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 "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"
  17 #include "mri.h"
  18 #include "version.h"
  19 #include "PublicDataRequest.h"
  20 #include "FileStream.h"
  21 #include "checksumm.h"
  22 #include "PublicData.h"
  23 #include "Gcode.h"
  24
  25 #include "modules/tools/temperaturecontrol/TemperatureControlPublicAccess.h"
  26 #include "modules/robot/RobotPublicAccess.h"
  27 #include "NetworkPublicAccess.h"
  28 #include "platform_memory.h"
  29
  30 #include "system_LPC17xx.h"
  31 #include "LPC17xx.h"
  32
  33 extern unsigned int g_maximumHeapAddress;
  34
  35 #include <malloc.h>
  36 #include <mri.h>
  37 #include <stdio.h>
  38 #include <stdint.h>
  39
  40 extern "C" uint32_t  __end__;
  41 extern "C" uint32_t  __malloc_free_list;
  42 extern "C" uint32_t  _sbrk(int size);
  43
  44 // command lookup table
  45 const SimpleShell::ptentry_t SimpleShell::commands_table[] = {
  46     {"ls",       SimpleShell::ls_command},
  47     {"cd",       SimpleShell::cd_command},
  48     {"pwd",      SimpleShell::pwd_command},
  49     {"cat",      SimpleShell::cat_command},
  50     {"rm",       SimpleShell::rm_command},
  51     {"reset",    SimpleShell::reset_command},
  52     {"dfu",      SimpleShell::dfu_command},
  53     {"break",    SimpleShell::break_command},
  54     {"help",     SimpleShell::help_command},
  55     {"?",        SimpleShell::help_command},
  56     {"version",  SimpleShell::version_command},
  57     {"mem",      SimpleShell::mem_command},
  58     {"get",      SimpleShell::get_command},
  59     {"set_temp", SimpleShell::set_temp_command},
  60     {"net",      SimpleShell::net_command},
  61     {"load",     SimpleShell::load_command},
  62     {"save",     SimpleShell::save_command},
  63
  64     // unknown command
  65     {NULL, NULL}
  66 };
  67
  68 int SimpleShell::reset_delay_secs= 0;
  69
  70 // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556
  71 static uint32_t heapWalk(StreamOutput *stream, bool verbose)
  72 {
  73     uint32_t chunkNumber = 1;
  74     // The __end__ linker symbol points to the beginning of the heap.
  75     uint32_t chunkCurr = (uint32_t)&__end__;
  76     // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks.
  77     uint32_t freeCurr = __malloc_free_list;
  78     // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap.
  79     uint32_t heapEnd = _sbrk(0);
  80     // accumulate totals
  81     uint32_t freeSize = 0;
  82     uint32_t usedSize = 0;
  83
  84     stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr);
  85
  86     // Walk through the chunks until we hit the end of the heap.
  87     while (chunkCurr < heapEnd) {
  88         // Assume the chunk is in use.  Will update later.
  89         int      isChunkFree = 0;
  90         // The first 32-bit word in a chunk is the size of the allocation.  newlib-nano over allocates by 8 bytes.
  91         // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer.
  92         uint32_t chunkSize = *(uint32_t *)chunkCurr;
  93         // The start of the next chunk is right after the end of this one.
  94         uint32_t chunkNext = chunkCurr + chunkSize;
  95
  96         // The free list is sorted by address.
  97         // Check to see if we have found the next free chunk in the heap.
  98         if (chunkCurr == freeCurr) {
  99             // Chunk is free so flag it as such.
 100             isChunkFree = 1;
 101             // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address).
 102             freeCurr = *(uint32_t *)(freeCurr + 4);
 103         }
 104
 105         // Skip past the 32-bit size field in the chunk header.
 106         chunkCurr += 4;
 107         // 8-byte align the data pointer.
 108         chunkCurr = (chunkCurr + 7) & ~7;
 109         // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8
 110         // byte-alignment of the returned pointer.
