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
  21 #include "modules/tools/temperaturecontrol/TemperatureControlPublicAccess.h"
  22
  23 void SimpleShell::on_module_loaded(){
  24     this->current_path = "/";
  25     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  26     this->reset_delay_secs= 0;
  27
  28     register_for_event(ON_SECOND_TICK);
  29 }
  30
  31 void SimpleShell::on_second_tick(void*) {
  32     // we are timing out for the reset
  33     if (this->reset_delay_secs > 0) {
  34         if(--this->reset_delay_secs == 0){
  35             system_reset(false);
  36         }
  37     }
  38 }
  39
  40 // When a new line is received, check if it is a command, and if it is, act upon it
  41 void SimpleShell::on_console_line_received( void* argument ){
  42     SerialMessage new_message = *static_cast<SerialMessage*>(argument);
  43     string possible_command = new_message.message;
  44
  45     //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
  46
  47     // We don't compare to a string but to a checksum of that string, this saves some space in flash memory
  48     unsigned short check_sum = get_checksum( possible_command.substr(0,possible_command.find_first_of(" \r\n")) );  // todo: put this method somewhere more convenient
  49
  50     // Act depending on command
  51     if (check_sum == ls_command_checksum)
  52         this->ls_command(  get_arguments(possible_command), new_message.stream );
  53     else if (check_sum == cd_command_checksum)
  54         this->cd_command(  get_arguments(possible_command), new_message.stream );
  55     else if (check_sum == pwd_command_checksum)
  56         this->pwd_command( get_arguments(possible_command), new_message.stream );
  57     else if (check_sum == cat_command_checksum)
  58         this->cat_command( get_arguments(possible_command), new_message.stream );
  59     else if (check_sum == break_command_checksum)
  60         this->break_command(get_arguments(possible_command),new_message.stream );
  61     else if (check_sum == reset_command_checksum)
  62         this->reset_command(get_arguments(possible_command),new_message.stream );
  63     else if (check_sum == dfu_command_checksum)
  64         this->dfu_command(get_arguments(possible_command),new_message.stream );
  65     else if (check_sum == help_command_checksum)
  66         this->help_command(get_arguments(possible_command),new_message.stream );
  67     else if (check_sum == version_command_checksum)
  68         this->version_command(get_arguments(possible_command),new_message.stream );
  69     else if (check_sum == get_temp_command_checksum)
  70         this->get_temp_command(get_arguments(possible_command),new_message.stream );
  71     else if (check_sum == set_temp_command_checksum)
  72         this->set_temp_command(get_arguments(possible_command),new_message.stream );
  73 }
  74
  75 // Convert a path indication ( absolute or relative ) into a path ( absolute )
  76 string SimpleShell::absolute_from_relative( string path ){
  77     if( path[0] == '/' ){ return path; }
  78     if( path[0] == '.' ){ return this->current_path; }
  79     return this->current_path + path;
  80 }
  81
  82 // Act upon an ls command
  83 // Convert the first parameter into an absolute path, then list the files in that path
  84 void SimpleShell::ls_command( string parameters, StreamOutput* stream ){
  85     string folder = this->absolute_from_relative( parameters );
  86     DIR* d;
  87     struct dirent* p;
  88     d = opendir(folder.c_str());
  89     if(d != NULL) {
  90         while((p = readdir(d)) != NULL) { stream->printf("%s\r\n", lc(string(p->d_name)).c_str()); }
  91         closedir(d);
  92     } else {
  93         stream->printf("Could not open directory %s \r\n", folder.c_str());
  94     }
  95 }
  96
  97 // Change current absolute path to provided path
  98 void SimpleShell::cd_command( string parameters, StreamOutput* stream ){
  99     string folder = this->absolute_from_relative( parameters );
 100     if( folder[folder.length()-1] != '/' ){ folder += "/"; }
 101     DIR *d;
 102     d = opendir(folder.c_str());
 103     if(d == NULL) {
 104         stream->printf("Could not open directory %s \r\n", folder.c_str() );
 105     }else{
 106         this->current_path = folder;
 107         closedir(d);
 108     }
 109 }
 110
 111 // Responds with the present working directory
 112 void SimpleShell::pwd_command( string parameters, StreamOutput* stream ){
 113     stream->printf("%s\r\n", this->current_path.c_str());
