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 #include "modules/robot/RobotPublicAccess.h"
  23
  24 //extern "C" caddr_t _sbrk(int incr);
  25 extern unsigned int g_maximumHeapAddress;
  26
  27 #include <malloc.h>
  28 #include <mri.h>
  29 #include <stdio.h>
  30 #include <stdint.h>
  31
  32 extern "C" uint32_t  __end__;
  33 extern "C" uint32_t  __malloc_free_list;
  34 extern "C" uint32_t  _sbrk(int size);
  35
  36
  37 // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556
  38 static void heapWalk(StreamOutput* stream, bool verbose)
  39 {
  40     uint32_t chunkNumber = 1;
  41     // The __end__ linker symbol points to the beginning of the heap.
  42     uint32_t chunkCurr = (uint32_t)&__end__;
  43     // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks.
  44     uint32_t freeCurr = __malloc_free_list;
  45     // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap.
  46     uint32_t heapEnd = _sbrk(0);
  47     // accumulate totals
  48     uint32_t freeSize= 0;
  49     uint32_t usedSize= 0;
  50
  51     stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr);
  52
  53     // Walk through the chunks until we hit the end of the heap.
  54     while (chunkCurr < heapEnd)
  55     {
  56         // Assume the chunk is in use.  Will update later.
  57         int      isChunkFree = 0;
  58         // The first 32-bit word in a chunk is the size of the allocation.  newlib-nano over allocates by 8 bytes.
  59         // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer.
  60         uint32_t chunkSize = *(uint32_t*)chunkCurr;
  61         // The start of the next chunk is right after the end of this one.
  62         uint32_t chunkNext = chunkCurr + chunkSize;
  63
  64         // The free list is sorted by address.
  65         // Check to see if we have found the next free chunk in the heap.
  66         if (chunkCurr == freeCurr)
  67         {
  68             // Chunk is free so flag it as such.
  69             isChunkFree = 1;
  70             // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address).
  71             freeCurr = *(uint32_t*)(freeCurr + 4);
  72         }
  73
  74         // Skip past the 32-bit size field in the chunk header.
  75         chunkCurr += 4;
  76         // 8-byte align the data pointer.
  77         chunkCurr = (chunkCurr + 7) & ~7;
  78         // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8
  79         // byte-alignment of the returned pointer.
  80         chunkSize -= 8;
  81         if(verbose)
  82             stream->printf("  Chunk: %lu  Address: 0x%08lX  Size: %lu  %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : "");
  83
  84         if(isChunkFree) freeSize += chunkSize;
  85         else usedSize += chunkSize;
  86
  87         chunkCurr = chunkNext;
  88         chunkNumber++;
  89     }
  90     stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize);
  91 }
  92
  93
  94 void SimpleShell::on_module_loaded(){
  95     this->current_path = "/";
  96     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  97     this->reset_delay_secs= 0;
  98
  99     this->register_for_event(ON_SECOND_TICK);
 100     this->register_for_event(ON_GCODE_RECEIVED);
 101 }
 102
 103 void SimpleShell::on_second_tick(void*) {
 104     // we are timing out for the reset
 105     if (this->reset_delay_secs > 0) {
 106         if(--this->reset_delay_secs == 0){
 107             system_reset(false);
 108         }
 109     }
 110 }
 111
 112 void SimpleShell::on_gcode_received(void *argument) {
 113     Gcode *gcode = static_cast<Gcode*>(argument);
 114
 115     if (gcode->has_m) {
 116         if (gcode->m == 20) { // list sd card
 117             gcode->mark_as_taken();
 118             gcode->stream->printf("Begin file list\r\n");
 119             ls_command("/sd", gcode->stream);
 120             gcode->stream->printf("End file list\r\n");
 121         }
 122     }
 123 }
 124
 125 // When a new line is received, check if it is a command, and if it is, act upon it
 126 void SimpleShell::on_console_line_received( void* argument ){
 127     SerialMessage new_message = *static_cast<SerialMessage*>(argument);
 128
 129     // ignore comments
 130     if(new_message.message[0] == ';') return;
 131
 132     string possible_command = new_message.message;
 133
 134     //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
 135
 136     // We don't compare to a string but to a checksum of that string, this saves some space in flash memory
 137     unsigned short check_sum = get_checksum( possible_command.substr(0,possible_command.find_first_of(" \r\n")) );  // todo: put this method somewhere more convenient
 138
 139     // Act depending on command
