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 #include "SwitchPublicAccess.h"
  30 #include "SDFAT.h"
  31
  32 #include "system_LPC17xx.h"
  33 #include "LPC17xx.h"
  34
  35 extern unsigned int g_maximumHeapAddress;
  36
  37 #include <malloc.h>
  38 #include <mri.h>
  39 #include <stdio.h>
  40 #include <stdint.h>
  41
  42 extern "C" uint32_t  __end__;
  43 extern "C" uint32_t  __malloc_free_list;
  44 extern "C" uint32_t  _sbrk(int size);
  45
  46 // command lookup table
  47 const SimpleShell::ptentry_t SimpleShell::commands_table[] = {
  48     {"ls",       SimpleShell::ls_command},
  49     {"cd",       SimpleShell::cd_command},
  50     {"pwd",      SimpleShell::pwd_command},
  51     {"cat",      SimpleShell::cat_command},
  52     {"rm",       SimpleShell::rm_command},
  53     {"reset",    SimpleShell::reset_command},
  54     {"dfu",      SimpleShell::dfu_command},
  55     {"break",    SimpleShell::break_command},
  56     {"help",     SimpleShell::help_command},
  57     {"?",        SimpleShell::help_command},
  58     {"version",  SimpleShell::version_command},
  59     {"mem",      SimpleShell::mem_command},
  60     {"get",      SimpleShell::get_command},
  61     {"set_temp", SimpleShell::set_temp_command},
  62     {"switch",   SimpleShell::switch_command},
  63     {"net",      SimpleShell::net_command},
  64     {"load",     SimpleShell::load_command},
  65     {"save",     SimpleShell::save_command},
  66     {"remount",       SimpleShell::remount_command},
  67
  68     // unknown command
  69     {NULL, NULL}
  70 };
  71
  72 int SimpleShell::reset_delay_secs= 0;
  73
  74 // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556
  75 static uint32_t heapWalk(StreamOutput *stream, bool verbose)
  76 {
  77     uint32_t chunkNumber = 1;
  78     // The __end__ linker symbol points to the beginning of the heap.
  79     uint32_t chunkCurr = (uint32_t)&__end__;
  80     // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks.
  81     uint32_t freeCurr = __malloc_free_list;
  82     // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap.
  83     uint32_t heapEnd = _sbrk(0);
  84     // accumulate totals
  85     uint32_t freeSize = 0;
  86     uint32_t usedSize = 0;
  87
  88     stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr);
  89
  90     // Walk through the chunks until we hit the end of the heap.
  91     while (chunkCurr < heapEnd) {
  92         // Assume the chunk is in use.  Will update later.
  93         int      isChunkFree = 0;
  94         // The first 32-bit word in a chunk is the size of the allocation.  newlib-nano over allocates by 8 bytes.
  95         // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer.
  96         uint32_t chunkSize = *(uint32_t *)chunkCurr;
  97         // The start of the next chunk is right after the end of this one.
  98         uint32_t chunkNext = chunkCurr + chunkSize;
  99
 100         // The free list is sorted by address.
 101         // Check to see if we have found the next free chunk in the heap.
 102         if (chunkCurr == freeCurr) {
 103             // Chunk is free so flag it as such.
 104             isChunkFree = 1;
 105             // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address).
 106             freeCurr = *(uint32_t *)(freeCurr + 4);
 107         }
 108
 109         // Skip past the 32-bit size field in the chunk header.
 110         chunkCurr += 4;
 111         // 8-byte align the data pointer.
 112         chunkCurr = (chunkCurr + 7) & ~7;
 113         // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8
 114         // byte-alignment of the returned pointer.
