p
->command
)) == 0) {
191 p
->func(args
, stream
);
199 // When a new line is received, check if it is a command, and if it is, act upon it
200 void SimpleShell::on_console_line_received( void *argument
)
202 SerialMessage new_message
= *static_cast<SerialMessage
*>(argument
);
204 // ignore comments and blank lines and if this is a G code then also ignore it
205 char first_char
= new_message
.message
[0];
206 if(strchr(";( \n\rGMTN", first_char
) != NULL
) return;
208 string possible_command
= new_message
.message
;
210 //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
211 string cmd
= shift_parameter(possible_command
);
213 // find command and execute it
214 parse_command(cmd
.c_str(), possible_command
, new_message
.stream
);
217 // Act upon an ls command
218 // Convert the first parameter into an absolute path, then list the files in that path
219 void SimpleShell::ls_command( string parameters
, StreamOutput
*stream
)
222 while(!parameters
.empty()) {
223 string s
= shift_parameter( parameters
);
224 if(s
.front() == '-') {
228 if(!parameters
.empty()) {
230 path
.append(parameters
);
236 path
= absolute_from_relative(path
);
240 d
= opendir(path
.c_str());
242 while ((p
= readdir(d
)) != NULL
) {
243 stream
->printf("%s", lc(string(p
->d_name
)).c_str());
246 } else if(opts
.find("-s", 0, 2) != string::npos
) {
247 stream
->printf(" %d", p
->d_fsize
);
249 stream
->printf("\r\n");
253 stream
->printf("Could not open directory %s\r\n", path
.c_str());
257 extern SDFAT mounter
;
259 void SimpleShell::remount_command( string parameters
, StreamOutput
*stream
)
262 stream
->printf("remounted\r\n");
266 void SimpleShell::rm_command( string parameters
, StreamOutput
*stream
)
268 const char *fn
= absolute_from_relative(shift_parameter( parameters
)).c_str();
270 if (s
!= 0) stream
->printf("Could not delete %s \r\n", fn
);
274 void SimpleShell::mv_command( string parameters
, StreamOutput
*stream
)
276 string from
= absolute_from_relative(shift_parameter( parameters
));
277 string to
= shift_parameter(parameters
);
278 int s
= rename(from
.c_str(), to
.c_str());
279 if (s
!= 0) stream
->printf("Could not rename %s to %s\r\n", from
.c_str(), to
.c_str());
280 else stream
->printf("renamed %s to %s\r\n", from
.c_str(), to
.c_str());
283 // Change current absolute path to provided path
284 void SimpleShell::cd_command( string parameters
, StreamOutput
*stream
)
286 string folder
= absolute_from_relative( parameters
);
289 d
= opendir(folder
.c_str());
291 stream
->printf("Could not open directory %s \r\n", folder
.c_str() );
293 THEKERNEL
->current_path
= folder
;
298 // Responds with the present working directory
299 void SimpleShell::pwd_command( string parameters
, StreamOutput
*stream
)
301 stream
->printf("%s\r\n", THEKERNEL
->current_path
.c_str());
304 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
305 void SimpleShell::cat_command( string parameters
, StreamOutput
*stream
)
307 // Get parameters ( filename and line limit )
308 string filename
= absolute_from_relative(shift_parameter( parameters
));
309 string limit_paramater
= shift_parameter( parameters
);
311 if ( limit_paramater
!= "" ) {
313 limit
= strtol(limit_paramater
.c_str(), &e
, 10);
314 if (e
<= limit_paramater
.c_str())
319 FILE *lp
= fopen(filename
.c_str(), "r");
321 stream
->printf("File not found: %s\r\n", filename
.c_str());
328 // Print each line of the file
329 while ((c
= fgetc (lp
)) != EOF
) {
330 buffer
.append((char *)&c
, 1);
331 if ( char(c
) == '\n' || ++linecnt
> 80) {
333 stream
->puts(buffer
.c_str());
335 if(linecnt
> 80) linecnt
= 0;
337 if ( newlines
== limit
) {
344 void SimpleShell::upload_command( string parameters
, StreamOutput
*stream
)
346 // this needs to be a hack. it needs to read direct from serial and not allow on_main_loop run until done
347 // NOTE this will block all operation until the upload is complete, so do not do while printing
348 if(!THEKERNEL
->conveyor
->is_queue_empty()) {
349 stream