 111         chunkSize -= 8;
 112         if (verbose)
 113             stream->printf("  Chunk: %lu  Address: 0x%08lX  Size: %lu  %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : "");
 114
 115         if (isChunkFree) freeSize += chunkSize;
 116         else usedSize += chunkSize;
 117
 118         chunkCurr = chunkNext;
 119         chunkNumber++;
 120     }
 121     stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize);
 122     return freeSize;
 123 }
 124
 125
 126 void SimpleShell::on_module_loaded()
 127 {
 128     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
 129         this->register_for_event(ON_GCODE_RECEIVED);
 130         this->register_for_event(ON_SECOND_TICK);
 131
 132     reset_delay_secs = 0;
 133 }
 134
 135 void SimpleShell::on_second_tick(void *)
 136 {
 137     // we are timing out for the reset
 138     if (reset_delay_secs > 0) {
 139         if (--reset_delay_secs == 0) {
 140             system_reset(false);
 141         }
 142     }
 143 }
 144
 145 void SimpleShell::on_gcode_received(void *argument)
 146 {
 147     Gcode *gcode = static_cast<Gcode *>(argument);
 148     string args= get_arguments(gcode->get_command());
 149
 150     if (gcode->has_m) {
 151         if (gcode->m == 20) { // list sd card
 152             gcode->mark_as_taken();
 153             gcode->stream->printf("Begin file list\r\n");
 154             ls_command("/sd", gcode->stream);
 155             gcode->stream->printf("End file list\r\n");
 156
 157         } else if (gcode->m == 30) { // remove file
 158             gcode->mark_as_taken();
 159             rm_command("/sd/" + args, gcode->stream);
 160
 161         }else if(gcode->m == 501) { // load config override
 162             gcode->mark_as_taken();
 163             if(args.empty()) {
 164                 load_command("/sd/config-override", gcode->stream);
 165             }else{
 166                 load_command("/sd/config-override." + args, gcode->stream);
 167             }
 168
 169         }else if(gcode->m == 504) { // save to specific config override file
 170             gcode->mark_as_taken();
 171             if(args.empty()) {
 172                 save_command("/sd/config-override", gcode->stream);
 173             }else{
 174                 save_command("/sd/config-override." + args, gcode->stream);
 175             }
 176         }
 177     }
 178 }
 179
 180 bool SimpleShell::parse_command(const char *cmd, string args, StreamOutput *stream)
 181 {
 182     for (const ptentry_t *p = commands_table; p->command != NULL; ++p) {
 183         if (strncasecmp(cmd, p->command, strlen(p->command)) == 0) {
 184             p->func(args, stream);
 185             return true;
 186         }
 187     }
 188
 189     return false;
 190 }
 191
 192 // When a new line is received, check if it is a command, and if it is, act upon it
 193 void SimpleShell::on_console_line_received( void *argument )
 194 {
 195     SerialMessage new_message = *static_cast<SerialMessage *>(argument);
 196
 197     // ignore comments and blank lines and if this is a G code then also ignore it
 198     char first_char = new_message.message[0];
 199     if(strchr(";( \n\rGMTN", first_char) != NULL) return;
 200
 201     string possible_command = new_message.message;
 202
 203     //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
 204     string cmd = shift_parameter(possible_command);
 205
 206     // find command and execute it
 207     parse_command(cmd.c_str(), possible_command, new_message.stream);
 208 }
 209
 210 // Act upon an ls command
 211 // Convert the first parameter into an absolute path, then list the files in that path
 212 void SimpleShell::ls_command( string parameters, StreamOutput *stream )
 213 {
 214     string folder = absolute_from_relative( parameters );
 215     DIR *d;
 216     struct dirent *p;
 217     d = opendir(folder.c_str());
 218     if (d != NULL) {
 219         while ((p = readdir(d)) != NULL) {
 220             stream->printf("%s\r\n", lc(string(p->d_name)).c_str());
 221         }
 222         closedir(d);
 223     } else {
 224         stream->printf("Could not open directory %s \r\n", folder.c_str());
 225     }
 226 }
 227
 228 // Delete a file
 229 void SimpleShell::rm_command( string parameters, StreamOutput *stream )
 230 {
 231     const char *fn= absolute_from_relative(shift_parameter( parameters )).c_str();
 232     int s = remove(fn);
 233     if (s != 0) stream->printf("Could not delete %s \r\n", fn);
 234 }
 235
 236 // Change current absolute path to provided path
 237 void SimpleShell::cd_command( string parameters, StreamOutput *stream )
 238 {
 239     string folder = absolute_from_relative( parameters );
 240
 241     DIR *d;
 242     d = opendir(folder.c_str());
