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 #include "FileStream.h"
  21 #include "checksumm.h"
  22 #include "PublicData.h"
  23 #include "Gcode.h"
  24
  25 #include "SimpleShell.h"
  26
  27 #include "modules/tools/temperaturecontrol/TemperatureControlPublicAccess.h"
  28 #include "modules/robot/RobotPublicAccess.h"
  29 #include "NetworkPublicAccess.h"
  30 #include "platform_memory.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 #define get_temp_command_checksum CHECKSUM("temp")
  47 #define get_pos_command_checksum  CHECKSUM("pos")
  48
  49 // command lookup table
  50 SimpleShell::ptentry_t SimpleShell::commands_table[] = {
  51     {CHECKSUM("ls"),       &SimpleShell::ls_command},
  52     {CHECKSUM("cd"),       &SimpleShell::cd_command},
  53     {CHECKSUM("pwd"),      &SimpleShell::pwd_command},
  54     {CHECKSUM("cat"),      &SimpleShell::cat_command},
  55     {CHECKSUM("rm"),       &SimpleShell::rm_command},
  56     {CHECKSUM("reset"),    &SimpleShell::reset_command},
  57     {CHECKSUM("dfu"),      &SimpleShell::dfu_command},
  58     {CHECKSUM("break"),    &SimpleShell::break_command},
  59     {CHECKSUM("help"),     &SimpleShell::help_command},
  60     {CHECKSUM("?"),        &SimpleShell::help_command},
  61     {CHECKSUM("version"),  &SimpleShell::version_command},
  62     {CHECKSUM("mem"),      &SimpleShell::mem_command},
  63     {CHECKSUM("get"),      &SimpleShell::get_command},
  64     {CHECKSUM("set_temp"), &SimpleShell::set_temp_command},
  65     {CHECKSUM("net"),      &SimpleShell::net_command},
  66     {CHECKSUM("load"),     &SimpleShell::load_command},
  67     {CHECKSUM("save"),     &SimpleShell::save_command},
  68
  69     // unknown command
  70     {0, NULL}
  71 };
  72
  73 // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556
  74 static uint32_t heapWalk(StreamOutput *stream, bool verbose)
  75 {
  76     uint32_t chunkNumber = 1;
  77     // The __end__ linker symbol points to the beginning of the heap.
  78     uint32_t chunkCurr = (uint32_t)&__end__;
  79     // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks.
  80     uint32_t freeCurr = __malloc_free_list;
  81     // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap.
  82     uint32_t heapEnd = _sbrk(0);
  83     // accumulate totals
  84     uint32_t freeSize = 0;
  85     uint32_t usedSize = 0;
  86
  87     stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr);
  88
  89     // Walk through the chunks until we hit the end of the heap.
  90     while (chunkCurr < heapEnd) {
  91         // Assume the chunk is in use.  Will update later.
  92         int      isChunkFree = 0;
  93         // The first 32-bit word in a chunk is the size of the allocation.  newlib-nano over allocates by 8 bytes.
  94         // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer.
  95         uint32_t chunkSize = *(uint32_t *)chunkCurr;
  96         // The start of the next chunk is right after the end of this one.
  97         uint32_t chunkNext = chunkCurr + chunkSize;
  98
  99         // The free list is sorted by address.
 100         // Check to see if we have found the next free chunk in the heap.
 101         if (chunkCurr == freeCurr) {
 102             // Chunk is free so flag it as such.
 103             isChunkFree = 1;
 104             // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address).
 105             freeCurr = *(uint32_t *)(freeCurr + 4);
 106         }
 107
 108         // Skip past the 32-bit size field in the chunk header.
 109         chunkCurr += 4;
 110         // 8-byte align the data pointer.
 111         chunkCurr = (chunkCurr + 7) & ~7;
 112         // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8
 113         // byte-alignment of the returned pointer.