 140     if (check_sum == ls_command_checksum)
 141         this->ls_command(  get_arguments(possible_command), new_message.stream );
 142     else if (check_sum == cd_command_checksum)
 143         this->cd_command(  get_arguments(possible_command), new_message.stream );
 144     else if (check_sum == pwd_command_checksum)
 145         this->pwd_command( get_arguments(possible_command), new_message.stream );
 146     else if (check_sum == cat_command_checksum)
 147         this->cat_command( get_arguments(possible_command), new_message.stream );
 148     else if (check_sum == break_command_checksum)
 149         this->break_command(get_arguments(possible_command),new_message.stream );
 150     else if (check_sum == reset_command_checksum)
 151         this->reset_command(get_arguments(possible_command),new_message.stream );
 152     else if (check_sum == dfu_command_checksum)
 153         this->dfu_command(get_arguments(possible_command),new_message.stream );
 154     else if (check_sum == help_command_checksum)
 155         this->help_command(get_arguments(possible_command),new_message.stream );
 156     else if (check_sum == version_command_checksum)
 157         this->version_command(get_arguments(possible_command),new_message.stream );
 158     else if (check_sum == get_command_checksum)
 159         this->get_command(get_arguments(possible_command),new_message.stream );
 160     else if (check_sum == set_temp_command_checksum)
 161         this->set_temp_command(get_arguments(possible_command),new_message.stream );
 162     else if (check_sum == mem_command_checksum)
 163         this->mem_command(get_arguments(possible_command),new_message.stream );
 164
 165 }
 166
 167 // Convert a path indication ( absolute or relative ) into a path ( absolute )
 168 string SimpleShell::absolute_from_relative( string path ){
 169     if( path[0] == '/' ){ return path; }
 170     if( path[0] == '.' ){ return this->current_path; }
 171     return this->current_path + path;
 172 }
 173
 174 // Act upon an ls command
 175 // Convert the first parameter into an absolute path, then list the files in that path
 176 void SimpleShell::ls_command( string parameters, StreamOutput* stream ){
 177     string folder = this->absolute_from_relative( parameters );
 178     DIR* d;
 179     struct dirent* p;
 180     d = opendir(folder.c_str());
 181     if(d != NULL) {
 182         while((p = readdir(d)) != NULL) { stream->printf("%s\r\n", lc(string(p->d_name)).c_str()); }
 183         closedir(d);
 184     } else {
 185         stream->printf("Could not open directory %s \r\n", folder.c_str());
 186     }
 187 }
 188
 189 // Change current absolute path to provided path
 190 void SimpleShell::cd_command( string parameters, StreamOutput* stream ){
 191     string folder = this->absolute_from_relative( parameters );
 192     if( folder[folder.length()-1] != '/' ){ folder += "/"; }
 193     DIR *d;
 194     d = opendir(folder.c_str());
 195     if(d == NULL) {
 196         stream->printf("Could not open directory %s \r\n", folder.c_str() );
 197     }else{
 198         this->current_path = folder;
 199         closedir(d);
 200     }
 201 }
 202
 203 // Responds with the present working directory
 204 void SimpleShell::pwd_command( string parameters, StreamOutput* stream ){
 205     stream->printf("%s\r\n", this->current_path.c_str());
 206 }
 207
 208 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
 209 void SimpleShell::cat_command( string parameters, StreamOutput* stream ){
 210
 211     // Get parameters ( filename and line limit )
 212     string filename          = this->absolute_from_relative(shift_parameter( parameters ));
 213     string limit_paramater   = shift_parameter( parameters );
 214     int limit = -1;
 215     if( limit_paramater != "" )
 216     {
 217         char* e = NULL;
 218         limit = strtol(limit_paramater.c_str(), &e, 10);
 219         if (e <= limit_paramater.c_str())
 220             limit = -1;
 221     }
 222
 223     // Open file
 224     FILE *lp = fopen(filename.c_str(), "r");
 225     if(lp == NULL) {
 226         stream->printf("File not found: %s\r\n", filename.c_str());
 227         return;
 228     }
 229     string buffer;
 230     int c;
 231     int newlines = 0;
 232
 233     // Print each line of the file
 234     while ((c = fgetc (lp)) != EOF){
 235         buffer.append((char *)&c, 1);
 236         if( char(c) == '\n' ){
 237             newlines++;
 238             stream->puts(buffer.c_str());
 239             buffer.clear();
 240         }
 241         if( newlines == limit ){ break; }
 242     };
 243     fclose(lp);
 244
 245 }
 246
 247 // show free memory
 248 void SimpleShell::mem_command( string parameters, StreamOutput* stream){
