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/>.
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"
19 #include "PublicDataRequest.h"
20 #include "AppendFileStream.h"
21 #include "FileStream.h"
22 #include "checksumm.h"
23 #include "PublicData.h"
25 //#include "StepTicker.h"
27 #include "modules/tools/temperaturecontrol/TemperatureControlPublicAccess.h"
28 #include "modules/robot/RobotPublicAccess.h"
29 #include "NetworkPublicAccess.h"
30 #include "platform_memory.h"
31 #include "SwitchPublicAccess.h"
33 #include "Thermistor.h"
36 #include "system_LPC17xx.h"
39 #include "mbed.h" // for wait_ms()
41 extern unsigned int g_maximumHeapAddress
;
48 extern "C" uint32_t __end__
;
49 extern "C" uint32_t __malloc_free_list
;
50 extern "C" uint32_t _sbrk(int size
);
52 // command lookup table
53 const SimpleShell::ptentry_t
SimpleShell::commands_table
[] = {
54 {"ls", SimpleShell::ls_command
},
55 {"cd", SimpleShell::cd_command
},
56 {"pwd", SimpleShell::pwd_command
},
57 {"cat", SimpleShell::cat_command
},
58 {"rm", SimpleShell::rm_command
},
59 {"mv", SimpleShell::mv_command
},
60 {"upload", SimpleShell::upload_command
},
61 {"reset", SimpleShell::reset_command
},
62 {"dfu", SimpleShell::dfu_command
},
63 {"break", SimpleShell::break_command
},
64 {"help", SimpleShell::help_command
},
65 {"?", SimpleShell::help_command
},
66 {"version", SimpleShell::version_command
},
67 {"mem", SimpleShell::mem_command
},
68 {"get", SimpleShell::get_command
},
69 {"set_temp", SimpleShell::set_temp_command
},
70 {"switch", SimpleShell::switch_command
},
71 {"net", SimpleShell::net_command
},
72 {"load", SimpleShell::load_command
},
73 {"save", SimpleShell::save_command
},
74 {"remount", SimpleShell::remount_command
},
75 {"calc_thermistor", SimpleShell::calc_thermistor_command
},
76 {"thermistors", SimpleShell::print_thermistors_command
},
77 {"md5sum", SimpleShell::md5sum_command
},
83 int SimpleShell::reset_delay_secs
= 0;
85 // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556
86 static uint32_t heapWalk(StreamOutput
*stream
, bool verbose
)
88 uint32_t chunkNumber
= 1;
89 // The __end__ linker symbol points to the beginning of the heap.
90 uint32_t chunkCurr
= (uint32_t)&__end__
;
91 // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks.
92 uint32_t freeCurr
= __malloc_free_list
;
93 // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap.
94 uint32_t heapEnd
= _sbrk(0);
96 uint32_t freeSize
= 0;
97 uint32_t usedSize
= 0;
99 stream
->printf("Used Heap Size: %lu\n", heapEnd
- chunkCurr
);
101 // Walk through the chunks until we hit the end of the heap.
102 while (chunkCurr
< heapEnd
) {
103 // Assume the chunk is in use. Will update later.
105 // The first 32-bit word in a chunk is the size of the allocation. newlib-nano over allocates by 8 bytes.
106 // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer.
107 uint32_t chunkSize
= *(uint32_t *)chunkCurr
;
108 // The start of the next chunk is right after the end of this one.
109 uint32_t chunkNext
= chunkCurr
+ chunkSize
;
111 // The free list is sorted by address.
112 // Check to see if we have found the next free chunk in the heap.
113 if (chunkCurr
== freeCurr
) {
114 // Chunk is free so flag it as such.
116 // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address).
117 freeCurr
= *(uint32_t *)(freeCurr
+ 4);
120 // Skip past the 32-bit size field in the chunk header.
122 // 8-byte align the data pointer.
123 chunkCurr
= (chunkCurr
+ 7) & ~7;
124 // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8
125 // byte-alignment of the returned pointer.
