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/Player.h"
  16 #include "mri.h"
  17
  18
  19 void SimpleShell::on_module_loaded(){
  20     this->current_path = "/";
  21     this->playing_file = false;
  22     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
  23     this->register_for_event(ON_MAIN_LOOP);
  24 }
  25
  26 // When a new line is received, check if it is a command, and if it is, act upon it
  27 void SimpleShell::on_console_line_received( void* argument ){
  28     SerialMessage new_message = *static_cast<SerialMessage*>(argument);
  29     string possible_command = new_message.message;
  30
  31     //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
  32
  33     // We don't compare to a string but to a checksum of that string, this saves some space in flash memory
  34     unsigned short check_sum = get_checksum( possible_command.substr(0,possible_command.find_first_of(" \r\n")) );  // todo: put this method somewhere more convenient
  35
  36     // Act depending on command
  37     if (check_sum == ls_command_checksum)
  38         this->ls_command(  get_arguments(possible_command), new_message.stream );
  39     else if (check_sum == cd_command_checksum)
  40         this->cd_command(  get_arguments(possible_command), new_message.stream );
  41     else if (check_sum == pwd_command_checksum)
  42         this->pwd_command( get_arguments(possible_command), new_message.stream );
  43     else if (check_sum == cat_command_checksum)
  44         this->cat_command( get_arguments(possible_command), new_message.stream );
  45     else if (check_sum == play_command_checksum)
  46         this->play_command(get_arguments(possible_command), new_message.stream );
  47     else if (check_sum == break_command_checksum)
  48         this->break_command(get_arguments(possible_command),new_message.stream );
  49     else if (check_sum == reset_command_checksum)
  50         this->reset_command(get_arguments(possible_command),new_message.stream );
  51     else if (check_sum == dfu_command_checksum)
  52         this->reset_command(get_arguments(possible_command),new_message.stream );
  53         else if (check_sum == help_command_checksum)
  54                 this->help_command(get_arguments(possible_command),new_message.stream );
  55         else if (check_sum == progress_command_checksum)
  56                 this->progress_command(get_arguments(possible_command),new_message.stream );
  57         else if (check_sum == abort_command_checksum)
  58                 this->abort_command(get_arguments(possible_command),new_message.stream );
  59 }
  60
  61 // Convert a path indication ( absolute or relative ) into a path ( absolute )
  62 string SimpleShell::absolute_from_relative( string path ){
  63     if( path[0] == '/' ){ return path; }
  64     if( path[0] == '.' ){ return this->current_path; }
  65     return this->current_path + path;
  66 }
  67
  68 // Act upon an ls command
  69 // Convert the first parameter into an absolute path, then list the files in that path
  70 void SimpleShell::ls_command( string parameters, StreamOutput* stream ){
  71     string folder = this->absolute_from_relative( parameters );
  72     DIR* d;
  73     struct dirent* p;
  74     d = opendir(folder.c_str());
  75     if(d != NULL) {
  76                 while((p = readdir(d)) != NULL) { stream->printf("%s\r\n", lc(string(p->d_name)).c_str()); }
  77                 closedir(d);
  78     } else {
  79         stream->printf("Could not open directory %s \r\n", folder.c_str());
  80     }
  81 }
  82
  83 // Change current absolute path to provided path
  84 void SimpleShell::cd_command( string parameters, StreamOutput* stream ){
  85     string folder = this->absolute_from_relative( parameters );
  86     if( folder[folder.length()-1] != '/' ){ folder += "/"; }
  87     DIR *d;
  88     d = opendir(folder.c_str());
  89     if(d == NULL) {
  90         stream->printf("Could not open directory %s \r\n", folder.c_str() );
  91     }else{
  92                 this->current_path = folder;
  93                 closedir(d);
  94     }
  95 }
  96
  97 // Responds with the present working directory
  98 void SimpleShell::pwd_command( string parameters, StreamOutput* stream ){
  99     stream->printf("%s\r\n", this->current_path.c_str());
 100 }
 101
 102 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
 103 void SimpleShell::cat_command( string parameters, StreamOutput* stream ){
 104
 105     // Get parameters ( filename and line limit )
 106     string filename          = this->absolute_from_relative(shift_parameter( parameters ));
 107     string limit_paramater   = shift_parameter( parameters );
 108     int limit = -1;
 109     if( limit_paramater != "" )
 110     {
 111         char* e = NULL;
 112         limit = strtol(limit_paramater.c_str(), &e, 10);
 113         if (e <= limit_paramater.c_str())
 114             limit = -1;
 115     }
 116
 117     // Open file
 118     FILE *lp = fopen(filename.c_str(), "r");
 119     if(lp == NULL) {
 120         stream->printf("File not found: %s\r\n", filename.c_str());
 121         return;
 122     }
 123     string buffer;