 115         chunkSize -= 8;
 116         if (verbose)
 117             stream->printf("  Chunk: %lu  Address: 0x%08lX  Size: %lu  %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : "");
 118
 119         if (isChunkFree) freeSize += chunkSize;
 120         else usedSize += chunkSize;
 121
 122         chunkCurr = chunkNext;
 123         chunkNumber++;
 124     }
 125     stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize);
 126     return freeSize;
 127 }
 128
 129
 130 void SimpleShell::on_module_loaded()
 131 {
 132     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
 133     this->register_for_event(ON_GCODE_RECEIVED);
 134     this->register_for_event(ON_SECOND_TICK);
 135
 136     reset_delay_secs = 0;
 137 }
 138
 139 void SimpleShell::on_second_tick(void *)
 140 {
 141     // we are timing out for the reset
 142     if (reset_delay_secs > 0) {
 143         if (--reset_delay_secs == 0) {
 144             system_reset(false);
 145         }
 146     }
 147 }
 148
 149 void SimpleShell::on_gcode_received(void *argument)
 150 {
 151     Gcode *gcode = static_cast<Gcode *>(argument);
 152     string args= get_arguments(gcode->get_command());
 153
 154     if (gcode->has_m) {
 155         if (gcode->m == 20) { // list sd card
 156             gcode->mark_as_taken();
 157             gcode->stream->printf("Begin file list\r\n");
 158             ls_command("/sd", gcode->stream);
 159             gcode->stream->printf("End file list\r\n");
 160
 161         } else if (gcode->m == 30) { // remove file
 162             gcode->mark_as_taken();
 163             rm_command("/sd/" + args, gcode->stream);
 164
 165         }else if(gcode->m == 501) { // load config override
 166             gcode->mark_as_taken();
 167             if(args.empty()) {
 168                 load_command("/sd/config-override", gcode->stream);
 169             }else{
 170                 load_command("/sd/config-override." + args, gcode->stream);
 171             }
 172
 173         }else if(gcode->m == 504) { // save to specific config override file
 174             gcode->mark_as_taken();
 175             if(args.empty()) {
 176                 save_command("/sd/config-override", gcode->stream);
 177             }else{
 178                 save_command("/sd/config-override." + args, gcode->stream);
 179             }
 180         }
 181     }
 182 }
 183
 184 bool SimpleShell::parse_command(const char *cmd, string args, StreamOutput *stream)
 185 {
 186     for (const ptentry_t *p = commands_table; p->command != NULL; ++p) {
 187         if (strncasecmp(cmd, p->command, strlen(p->command)) == 0) {
 188             p->func(args, stream);
 189             return true;
 190         }
 191     }
 192
 193     return false;
 194 }
 195
 196 // When a new line is received, check if it is a command, and if it is, act upon it
 197 void SimpleShell::on_console_line_received( void *argument )
 198 {
 199     SerialMessage new_message = *static_cast<SerialMessage *>(argument);
 200
 201     // ignore comments and blank lines and if this is a G code then also ignore it
 202     char first_char = new_message.message[0];
 203     if(strchr(";( \n\rGMTN", first_char) != NULL) return;
 204
 205     string possible_command = new_message.message;
 206
 207     //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
 208     string cmd = shift_parameter(possible_command);
 209
 210     // find command and execute it
 211     parse_command(cmd.c_str(), possible_command, new_message.stream);
 212 }
 213
 214 // Act upon an ls command
 215 // Convert the first parameter into an absolute path, then list the files in that path
 216 void SimpleShell::ls_command( string parameters, StreamOutput *stream )
 217 {
 218     string folder = absolute_from_relative( parameters );
 219     DIR *d;
 220     struct dirent *p;
 221     d = opendir(folder.c_str());
 222     if (d != NULL) {
 223         while ((p = readdir(d)) != NULL) {
 224             stream->printf("%s%c\r\n", lc(string(p->d_name)).c_str(), p->d_isdir?'/':' ');
 225         }
 226         closedir(d);
 227     } else {
 228         stream->printf("Could not open directory %s \r\n", folder.c_str());
 229     }
 230 }
 231
 232 extern SDFAT mounter;
 233
 234 void SimpleShell::remount_command( string parameters, StreamOutput *stream )
 235 {
 236     mounter.remount();
 237     stream->printf("remounted\r\n");
 238 }
 239
 240 // Delete a file
 241 void SimpleShell::rm_command( string parameters, StreamOutput *stream )
 242 {
 243     const char *fn= absolute_from_relative(shift_parameter( parameters )).c_str();
 244     int s = remove(fn);
 245     if (s != 0) stream->printf("Could not delete %s \r\n", fn);
 246 }
 247
 248 // Change current absolute path to provided path
 249 void SimpleShell::cd_command( string parameters, StreamOutput *stream )
 250 {
 251     string folder = absolute_from_relative( parameters );
 252
 253     DIR *d;
 254     d = opendir(folder.c_str());
 255     if (d == NULL) {
 256         stream->printf("Could not open directory %s \r\n", folder.c_str() );
 257     } else {