128 stream
->printf(" Chunk: %lu Address: 0x%08lX Size: %lu %s\n", chunkNumber
, chunkCurr
, chunkSize
, isChunkFree
? "CHUNK FREE" : "");
130 if (isChunkFree
) freeSize
+= chunkSize
;
131 else usedSize
+= chunkSize
;
133 chunkCurr
= chunkNext
;
136 stream
->printf("Allocated: %lu, Free: %lu\r\n", usedSize
, freeSize
);
141 void SimpleShell::on_module_loaded()
143 this->register_for_event(ON_CONSOLE_LINE_RECEIVED
);
144 this->register_for_event(ON_GCODE_RECEIVED
);
145 this->register_for_event(ON_SECOND_TICK
);
147 reset_delay_secs
= 0;
150 void SimpleShell::on_second_tick(void *)
152 // we are timing out for the reset
153 if (reset_delay_secs
> 0) {
154 if (--reset_delay_secs
== 0) {
160 void SimpleShell::on_gcode_received(void *argument
)
162 Gcode
*gcode
= static_cast<Gcode
*>(argument
);
163 string args
= get_arguments(gcode
->get_command());
166 if (gcode
->m
== 20) { // list sd card
167 gcode
->stream
->printf("Begin file list\r\n");
168 ls_command("/sd", gcode
->stream
);
169 gcode
->stream
->printf("End file list\r\n");
171 } else if (gcode
->m
== 30) { // remove file
172 rm_command("/sd/" + args
, gcode
->stream
);
174 } else if(gcode
->m
== 501) { // load config override
176 load_command("/sd/config-override", gcode
->stream
);
178 load_command("/sd/config-override." + args
, gcode
->stream
);
181 } else if(gcode
->m
== 504) { // save to specific config override file
183 save_command("/sd/config-override", gcode
->stream
);
185 save_command("/sd/config-override." + args
, gcode
->stream
);
191 bool SimpleShell::parse_command(const char *cmd
, string args
, StreamOutput
*stream
)
193 for (const ptentry_t
*p
= commands_table
; p
->command
!= NULL
; ++p
) {
194 if (strncasecmp(cmd
, p
->command
, strlen(p
->command
)) == 0) {
195 p
->func(args
, stream
);
203 // When a new line is received, check if it is a command, and if it is, act upon it
204 void SimpleShell::on_console_line_received( void *argument
)
206 SerialMessage new_message
= *static_cast<SerialMessage
*>(argument
);
208 // ignore comments and blank lines and if this is a G code then also ignore it
209 char first_char
= new_message
.message
[0];
210 if(strchr(";( \n\rGMTN", first_char
) != NULL
) return;
212 string possible_command
= new_message
.message
;
214 //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
215 string cmd
= shift_parameter(possible_command
);
217 // find command and execute it
218 parse_command(cmd
.c_str(), possible_command
, new_message
.stream
);
221 // Act upon an ls command
222 // Convert the first parameter into an absolute path, then list the files in that path
223 void SimpleShell::ls_command( string parameters
, StreamOutput
*stream
)
226 while(!parameters
.empty()) {
227 string s
= shift_parameter( parameters
);
228 if(s
.front() == '-') {
232 if(!parameters
.empty()) {
234 path
.append(parameters
);
240 path
= absolute_from_relative(path
);
244 d
= opendir(path
.c_str());
246 while ((p
= readdir(d
)) != NULL
) {
247 stream
->printf("%s", lc(string(p
->d_name
)).c_str());
250 } else if(opts
.find("-s", 0, 2) != string::npos
) {
251 stream
->printf(" %d", p
->d_fsize
);
253 stream
->printf("\r\n");
257 stream
->printf("Could not open directory %s\r\n", path
.c_str());
261 extern SDFAT mounter
;
263 void SimpleShell::remount_command( string parameters
, StreamOutput
*stream
)
266 stream
->printf("remounted\r\n");
270 void SimpleShell::rm_command( string parameters
, StreamOutput
*stream
)
272 const char *fn
= absolute_from_relative(shift_parameter( parameters
)).c_str();
274 if (s
!= 0) stream
->printf("Could not delete %s \r\n", fn
);
278 void SimpleShell::mv_command( string parameters
, StreamOutput
*stream
)
280 string from
= absolute_from_relative(shift_parameter( parameters
));
281 string to
= absolute_from_relative(shift_parameter(parameters
));
282 int s
= rename(from
.c_str(), to
.c_str());
283 if (s
!= 0) stream
->printf("Could not rename %s to %s\r\n", from
.c_str(), to
.c_str());
284 else stream
->printf("renamed %s to %s\r\n", from
.c_str(), to
.c_str());
287 // Change current absolute path to provided path
288 void SimpleShell::cd_command( string parameters