 114 }
 115
 116 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
 117 void SimpleShell::cat_command( string parameters, StreamOutput* stream ){
 118
 119     // Get parameters ( filename and line limit )
 120     string filename          = this->absolute_from_relative(shift_parameter( parameters ));
 121     string limit_paramater   = shift_parameter( parameters );
 122     int limit = -1;
 123     if( limit_paramater != "" )
 124     {
 125         char* e = NULL;
 126         limit = strtol(limit_paramater.c_str(), &e, 10);
 127         if (e <= limit_paramater.c_str())
 128             limit = -1;
 129     }
 130
 131     // Open file
 132     FILE *lp = fopen(filename.c_str(), "r");
 133     if(lp == NULL) {
 134         stream->printf("File not found: %s\r\n", filename.c_str());
 135         return;
 136     }
 137     string buffer;
 138     int c;
 139     int newlines = 0;
 140
 141     // Print each line of the file
 142     while ((c = fgetc (lp)) != EOF){
 143         buffer.append((char *)&c, 1);
 144         if( char(c) == '\n' ){
 145             newlines++;
 146             stream->puts(buffer.c_str());
 147             buffer.clear();
 148         }
 149         if( newlines == limit ){ break; }
 150     };
 151     fclose(lp);
 152
 153 }
 154
 155 // print out build version
 156 void SimpleShell::version_command( string parameters, StreamOutput* stream){
 157     Version vers;
 158     stream->printf("Build version: %s, Build date: %s,  System Clock: %ldMHz\r\n", vers.get_build(), vers.get_build_date(), SystemCoreClock / 1000000);
 159 }
 160
 161 // Reset the system
 162 void SimpleShell::reset_command( string parameters, StreamOutput* stream){
 163     stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
 164     this->reset_delay_secs= 5; // reboot in 5 seconds
 165 }
 166
 167 // go into dfu boot mode
 168 void SimpleShell::dfu_command( string parameters, StreamOutput* stream){
 169     stream->printf("Entering boot mode...\r\n");
 170     system_reset(true);
 171 }
 172
 173 // Break out into the MRI debugging system
 174 void SimpleShell::break_command( string parameters, StreamOutput* stream){
 175     stream->printf("Entering MRI debug mode...\r\n");
 176     __debugbreak();
 177 }
 178
 179 // used to test out the get public data events
 180 void SimpleShell::get_temp_command( string parameters, StreamOutput* stream){
 181     string type= shift_parameter( parameters );
 182     void *returned_data;
 183     bool ok= this->kernel->public_data->get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data );
 184
 185     if(ok) {
 186         struct pad_temperature temp=  *static_cast<struct pad_temperature*>(returned_data);
 187         stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
 188     }else{
 189         stream->printf("%s is not a known temperature device\r\n", type.c_str());
 190     }
 191 }
 192
 193 // used to test out the get public data events
 194 void SimpleShell::set_temp_command( string parameters, StreamOutput* stream){
 195     string type= shift_parameter( parameters );
 196     string temp= shift_parameter( parameters );
 197     double t= temp.empty() ? 0.0 : strtod(temp.c_str(), NULL);
 198     bool ok= this->kernel->public_data->set_value( temperature_control_checksum, get_checksum(type), &t );
 199
 200     if(ok) {
 201         stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t);
 202     }else{
 203         stream->printf("%s is not a known temperature device\r\n", type.c_str());
 204     }
 205 }
 206
 207 void SimpleShell::help_command( string parameters, StreamOutput* stream ){
 208     stream->printf("Commands:\r\n");
 209     stream->printf("version\r\n");
 210     stream->printf("ls [folder]\r\n");
 211     stream->printf("cd folder\r\n");
 212     stream->printf("pwd\r\n");
 213     stream->printf("cat file [limit]\r\n");
 214     stream->printf("play file [-q]\r\n");
 215     stream->printf("progress - shows progress of current play\r\n");
 216     stream->printf("abort - abort currently playing file\r\n");
 217     stream->printf("reset - reset smoothie\r\n");
 218     stream->printf("dfu - enter dfu boot loader\r\n");
 219     stream->printf("break - break into debugger\r\n");
 220     stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
 221     stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
 222     stream->printf("config-load [<file_name>]\r\n");
 223     stream->printf("get_temp bed|hotend\r\n");
 224     stream->printf("set_temp bed|hotend 185\r\n");
 225 }
 226