 124     int c;
 125     int newlines = 0;
 126
 127     // Print each line of the file
 128     while ((c = fgetc (lp)) != EOF){
 129         buffer.append((char *)&c, 1);
 130         if( char(c) == '\n' ){
 131             newlines++;
 132             stream->puts(buffer.c_str());
 133             buffer.clear();
 134         }
 135         if( newlines == limit ){ break; }
 136     };
 137     fclose(lp);
 138
 139 }
 140
 141 // Play a gcode file by considering each line as if it was received on the serial console
 142 void SimpleShell::play_command( string parameters, StreamOutput* stream ){
 143
 144     // Get filename
 145     string filename          = this->absolute_from_relative(shift_parameter( parameters ));
 146     stream->printf("Playing %s\r\n", filename.c_str());
 147     string options           = shift_parameter( parameters );
 148
 149     this->current_file_handler = fopen( filename.c_str(), "r");
 150     if(this->current_file_handler == NULL)
 151     {
 152         stream->printf("File not found: %s\r\n", filename.c_str());
 153         return;
 154     }
 155     this->playing_file = true;
 156     if( options.find_first_of("Qq") == string::npos ){
 157         this->current_stream = stream;
 158     }else{
 159         this->current_stream = kernel->streams;
 160         }
 161
 162         // get size of file
 163         int result = fseek(this->current_file_handler, 0, SEEK_END);
 164         if (0 != result){
 165                 stream->printf("WARNING - Could not get file size\r\n");
 166                 file_size= -1;
 167         }else{
 168                 file_size= ftell(this->current_file_handler);
 169                 fseek(this->current_file_handler, 0, SEEK_SET);
 170                 stream->printf("  File size %ld\r\n", file_size);
 171         }
 172         played_cnt= 0;
 173 }
 174
 175 void SimpleShell::progress_command( string parameters, StreamOutput* stream ){
 176         if(!playing_file) {
 177                 stream->printf("Not currently playing\r\n");
 178                 return;
 179         }
 180
 181         if(file_size > 0) {
 182                 int pcnt= (file_size - (file_size - played_cnt)) * 100 / file_size;
 183                 stream->printf("%d %% complete\r\n", pcnt);
 184         }else{
 185                 stream->printf("File size is unknown\r\n");
 186         }
 187 }
 188
 189 void SimpleShell::abort_command( string parameters, StreamOutput* stream ){
 190         if(!playing_file) {
 191                 stream->printf("Not currently playing\r\n");
 192                 return;
 193         }
 194         playing_file = false;
 195         played_cnt= 0;
 196         file_size= 0;
 197         fclose(current_file_handler);
 198         stream->printf("Aborted playing file\r\n");
 199 }
 200
 201 // Reset the system
 202 void SimpleShell::reset_command( string parameters, StreamOutput* stream){
 203     stream->printf("Smoothie out. Peace.\r\n");
 204     system_reset();
 205 }
 206
 207 // Break out into the MRI debugging system
 208 void SimpleShell::break_command( string parameters, StreamOutput* stream){
 209     stream->printf("Entering MRI debug mode...\r\n");
 210     __debugbreak();
 211 }
 212
 213 void SimpleShell::help_command( string parameters, StreamOutput* stream ){
 214         stream->printf("Commands:\r\n");
 215         stream->printf("ls [folder]\r\n");
 216         stream->printf("cd folder\r\n");
 217         stream->printf("pwd\r\n");
 218         stream->printf("cat file [limit]\r\n");
 219         stream->printf("play file [-q]\r\n");
 220         stream->printf("progress\r\n");
 221         stream->printf("abort\r\n");
 222         stream->printf("reset\r\n");
 223         stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
 224         stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
 225         stream->printf("config-load [<file_name>]\r\n");
 226 }
 227
 228 void SimpleShell::on_main_loop(void* argument){
 229
 230     if( this->playing_file ){
 231         string buffer;
 232         int c;
 233         buffer.reserve(20);
 234         // Print each line of the file
 235         while ((c = fgetc(this->current_file_handler)) != EOF){
 236             if (c == '\n'){
 237                 this->current_stream->printf("%s\n", buffer.c_str());
 238                 struct SerialMessage message;
 239                 message.message = buffer;
 240                 message.stream = this->current_stream;
 241                 // wait for the queue to have enough room that a serial message could still be received before sending
 242                 this->kernel->player->wait_for_queue(2);
 243                                 this->kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
 244                                 played_cnt += buffer.size();
 245                 buffer.clear();
 246                 return;
 247             }else{
 248                 buffer += c;
 249             }
 250         };
 251                 this->playing_file = false;
 252                 played_cnt= 0;
 253                 file_size= 0;
 254         fclose(this->current_file_handler);
 255     }
 256 }