, StreamOutput
*stream
)
290 string folder
= absolute_from_relative( parameters
);
293 d
= opendir(folder
.c_str());
295 stream
->printf("Could not open directory %s \r\n", folder
.c_str() );
297 THEKERNEL
->current_path
= folder
;
302 // Responds with the present working directory
303 void SimpleShell::pwd_command( string parameters
, StreamOutput
*stream
)
305 stream
->printf("%s\r\n", THEKERNEL
->current_path
.c_str());
308 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
309 void SimpleShell::cat_command( string parameters
, StreamOutput
*stream
)
311 // Get parameters ( filename and line limit )
312 string filename
= absolute_from_relative(shift_parameter( parameters
));
313 string limit_paramater
= shift_parameter( parameters
);
315 if ( limit_paramater
!= "" ) {
317 limit
= strtol(limit_paramater
.c_str(), &e
, 10);
318 if (e
<= limit_paramater
.c_str())
323 FILE *lp
= fopen(filename
.c_str(), "r");
325 stream
->printf("File not found: %s\r\n", filename
.c_str());
332 // Print each line of the file
333 while ((c
= fgetc (lp
)) != EOF
) {
334 buffer
.append((char *)&c
, 1);
335 if ( char(c
) == '\n' || ++linecnt
> 80) {
337 stream
->puts(buffer
.c_str());
339 if(linecnt
> 80) linecnt
= 0;
341 if ( newlines
== limit
) {
348 void SimpleShell::upload_command( string parameters
, StreamOutput
*stream
)
350 // this needs to be a hack. it needs to read direct from serial and not allow on_main_loop run until done
351 // NOTE this will block all operation until the upload is complete, so do not do while printing
352 if(!THEKERNEL
->conveyor
->is_queue_empty()) {
353 stream
->printf("upload not allowed while printing or busy\n");
357 // open file to upload to
358 string upload_filename
= absolute_from_relative( parameters
);
359 FILE *fd
= fopen(upload_filename
.c_str(), "w");
361 stream
->printf("uploading to file: %s, send control-D or control-Z to finish\r\n", upload_filename
.c_str());
363 stream
->printf("failed to open file: %s.\r\n", upload_filename
.c_str());
368 bool uploading
= true;
370 if(!stream
->ready()) {
371 // we need to kick things or they die
372 THEKERNEL
->call_event(ON_IDLE
);
376 char c
= stream
->_getc();
377 if( c
== 4 || c
== 26) { // ctrl-D or ctrl-Z
381 stream
->printf("uploaded %d bytes\n", cnt
);
385 // write character to file
387 if(fputc(c
, fd
) != c
) {
388 // error writing to file
389 stream
->printf("error writing to file. ignoring all characters until EOF\r\n");
395 if ((cnt
%400) == 0) {
396 // HACK ALERT to get around fwrite corruption close and re open for append
398 fd
= fopen(upload_filename
.c_str(), "a");
403 // we got an error so ignore everything until EOF
406 if(stream
->ready()) {
409 THEKERNEL
->call_event(ON_IDLE
);
412 } while(c
!= 4 && c
!= 26);
415 // loads the specified config-override file
416 void SimpleShell::load_command( string parameters
, StreamOutput
*stream
)
418 // Get parameters ( filename )
419 string filename
= absolute_from_relative(parameters
);
420 if(filename
== "/") {
421 filename
= THEKERNEL
->config_override_filename();
424 FILE *fp
= fopen(filename
.c_str(), "r");
427 stream
->printf("Loading config override file: %s...\n", filename
.c_str());
428 while(fgets(buf
, sizeof buf
, fp
) != NULL
) {
429 stream
->printf(" %s", buf
);
430 if(buf
[0] == ';') continue; // skip the comments
431 struct SerialMessage message
= {&(StreamOutput::NullStream
), buf
};
432 THEKERNEL
->call_event(ON_CONSOLE_LINE_RECEIVED
, &message
);
434 stream
->printf("config override file executed\n");
438 stream
->printf("File not found: %s\n", filename
.c_str());
442 // saves the specified config-override file
443 void SimpleShell::save_command( string parameters
, StreamOutput
*stream
)
445 // Get parameters ( filename )
446 string filename
= absolute_from_relative(parameters
);
447 if(filename
== "/") {
448 filename
= THEKERNEL
->config_override_filename();
451 THEKERNEL
->conveyor
->wait_for_empty_queue(); //just to be safe as it can take a while to run
453 //remove(filename.c_str()); // seems to cause a hang every now and then
455 FileStream
fs(filename
.c_str());
456 fs