->printf("upload not allowed while printing or busy\n");
353 // open file to upload to
354 string upload_filename
= absolute_from_relative( parameters
);
355 FILE *fd
= fopen(upload_filename
.c_str(), "w");
357 stream
->printf("uploading to file: %s, send control-D or control-Z to finish\r\n", upload_filename
.c_str());
359 stream
->printf("failed to open file: %s.\r\n", upload_filename
.c_str());
364 bool uploading
= true;
366 if(!stream
->ready()) {
367 // we need to kick things or they die
368 THEKERNEL
->call_event(ON_IDLE
);
372 char c
= stream
->_getc();
373 if( c
== 4 || c
== 26) { // ctrl-D or ctrl-Z
377 stream
->printf("uploaded %d bytes\n", cnt
);
381 // write character to file
383 if(fputc(c
, fd
) != c
) {
384 // error writing to file
385 stream
->printf("error writing to file. ignoring all characters until EOF\r\n");
391 if ((cnt
%400) == 0) {
392 // HACK ALERT to get around fwrite corruption close and re open for append
394 fd
= fopen(upload_filename
.c_str(), "a");
399 // we got an error so ignore everything until EOF
402 if(stream
->ready()) {
405 THEKERNEL
->call_event(ON_IDLE
);
408 } while(c
!= 4 && c
!= 26);
411 // loads the specified config-override file
412 void SimpleShell::load_command( string parameters
, StreamOutput
*stream
)
414 // Get parameters ( filename )
415 string filename
= absolute_from_relative(parameters
);
416 if(filename
== "/") {
417 filename
= THEKERNEL
->config_override_filename();
420 FILE *fp
= fopen(filename
.c_str(), "r");
423 stream
->printf("Loading config override file: %s...\n", filename
.c_str());
424 while(fgets(buf
, sizeof buf
, fp
) != NULL
) {
425 stream
->printf(" %s", buf
);
426 if(buf
[0] == ';') continue; // skip the comments
427 struct SerialMessage message
= {&(StreamOutput::NullStream
), buf
};
428 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
430 stream
->printf("config override file executed\n");
434 stream
->printf("File not found: %s\n", filename
.c_str());
438 // saves the specified config-override file
439 void SimpleShell::save_command( string parameters
, StreamOutput
*stream
)
441 // Get parameters ( filename )
442 string filename
= absolute_from_relative(parameters
);
443 if(filename
== "/") {
444 filename
= THEKERNEL
->config_override_filename();
447 // replace stream with one that writes to config-override file
448 FileStream
*gs
= new FileStream(filename
.c_str());
450 stream
->printf("Unable to open File %s for write\n", filename
.c_str());
454 // issue a M500 which will store values in the file stream
455 Gcode
*gcode
= new Gcode("M500", gs
);
456 THEKERNEL
->call_event(ON_GCODE_RECEIVED
, gcode
);
460 stream
->printf("Settings Stored to %s\r\n", filename
.c_str());
464 void SimpleShell::mem_command( string parameters
, StreamOutput
*stream
)
466 bool verbose
= shift_parameter( parameters
).find_first_of("Vv") != string::npos
;
467 unsigned long heap
= (unsigned long)_sbrk(0);
468 unsigned long m
= g_maximumHeapAddress
- heap
;
469 stream
->printf("Unused Heap: %lu bytes\r\n", m
);
471 uint32_t f
= heapWalk(stream
, verbose
);
472 stream
->printf("Total Free RAM: %lu bytes\r\n", m
+ f
);
474 stream
->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0
.free(), AHB1
.free());
481 static uint32_t getDeviceType()
483 #define IAP_LOCATION 0x1FFF1FF1
486 typedef void (*IAP
)(uint32_t *, uint32_t *);
487 IAP iap
= (IAP
) IAP_LOCATION
;
492 iap(command
, result
);
499 // get network config
500 void SimpleShell::net_command( string parameters
, StreamOutput
*stream
)
503 bool ok
= PublicData::get_value( network_checksum
, get_ipconfig_checksum
, &returned_data
);
505 char *str
= (char *)returned_data
;
506 stream
->printf("%s\r\n", str
);
510 stream
->printf("No network detected\n");
514 // print out build version
515 void SimpleShell::version_command( string parameters
, StreamOutput
*stream
)
518 uint32_t dev
= getDeviceType();
519 const char *mcu
= (dev
& 0x00100000) ? "LPC1769" : "LPC1768";
520 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);
524 void SimpleShell::reset_command( string parameters