 249     bool verbose= shift_parameter( parameters ).find_first_of("Vv") != string::npos ;
 250     unsigned long heap= (unsigned long)_sbrk(0);
 251     unsigned long m= g_maximumHeapAddress - heap;
 252     stream->printf("Unused Heap: %lu bytes\r\n", m);
 253
 254     heapWalk(stream, verbose);
 255 }
 256
 257 static uint32_t getDeviceType() {
 258     #define IAP_LOCATION 0x1FFF1FF1
 259     uint32_t command[1];
 260     uint32_t result[5];
 261     typedef void (*IAP)(uint32_t*, uint32_t*);
 262     IAP iap = (IAP) IAP_LOCATION;
 263
 264     __disable_irq();
 265
 266     command[0] = 54;
 267     iap(command, result);
 268
 269     __enable_irq();
 270
 271     return result[1];
 272 }
 273
 274 // print out build version
 275 void SimpleShell::version_command( string parameters, StreamOutput* stream){
 276     Version vers;
 277     uint32_t dev= getDeviceType();
 278     const char* mcu= (dev&0x00100000)?"LPC1769":"LPC1768";
 279     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);
 280 }
 281
 282 // Reset the system
 283 void SimpleShell::reset_command( string parameters, StreamOutput* stream){
 284     stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
 285     this->reset_delay_secs= 5; // reboot in 5 seconds
 286 }
 287
 288 // go into dfu boot mode
 289 void SimpleShell::dfu_command( string parameters, StreamOutput* stream){
 290     stream->printf("Entering boot mode...\r\n");
 291     system_reset(true);
 292 }
 293
 294 // Break out into the MRI debugging system
 295 void SimpleShell::break_command( string parameters, StreamOutput* stream){
 296     stream->printf("Entering MRI debug mode...\r\n");
 297     __debugbreak();
 298 }
 299
 300 // used to test out the get public data events
 301 void SimpleShell::get_command( string parameters, StreamOutput* stream){
 302     int what= get_checksum(shift_parameter( parameters ));
 303     void *returned_data;
 304
 305     if(what == get_temp_command_checksum) {
 306         string type= shift_parameter( parameters );
 307         bool ok= this->kernel->public_data->get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data );
 308
 309         if(ok) {
 310             struct pad_temperature temp=  *static_cast<struct pad_temperature*>(returned_data);
 311             stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
 312         }else{
 313             stream->printf("%s is not a known temperature device\r\n", type.c_str());
 314         }
 315
 316     }else if(what == get_pos_command_checksum) {
 317         bool ok= this->kernel->public_data->get_value( robot_checksum, current_position_checksum, &returned_data );
 318
 319         if(ok) {
 320             double *pos= static_cast<double *>(returned_data);
 321             stream->printf("Position X: %f, Y: %f, Z: %f\r\n", pos[0], pos[1], pos[2]);
 322
 323         }else{
 324             stream->printf("get pos command failed\r\n");
 325         }
 326     }
 327 }
 328
 329 // used to test out the get public data events
 330 void SimpleShell::set_temp_command( string parameters, StreamOutput* stream){
 331     string type= shift_parameter( parameters );
 332     string temp= shift_parameter( parameters );
 333     double t= temp.empty() ? 0.0 : strtod(temp.c_str(), NULL);
 334     bool ok= this->kernel->public_data->set_value( temperature_control_checksum, get_checksum(type), &t );
 335
 336     if(ok) {
 337         stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t);
 338     }else{
 339         stream->printf("%s is not a known temperature device\r\n", type.c_str());
 340     }
 341 }
 342
 343 void SimpleShell::help_command( string parameters, StreamOutput* stream ){
 344     stream->printf("Commands:\r\n");
 345     stream->printf("version\r\n");
 346     stream->printf("mem [-v]\r\n");
 347     stream->printf("ls [folder]\r\n");
 348     stream->printf("cd folder\r\n");
 349     stream->printf("pwd\r\n");
 350     stream->printf("cat file [limit]\r\n");
 351     stream->printf("play file [-q]\r\n");
 352     stream->printf("progress - shows progress of current play\r\n");
 353     stream->printf("abort - abort currently playing file\r\n");
 354     stream->printf("reset - reset smoothie\r\n");
 355     stream->printf("dfu - enter dfu boot loader\r\n");
 356     stream->printf("break - break into debugger\r\n");
 357     stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
 358     stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
 359     stream->printf("config-load [<file_name>]\r\n");
 360     stream->printf("get temp [bed|hotend]\r\n");
 361     stream->printf("set_temp bed|hotend 185\r\n");
 362     stream->printf("get pos\r\n");
 363 }
 364