.printf("; DO NOT EDIT THIS FILE\n");
457 // this also will truncate the existing file instead of deleting it
460 // stream that appends to file
461 AppendFileStream
*gs
= new AppendFileStream(filename
.c_str());
462 // if(!gs->is_open()) {
463 // stream->printf("Unable to open File %s for write\n", filename.c_str());
468 // issue a M500 which will store values in the file stream
469 Gcode
*gcode
= new Gcode("M500", gs
);
470 THEKERNEL
->call_event(ON_GCODE_RECEIVED
, gcode
);
475 stream
->printf("Settings Stored to %s\r\n", filename
.c_str());
479 void SimpleShell::mem_command( string parameters
, StreamOutput
*stream
)
481 bool verbose
= shift_parameter( parameters
).find_first_of("Vv") != string::npos
;
482 unsigned long heap
= (unsigned long)_sbrk(0);
483 unsigned long m
= g_maximumHeapAddress
- heap
;
484 stream
->printf("Unused Heap: %lu bytes\r\n", m
);
486 uint32_t f
= heapWalk(stream
, verbose
);
487 stream
->printf("Total Free RAM: %lu bytes\r\n", m
+ f
);
489 stream
->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0
.free(), AHB1
.free());
496 static uint32_t getDeviceType()
498 #define IAP_LOCATION 0x1FFF1FF1
501 typedef void (*IAP
)(uint32_t *, uint32_t *);
502 IAP iap
= (IAP
) IAP_LOCATION
;
507 iap(command
, result
);
514 // get network config
515 void SimpleShell::net_command( string parameters
, StreamOutput
*stream
)
518 bool ok
= PublicData::get_value( network_checksum
, get_ipconfig_checksum
, &returned_data
);
520 char *str
= (char *)returned_data
;
521 stream
->printf("%s\r\n", str
);
525 stream
->printf("No network detected\n");
529 // print out build version
530 void SimpleShell::version_command( string parameters
, StreamOutput
*stream
)
533 uint32_t dev
= getDeviceType();
534 const char *mcu
= (dev
& 0x00100000) ? "LPC1769" : "LPC1768";
535 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);
539 void SimpleShell::reset_command( string parameters
, StreamOutput
*stream
)
541 stream
->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
542 reset_delay_secs
= 5; // reboot in 5 seconds
545 // go into dfu boot mode
546 void SimpleShell::dfu_command( string parameters
, StreamOutput
*stream
)
548 stream
->printf("Entering boot mode...\r\n");
552 // Break out into the MRI debugging system
553 void SimpleShell::break_command( string parameters
, StreamOutput
*stream
)
555 stream
->printf("Entering MRI debug mode...\r\n");
559 // used to test out the get public data events
560 void SimpleShell::get_command( string parameters
, StreamOutput
*stream
)
562 string what
= shift_parameter( parameters
);
564 if (what
== "temp") {
565 struct pad_temperature temp
;
566 string type
= shift_parameter( parameters
);
568 // scan all temperature controls
569 std::vector
<struct pad_temperature
> controllers
;
570 bool ok
= PublicData::get_value(temperature_control_checksum
, poll_controls_checksum
, &controllers
);
572 for (auto &c
: controllers
) {
573 stream
->printf("%s (%d) temp: %f/%f @%d\r\n", c
.designator
.c_str(), c
.id
, c
.current_temperature
, c
.target_temperature
, c
.pwm
);
577 stream
->printf("no heaters found\r\n");
581 bool ok
= PublicData::get_value( temperature_control_checksum
, current_temperature_checksum
, get_checksum(type
), &temp
);
584 stream
->printf("%s temp: %f/%f @%d\r\n", type
.c_str(), temp
.current_temperature
, temp
.target_temperature
, temp
.pwm
);
586 stream
->printf("%s is not a known temperature device\r\n", type
.c_str());
590 } else if (what
== "pos") {
592 bool ok
= PublicData::get_value( robot_checksum
, current_position_checksum
, &pos
);
595 stream
->printf("Position X: %f, Y: %f, Z: %f\r\n", pos
[0], pos
[1], pos
[2]);
598 stream
->printf("get pos command failed\r\n");
603 // used to test out the get public data events
604 void SimpleShell::set_temp_command( string parameters
, StreamOutput
*stream
)
606 string type
= shift_parameter( parameters
);
607 string temp
= shift_parameter( parameters
);
608 float t
= temp
.empty() ? 0.0 : strtof(temp
.c_str(), NULL
);
609 bool ok
= PublicData::set_value( temperature_control_checksum
, get_checksum(type
), &t
);
612 stream
->printf("%s temp set to: %3.1f\r\n", type