, StreamOutput
*stream
)
526 stream
->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
527 reset_delay_secs
= 5; // reboot in 5 seconds
530 // go into dfu boot mode
531 void SimpleShell::dfu_command( string parameters
, StreamOutput
*stream
)
533 stream
->printf("Entering boot mode...\r\n");
537 // Break out into the MRI debugging system
538 void SimpleShell::break_command( string parameters
, StreamOutput
*stream
)
540 stream
->printf("Entering MRI debug mode...\r\n");
544 // used to test out the get public data events
545 void SimpleShell::get_command( string parameters
, StreamOutput
*stream
)
547 string what
= shift_parameter( parameters
);
550 if (what
== "temp") {
551 string type
= shift_parameter( parameters
);
552 bool ok
= PublicData::get_value( temperature_control_checksum
, get_checksum(type
), current_temperature_checksum
, &returned_data
);
555 struct pad_temperature temp
= *static_cast<struct pad_temperature
*>(returned_data
);
556 stream
->printf("%s temp: %f/%f @%d\r\n", type
.c_str(), temp
.current_temperature
, temp
.target_temperature
, temp
.pwm
);
558 stream
->printf("%s is not a known temperature device\r\n", type
.c_str());
561 } else if (what
== "pos") {
562 bool ok
= PublicData::get_value( robot_checksum
, current_position_checksum
, &returned_data
);
565 float *pos
= static_cast<float *>(returned_data
);
566 stream
->printf("Position X: %f, Y: %f, Z: %f\r\n", pos
[0], pos
[1], pos
[2]);
569 stream
->printf("get pos command failed\r\n");
574 // used to test out the get public data events
575 void SimpleShell::set_temp_command( string parameters
, StreamOutput
*stream
)
577 string type
= shift_parameter( parameters
);
578 string temp
= shift_parameter( parameters
);
579 float t
= temp
.empty() ? 0.0 : strtof(temp
.c_str(), NULL
);
580 bool ok
= PublicData::set_value( temperature_control_checksum
, get_checksum(type
), &t
);
583 stream
->printf("%s temp set to: %3.1f\r\n", type
.c_str(), t
);
585 stream
->printf("%s is not a known temperature device\r\n", type
.c_str());
589 // used to test out the get public data events for switch
590 void SimpleShell::switch_command( string parameters
, StreamOutput
*stream
)
592 string type
= shift_parameter( parameters
);
593 string value
= shift_parameter( parameters
);
595 if(value
== "on" || value
== "off") {
596 bool b
= value
== "on";
597 ok
= PublicData::set_value( switch_checksum
, get_checksum(type
), state_checksum
, &b
);
599 float v
= strtof(value
.c_str(), NULL
);
600 ok
= PublicData::set_value( switch_checksum
, get_checksum(type
), value_checksum
, &v
);
603 stream
->printf("switch %s set to: %s\r\n", type
.c_str(), value
.c_str());
605 stream
->printf("%s is not a known switch device\r\n", type
.c_str());
609 void SimpleShell::help_command( string parameters
, StreamOutput
*stream
)
611 stream
->printf("Commands:\r\n");
612 stream
->printf("version\r\n");
613 stream
->printf("mem [-v]\r\n");
614 stream
->printf("ls [-s] [folder]\r\n");
615 stream
->printf("cd folder\r\n");
616 stream
->printf("pwd\r\n");
617 stream
->printf("cat file [limit]\r\n");
618 stream
->printf("rm file\r\n");
619 stream
->printf("mv file newfile\r\n");
620 stream
->printf("remount\r\n");
621 stream
->printf("play file [-v]\r\n");
622 stream
->printf("progress - shows progress of current play\r\n");
623 stream
->printf("abort - abort currently playing file\r\n");
624 stream
->printf("reset - reset smoothie\r\n");
625 stream
->printf("dfu - enter dfu boot loader\r\n");
626 stream
->printf("break - break into debugger\r\n");
627 stream
->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
628 stream
->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
629 stream
->printf("get temp [bed|hotend]\r\n");
630 stream
->printf("set_temp bed|hotend 185\r\n");
631 stream
->printf("get pos\r\n");
632 stream
->printf("net\r\n");
633 stream
->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n");
634 stream
->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n");