 258         THEKERNEL->current_path = folder;
 259         closedir(d);
 260     }
 261 }
 262
 263 // Responds with the present working directory
 264 void SimpleShell::pwd_command( string parameters, StreamOutput *stream )
 265 {
 266     stream->printf("%s\r\n", THEKERNEL->current_path.c_str());
 267 }
 268
 269 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
 270 void SimpleShell::cat_command( string parameters, StreamOutput *stream )
 271 {
 272     // Get parameters ( filename and line limit )
 273     string filename          = absolute_from_relative(shift_parameter( parameters ));
 274     string limit_paramater   = shift_parameter( parameters );
 275     int limit = -1;
 276     if ( limit_paramater != "" ) {
 277         char *e = NULL;
 278         limit = strtol(limit_paramater.c_str(), &e, 10);
 279         if (e <= limit_paramater.c_str())
 280             limit = -1;
 281     }
 282
 283     // Open file
 284     FILE *lp = fopen(filename.c_str(), "r");
 285     if (lp == NULL) {
 286         stream->printf("File not found: %s\r\n", filename.c_str());
 287         return;
 288     }
 289     string buffer;
 290     int c;
 291     int newlines = 0;
 292     int linecnt= 0;
 293     // Print each line of the file
 294     while ((c = fgetc (lp)) != EOF) {
 295         buffer.append((char *)&c, 1);
 296         if ( char(c) == '\n' || ++linecnt > 80) {
 297             newlines++;
 298             stream->puts(buffer.c_str());
 299             buffer.clear();
 300             if(linecnt > 80) linecnt= 0;
 301         }
 302         if ( newlines == limit ) {
 303             break;
 304         }
 305     };
 306     fclose(lp);
 307
 308 }
 309
 310 // loads the specified config-override file
 311 void SimpleShell::load_command( string parameters, StreamOutput *stream )
 312 {
 313     // Get parameters ( filename )
 314     string filename = absolute_from_relative(parameters);
 315     if(filename == "/") {
 316         filename = THEKERNEL->config_override_filename();
 317     }
 318
 319     FILE *fp= fopen(filename.c_str(), "r");
 320     if(fp != NULL) {
 321         char buf[132];
 322         stream->printf("Loading config override file: %s...\n", filename.c_str());
 323         while(fgets(buf, sizeof buf, fp) != NULL) {
 324             stream->printf("  %s", buf);
 325             if(buf[0] == ';') continue; // skip the comments
 326             struct SerialMessage message= {&(StreamOutput::NullStream), buf};
 327             THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
 328         }
 329         stream->printf("config override file executed\n");
 330         fclose(fp);
 331
 332     }else{
 333         stream->printf("File not found: %s\n", filename.c_str());
 334     }
 335 }
 336
 337 // saves the specified config-override file
 338 void SimpleShell::save_command( string parameters, StreamOutput *stream )
 339 {
 340     // Get parameters ( filename )
 341     string filename = absolute_from_relative(parameters);
 342     if(filename == "/") {
 343         filename = THEKERNEL->config_override_filename();
 344     }
 345
 346     // replace stream with one that writes to config-override file
 347     FileStream *gs = new FileStream(filename.c_str());
 348     if(!gs->is_open()) {
 349         stream->printf("Unable to open File %s for write\n", filename.c_str());
 350         return;
 351     }
 352
 353     // issue a M500 which will store values in the file stream
 354     Gcode *gcode = new Gcode("M500", gs);
 355     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 356     delete gs;
 357     delete gcode;
 358
 359     stream->printf("Settings Stored to %s\r\n", filename.c_str());
 360 }
 361
 362 // show free memory
 363 void SimpleShell::mem_command( string parameters, StreamOutput *stream)
 364 {
 365     bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos ;
 366     unsigned long heap = (unsigned long)_sbrk(0);
 367     unsigned long m = g_maximumHeapAddress - heap;
 368     stream->printf("Unused Heap: %lu bytes\r\n", m);
 369
 370     uint32_t f= heapWalk(stream, verbose);
 371     stream->printf("Total Free RAM: %lu bytes\r\n", m + f);
 372
 373     stream->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0.free(), AHB1.free());
 374     if (verbose)
 375     {
 376         AHB0.debug(stream);
 377         AHB1.debug(stream);
 378     }
 379 }
 380
 381 static uint32_t getDeviceType()
 382 {
 383 #define IAP_LOCATION 0x1FFF1FF1
 384     uint32_t command[1];
 385     uint32_t result[5];
 386     typedef void (*IAP)(uint32_t *, uint32_t *);
 387     IAP iap = (IAP) IAP_LOCATION;
 388
 389     __disable_irq();
 390
 391     command[0] = 54;
 392     iap(command, result);
 393
 394     __enable_irq();
 395
 396     return result[1];
 397 }
 398
 399 // get network config
 400 void SimpleShell::net_command( string parameters, StreamOutput *stream)
 401 {
 402     void *returned_data;
 403     bool ok= PublicData::get_value( network_checksum, get_ipconfig_checksum, &returned_data );
 404     if(ok) {
 405         char *str= (char *)returned_data;
 406         stream->printf("%s\r\n", str);