 243     if (d == NULL) {
 244         stream->printf("Could not open directory %s \r\n", folder.c_str() );
 245     } else {
 246         THEKERNEL->current_path = folder;
 247         closedir(d);
 248     }
 249 }
 250
 251 // Responds with the present working directory
 252 void SimpleShell::pwd_command( string parameters, StreamOutput *stream )
 253 {
 254     stream->printf("%s\r\n", THEKERNEL->current_path.c_str());
 255 }
 256
 257 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
 258 void SimpleShell::cat_command( string parameters, StreamOutput *stream )
 259 {
 260     // Get parameters ( filename and line limit )
 261     string filename          = absolute_from_relative(shift_parameter( parameters ));
 262     string limit_paramater   = shift_parameter( parameters );
 263     int limit = -1;
 264     if ( limit_paramater != "" ) {
 265         char *e = NULL;
 266         limit = strtol(limit_paramater.c_str(), &e, 10);
 267         if (e <= limit_paramater.c_str())
 268             limit = -1;
 269     }
 270
 271     // Open file
 272     FILE *lp = fopen(filename.c_str(), "r");
 273     if (lp == NULL) {
 274         stream->printf("File not found: %s\r\n", filename.c_str());
 275         return;
 276     }
 277     string buffer;
 278     int c;
 279     int newlines = 0;
 280     int linecnt= 0;
 281     // Print each line of the file
 282     while ((c = fgetc (lp)) != EOF) {
 283         buffer.append((char *)&c, 1);
 284         if ( char(c) == '\n' || ++linecnt > 80) {
 285             newlines++;
 286             stream->puts(buffer.c_str());
 287             buffer.clear();
 288             if(linecnt > 80) linecnt= 0;
 289         }
 290         if ( newlines == limit ) {
 291             break;
 292         }
 293     };
 294     fclose(lp);
 295
 296 }
 297
 298 // loads the specified config-override file
 299 void SimpleShell::load_command( string parameters, StreamOutput *stream )
 300 {
 301     // Get parameters ( filename )
 302     string filename = absolute_from_relative(parameters);
 303     if(filename == "/") {
 304         filename = THEKERNEL->config_override_filename();
 305     }
 306
 307     FILE *fp= fopen(filename.c_str(), "r");
 308     if(fp != NULL) {
 309         char buf[132];
 310         stream->printf("Loading config override file: %s...\n", filename.c_str());
 311         while(fgets(buf, sizeof buf, fp) != NULL) {
 312             stream->printf("  %s", buf);
 313             if(buf[0] == ';') continue; // skip the comments
 314             struct SerialMessage message= {&(StreamOutput::NullStream), buf};
 315             THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
 316         }
 317         stream->printf("config override file executed\n");
 318         fclose(fp);
 319
 320     }else{
 321         stream->printf("File not found: %s\n", filename.c_str());
 322     }
 323 }
 324
 325 // saves the specified config-override file
 326 void SimpleShell::save_command( string parameters, StreamOutput *stream )
 327 {
 328     // Get parameters ( filename )
 329     string filename = absolute_from_relative(parameters);
 330     if(filename == "/") {
 331         filename = THEKERNEL->config_override_filename();
 332     }
 333
 334     // replace stream with one that writes to config-override file
 335     FileStream *gs = new FileStream(filename.c_str());
 336     if(!gs->is_open()) {
 337         stream->printf("Unable to open File %s for write\n", filename.c_str());
 338         return;
 339     }
 340
 341     // issue a M500 which will store values in the file stream
 342     Gcode *gcode = new Gcode("M500", gs);
 343     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 344     delete gs;
 345     delete gcode;
 346
 347     stream->printf("Settings Stored to %s\r\n", filename.c_str());
 348 }
 349
 350 // show free memory
 351 void SimpleShell::mem_command( string parameters, StreamOutput *stream)
 352 {
 353     bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos ;
 354     unsigned long heap = (unsigned long)_sbrk(0);
 355     unsigned long m = g_maximumHeapAddress - heap;
 356     stream->printf("Unused Heap: %lu bytes\r\n", m);
 357
 358     uint32_t f= heapWalk(stream, verbose);
 359     stream->printf("Total Free RAM: %lu bytes\r\n", m + f);
 360
 361     stream->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0.free(), AHB1.free());
 362     if (verbose)
 363     {
 364         AHB0.debug(stream);
 365         AHB1.debug(stream);
 366     }
 367 }
 368
 369 static uint32_t getDeviceType()
 370 {
 371 #define IAP_LOCATION 0x1FFF1FF1
 372     uint32_t command[1];
 373     uint32_t result[5];
 374     typedef void (*IAP)(uint32_t *, uint32_t *);
 375     IAP iap = (IAP) IAP_LOCATION;