 114         chunkSize -= 8;
 115         if (verbose)
 116             stream->printf("  Chunk: %lu  Address: 0x%08lX  Size: %lu  %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : "");
 117
 118         if (isChunkFree) freeSize += chunkSize;
 119         else usedSize += chunkSize;
 120
 121         chunkCurr = chunkNext;
 122         chunkNumber++;
 123     }
 124     stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize);
 125     return freeSize;
 126 }
 127
 128
 129 void SimpleShell::on_module_loaded()
 130 {
 131     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
 132         this->register_for_event(ON_GCODE_RECEIVED);
 133         this->register_for_event(ON_SECOND_TICK);
 134
 135     this->reset_delay_secs = 0;
 136 }
 137
 138 void SimpleShell::on_second_tick(void *)
 139 {
 140     // we are timing out for the reset
 141     if (this->reset_delay_secs > 0) {
 142         if (--this->reset_delay_secs == 0) {
 143             system_reset(false);
 144         }
 145     }
 146 }
 147
 148 void SimpleShell::on_gcode_received(void *argument)
 149 {
 150     Gcode *gcode = static_cast<Gcode *>(argument);
 151     string args= get_arguments(gcode->command);
 152
 153     if (gcode->has_m) {
 154         if (gcode->m == 20) { // list sd card
 155             gcode->mark_as_taken();
 156             gcode->stream->printf("Begin file list\r\n");
 157             ls_command("/sd", gcode->stream);
 158             gcode->stream->printf("End file list\r\n");
 159
 160         } else if (gcode->m == 30) { // remove file
 161             gcode->mark_as_taken();
 162             rm_command("/sd/" + args, gcode->stream);
 163
 164         }else if(gcode->m == 501) { // load config override
 165             gcode->mark_as_taken();
 166             if(args.empty()) {
 167                 load_command("/sd/config-override", gcode->stream);
 168             }else{
 169                 load_command("/sd/config-override." + args, gcode->stream);
 170             }
 171
 172         }else if(gcode->m == 504) { // save to specific config override file
 173             gcode->mark_as_taken();
 174             if(args.empty()) {
 175                 save_command("/sd/config-override", gcode->stream);
 176             }else{
 177                 save_command("/sd/config-override." + args, gcode->stream);
 178             }
 179         }
 180     }
 181 }
 182
 183 bool SimpleShell::parse_command(unsigned short cs, string args, StreamOutput *stream)
 184 {
 185     for (ptentry_t *p = commands_table; p->pfunc != NULL; ++p) {
 186         if (cs == p->command_cs) {
 187             PFUNC fnc= p->pfunc;
 188             (this->*fnc)(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
 202     if (new_message.message[0] == ';') return;
 203
 204     string possible_command = new_message.message;
 205
 206     //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
 207
 208     unsigned short check_sum = get_checksum( possible_command.substr(0, possible_command.find_first_of(" \r\n")) ); // todo: put this method somewhere more convenient
 209
 210     // find command and execute it
 211     parse_command(check_sum, get_arguments(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\r\n", lc(string(p->d_name)).c_str());
 225         }
 226         closedir(d);
 227     } else {
 228         stream->printf("Could not open directory %s \r\n", folder.c_str());
 229     }
 230 }
 231
 232 // Delete a file
 233 void SimpleShell::rm_command( string parameters, StreamOutput *stream )
 234 {
 235     const char *fn= absolute_from_relative(shift_parameter( parameters )).c_str();
 236     int s = remove(fn);
 237     if (s != 0) stream->printf("Could not delete %s \r\n", fn);
 238 }
 239
 240 // Change current absolute path to provided path
 241 void SimpleShell::cd_command( string parameters, StreamOutput *stream )
 242 {
 243     string folder = absolute_from_relative( parameters );
 244
 245     DIR *d;
 246     d = opendir(folder.c_str());
 247     if (d == NULL) {
 248         stream->printf("Could not open directory %s \r\n", folder.c_str() );
 249     } else {
 250         THEKERNEL->current_path = folder;
 251         closedir(d);
 252     }
 253 }
 254
 255 // Responds with the present working directory