 407         free(str);
 408
 409     }else{
 410         stream->printf("No network detected\n");
 411     }
 412 }
 413
 414 // print out build version
 415 void SimpleShell::version_command( string parameters, StreamOutput *stream)
 416 {
 417     Version vers;
 418     uint32_t dev = getDeviceType();
 419     const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768";
 420     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);
 421 }
 422
 423 // Reset the system
 424 void SimpleShell::reset_command( string parameters, StreamOutput *stream)
 425 {
 426     stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
 427     reset_delay_secs = 5; // reboot in 5 seconds
 428 }
 429
 430 // go into dfu boot mode
 431 void SimpleShell::dfu_command( string parameters, StreamOutput *stream)
 432 {
 433     stream->printf("Entering boot mode...\r\n");
 434     system_reset(true);
 435 }
 436
 437 // Break out into the MRI debugging system
 438 void SimpleShell::break_command( string parameters, StreamOutput *stream)
 439 {
 440     stream->printf("Entering MRI debug mode...\r\n");
 441     __debugbreak();
 442 }
 443
 444 // used to test out the get public data events
 445 void SimpleShell::get_command( string parameters, StreamOutput *stream)
 446 {
 447     string what = shift_parameter( parameters );
 448     void *returned_data;
 449
 450     if (what == "temp") {
 451         string type = shift_parameter( parameters );
 452         bool ok = PublicData::get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data );
 453
 454         if (ok) {
 455             struct pad_temperature temp =  *static_cast<struct pad_temperature *>(returned_data);
 456             stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
 457         } else {
 458             stream->printf("%s is not a known temperature device\r\n", type.c_str());
 459         }
 460
 461     } else if (what == "pos") {
 462         bool ok = PublicData::get_value( robot_checksum, current_position_checksum, &returned_data );
 463
 464         if (ok) {
 465             float *pos = static_cast<float *>(returned_data);
 466             stream->printf("Position X: %f, Y: %f, Z: %f\r\n", pos[0], pos[1], pos[2]);
 467
 468         } else {
 469             stream->printf("get pos command failed\r\n");
 470         }
 471     }
 472 }
 473
 474 // used to test out the get public data events
 475 void SimpleShell::set_temp_command( string parameters, StreamOutput *stream)
 476 {
 477     string type = shift_parameter( parameters );
 478     string temp = shift_parameter( parameters );
 479     float t = temp.empty() ? 0.0 : strtof(temp.c_str(), NULL);
 480     bool ok = PublicData::set_value( temperature_control_checksum, get_checksum(type), &t );
 481
 482     if (ok) {
 483         stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t);
 484     } else {
 485         stream->printf("%s is not a known temperature device\r\n", type.c_str());
 486     }
 487 }
 488
 489 // used to test out the get public data events for switch
 490 void SimpleShell::switch_command( string parameters, StreamOutput *stream)
 491 {
 492     string type = shift_parameter( parameters );
 493     string value = shift_parameter( parameters );
 494     bool ok= false;
 495     if(value == "on" || value == "off") {
 496         bool b= value == "on";
 497         ok = PublicData::set_value( switch_checksum, get_checksum(type), state_checksum, &b );
 498     }else{
 499         float v = strtof(value.c_str(), NULL);
 500         ok = PublicData::set_value( switch_checksum, get_checksum(type), value_checksum, &v );
 501     }
 502     if (ok) {
 503         stream->printf("switch %s set to: %s\r\n", type.c_str(), value.c_str());
 504     } else {
 505         stream->printf("%s is not a known switch device\r\n", type.c_str());
 506     }
 507 }
 508
 509 void SimpleShell::help_command( string parameters, StreamOutput *stream )
 510 {
 511     stream->printf("Commands:\r\n");
 512     stream->printf("version\r\n");
 513     stream->printf("mem [-v]\r\n");
 514     stream->printf("ls [folder]\r\n");
 515     stream->printf("cd folder\r\n");
 516     stream->printf("pwd\r\n");
 517     stream->printf("cat file [limit]\r\n");
 518     stream->printf("rm file\r\n");
 519     stream->printf("remount\r\n");
 520     stream->printf("play file [-v]\r\n");
 521     stream->printf("progress - shows progress of current play\r\n");
 522     stream->printf("abort - abort currently playing file\r\n");
 523     stream->printf("reset - reset smoothie\r\n");
 524     stream->printf("dfu - enter dfu boot loader\r\n");
 525     stream->printf("break - break into debugger\r\n");
 526     stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
 527     stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
 528     stream->printf("get temp [bed|hotend]\r\n");
 529     stream->printf("set_temp bed|hotend 185\r\n");
 530     stream->printf("get pos\r\n");
 531     stream->printf("net\r\n");
 532     stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n");
 533     stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n");
 534 }
 535