 376
 377     __disable_irq();
 378
 379     command[0] = 54;
 380     iap(command, result);
 381
 382     __enable_irq();
 383
 384     return result[1];
 385 }
 386
 387 // get network config
 388 void SimpleShell::net_command( string parameters, StreamOutput *stream)
 389 {
 390     void *returned_data;
 391     bool ok= PublicData::get_value( network_checksum, get_ipconfig_checksum, &returned_data );
 392     if(ok) {
 393         char *str= (char *)returned_data;
 394         stream->printf("%s\r\n", str);
 395         free(str);
 396
 397     }else{
 398         stream->printf("No network detected\n");
 399     }
 400 }
 401
 402 // print out build version
 403 void SimpleShell::version_command( string parameters, StreamOutput *stream)
 404 {
 405     Version vers;
 406     uint32_t dev = getDeviceType();
 407     const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768";
 408     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);
 409 }
 410
 411 // Reset the system
 412 void SimpleShell::reset_command( string parameters, StreamOutput *stream)
 413 {
 414     stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
 415     reset_delay_secs = 5; // reboot in 5 seconds
 416 }
 417
 418 // go into dfu boot mode
 419 void SimpleShell::dfu_command( string parameters, StreamOutput *stream)
 420 {
 421     stream->printf("Entering boot mode...\r\n");
 422     system_reset(true);
 423 }
 424
 425 // Break out into the MRI debugging system
 426 void SimpleShell::break_command( string parameters, StreamOutput *stream)
 427 {
 428     stream->printf("Entering MRI debug mode...\r\n");
 429     __debugbreak();
 430 }
 431
 432 // used to test out the get public data events
 433 void SimpleShell::get_command( string parameters, StreamOutput *stream)
 434 {
 435     string what = shift_parameter( parameters );
 436     void *returned_data;
 437
 438     if (what == "temp") {
 439         string type = shift_parameter( parameters );
 440         bool ok = PublicData::get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data );
 441
 442         if (ok) {
 443             struct pad_temperature temp =  *static_cast<struct pad_temperature *>(returned_data);
 444             stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
 445         } else {
 446             stream->printf("%s is not a known temperature device\r\n", type.c_str());
 447         }
 448
 449     } else if (what == "pos") {
 450         bool ok = PublicData::get_value( robot_checksum, current_position_checksum, &returned_data );
 451
 452         if (ok) {
 453             float *pos = static_cast<float *>(returned_data);
 454             stream->printf("Position X: %f, Y: %f, Z: %f\r\n", pos[0], pos[1], pos[2]);
 455
 456         } else {
 457             stream->printf("get pos command failed\r\n");
 458         }
 459     }
 460 }
 461
 462 // used to test out the get public data events
 463 void SimpleShell::set_temp_command( string parameters, StreamOutput *stream)
 464 {
 465     string type = shift_parameter( parameters );
 466     string temp = shift_parameter( parameters );
 467     float t = temp.empty() ? 0.0 : strtof(temp.c_str(), NULL);
 468     bool ok = PublicData::set_value( temperature_control_checksum, get_checksum(type), &t );
 469
 470     if (ok) {
 471         stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t);
 472     } else {
 473         stream->printf("%s is not a known temperature device\r\n", type.c_str());
 474     }
 475 }
 476
 477 void SimpleShell::help_command( string parameters, StreamOutput *stream )
 478 {
 479     stream->printf("Commands:\r\n");
 480     stream->printf("version\r\n");
 481     stream->printf("mem [-v]\r\n");
 482     stream->printf("ls [folder]\r\n");
 483     stream->printf("cd folder\r\n");
 484     stream->printf("pwd\r\n");
 485     stream->printf("cat file [limit]\r\n");
 486     stream->printf("rm file\r\n");
 487     stream->printf("play file [-v]\r\n");
 488     stream->printf("progress - shows progress of current play\r\n");
 489     stream->printf("abort - abort currently playing file\r\n");
 490     stream->printf("reset - reset smoothie\r\n");
 491     stream->printf("dfu - enter dfu boot loader\r\n");
 492     stream->printf("break - break into debugger\r\n");
 493     stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
 494     stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
 495     stream->printf("get temp [bed|hotend]\r\n");
 496     stream->printf("set_temp bed|hotend 185\r\n");
 497     stream->printf("get pos\r\n");
 498     stream->printf("net\r\n");
 499     stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n");
 500     stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n");
 501 }
 502