.c_str(), t
);
614 stream
->printf("%s is not a known temperature device\r\n", type
.c_str());
618 void SimpleShell::print_thermistors_command( string parameters
, StreamOutput
*stream
)
620 Thermistor::print_predefined_thermistors(stream
);
623 void SimpleShell::calc_thermistor_command( string parameters
, StreamOutput
*stream
)
625 string s
= shift_parameter( parameters
);
627 // see if we have -sn as first argument
628 if(s
.find("-s", 0, 2) != string::npos
) {
629 // save the results to thermistor n
630 saveto
= strtol(s
.substr(2).c_str(), nullptr, 10);
635 std::vector
<float> trl
= parse_number_list(parameters
.c_str());
636 if(trl
.size() == 6) {
637 // calculate the coefficients
639 std::tie(c1
, c2
, c3
) = Thermistor::calculate_steinhart_hart_coefficients(trl
[0], trl
[1], trl
[2], trl
[3], trl
[4], trl
[5]);
640 stream
->printf("Steinhart Hart coefficients: I%1.18f J%1.18f K%1.18f\n", c1
, c2
, c3
);
642 stream
->printf(" Paste the above in the M305 S0 command, then save with M500\n");
645 int n
= snprintf(buf
, sizeof(buf
), "M305 S%d I%1.18f J%1.18f K%1.18f", saveto
, c1
, c2
, c3
);
647 Gcode
gcode(g
, &(StreamOutput::NullStream
));
648 THEKERNEL
->call_event(ON_GCODE_RECEIVED
, &gcode
);
649 stream
->printf(" Setting Thermistor %d to those settings, save with M500\n", saveto
);
654 stream
->printf("Usage: calc_thermistor T1,R1,T2,R2,T3,R3\n");
658 // used to test out the get public data events for switch
659 void SimpleShell::switch_command( string parameters
, StreamOutput
*stream
)
661 string type
= shift_parameter( parameters
);
662 string value
= shift_parameter( parameters
);
664 if(value
== "on" || value
== "off") {
665 bool b
= value
== "on";
666 ok
= PublicData::set_value( switch_checksum
, get_checksum(type
), state_checksum
, &b
);
668 float v
= strtof(value
.c_str(), NULL
);
669 ok
= PublicData::set_value( switch_checksum
, get_checksum(type
), value_checksum
, &v
);
672 stream
->printf("switch %s set to: %s\r\n", type
.c_str(), value
.c_str());
674 stream
->printf("%s is not a known switch device\r\n", type
.c_str());
678 void SimpleShell::md5sum_command( string parameters
, StreamOutput
*stream
)
680 string filename
= absolute_from_relative(parameters
);
683 FILE *lp
= fopen(filename
.c_str(), "r");
685 stream
->printf("File not found: %s\r\n", filename
.c_str());
691 size_t n
= fread(buf
, 1, sizeof buf
, lp
);
692 if(n
> 0) md5
.update(buf
, n
);
695 stream
->printf("%s %s\n", md5
.finalize().hexdigest().c_str(), filename
.c_str());
701 void SimpleShell::help_command( string parameters
, StreamOutput
*stream
)
703 stream
->printf("Commands:\r\n");
704 stream
->printf("version\r\n");
705 stream
->printf("mem [-v]\r\n");
706 stream
->printf("ls [-s] [folder]\r\n");
707 stream
->printf("cd folder\r\n");
708 stream
->printf("pwd\r\n");
709 stream
->printf("cat file [limit]\r\n");
710 stream
->printf("rm file\r\n");
711 stream
->printf("mv file newfile\r\n");
712 stream
->printf("remount\r\n");
713 stream
->printf("play file [-v]\r\n");
714 stream
->printf("progress - shows progress of current play\r\n");
715 stream
->printf("abort - abort currently playing file\r\n");
716 stream
->printf("reset - reset smoothie\r\n");
717 stream
->printf("dfu - enter dfu boot loader\r\n");
718 stream
->printf("break - break into debugger\r\n");
719 stream
->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
720 stream
->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
721 stream
->printf("get temp [bed|hotend]\r\n");
722 stream
->printf("set_temp bed|hotend 185\r\n");
723 stream
->printf("get pos\r\n");
724 stream
->printf("net\r\n");
725 stream
->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n");
726 stream
->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n");
727 stream
->printf("upload filename - saves a stream of text to the named file\r\n");
728 stream
->printf("calc_thermistor [-s0] T1,R1,T2,R2,T3,R3 - calculate the Steinhart Hart coefficients for a thermistor\r\n");
729 stream
->printf("thermistors - print out the predefined thermistors\r\n");
730 stream
->printf("md5sum file - prints md5 sum of the given file\r\n");