 256 void SimpleShell::pwd_command( string parameters, StreamOutput *stream )
 257 {
 258     stream->printf("%s\r\n", THEKERNEL->current_path.c_str());
 259 }
 260
 261 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
 262 void SimpleShell::cat_command( string parameters, StreamOutput *stream )
 263 {
 264     // Get parameters ( filename and line limit )
 265     string filename          = absolute_from_relative(shift_parameter( parameters ));
 266     string limit_paramater   = shift_parameter( parameters );
 267     int limit = -1;
 268     if ( limit_paramater != "" ) {
 269         char *e = NULL;
 270         limit = strtol(limit_paramater.c_str(), &e, 10);
 271         if (e <= limit_paramater.c_str())
 272             limit = -1;
 273     }
 274
 275     // Open file
 276     FILE *lp = fopen(filename.c_str(), "r");
 277     if (lp == NULL) {
 278         stream->printf("File not found: %s\r\n", filename.c_str());
 279         return;
 280     }
 281     string buffer;
 282     int c;
 283     int newlines = 0;
 284     int linecnt= 0;
 285     // Print each line of the file
 286     while ((c = fgetc (lp)) != EOF) {
 287         buffer.append((char *)&c, 1);
 288         if ( char(c) == '\n' || ++linecnt > 80) {
 289             newlines++;
 290             stream->puts(buffer.c_str());
 291             buffer.clear();
 292             if(linecnt > 80) linecnt= 0;
 293         }
 294         if ( newlines == limit ) {
 295             break;
 296         }
 297     };
 298     fclose(lp);
 299
 300 }
 301
 302 // loads the specified config-override file
 303 void SimpleShell::load_command( string parameters, StreamOutput *stream )
 304 {
 305     // Get parameters ( filename )
 306     string filename = absolute_from_relative(parameters);
 307     if(filename == "/") {
 308         filename = THEKERNEL->config_override_filename();
 309     }
 310
 311     FILE *fp= fopen(filename.c_str(), "r");
 312     if(fp != NULL) {
 313         char buf[132];
 314         stream->printf("Loading config override file: %s...\n", filename.c_str());
 315         while(fgets(buf, sizeof buf, fp) != NULL) {
 316             stream->printf("  %s", buf);
 317             if(buf[0] == ';') continue; // skip the comments
 318             struct SerialMessage message= {&(StreamOutput::NullStream), buf};
 319             THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
 320         }
 321         stream->printf("config override file executed\n");
 322         fclose(fp);
 323
 324     }else{
 325         stream->printf("File not found: %s\n", filename.c_str());
 326     }
 327 }
 328
 329 // saves the specified config-override file
 330 void SimpleShell::save_command( string parameters, StreamOutput *stream )
 331 {
 332     // Get parameters ( filename )
 333     string filename = absolute_from_relative(parameters);
 334     if(filename == "/") {
 335         filename = THEKERNEL->config_override_filename();
 336     }
 337
 338     // replace stream with one that writes to config-override file
 339     FileStream *gs = new FileStream(filename.c_str());
 340     if(!gs->is_open()) {
 341         stream->printf("Unable to open File %s for write\n", filename.c_str());
 342         return;
 343     }
 344
 345     // issue a M500 which will store values in the file stream
 346     Gcode *gcode = new Gcode("M500", gs);
 347     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
 348     delete gs;
 349     delete gcode;
 350
 351     stream->printf("Settings Stored to %s\r\n", filename.c_str());
 352 }
 353
 354 // show free memory
 355 void SimpleShell::mem_command( string parameters, StreamOutput *stream)
 356 {
 357     bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos ;
 358     unsigned long heap = (unsigned long)_sbrk(0);
 359     unsigned long m = g_maximumHeapAddress - heap;
 360     stream->printf("Unused Heap: %lu bytes\r\n", m);
 361
 362     uint32_t f= heapWalk(stream, verbose);
 363     stream->printf("Total Free RAM: %lu bytes\r\n", m + f);
 364
 365     stream->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0.free(), AHB1.free());
 366     if (verbose)
 367     {
 368         AHB0.debug(stream);
 369         AHB1.debug(stream);
 370     }
 371 }
 372
 373 static uint32_t getDeviceType()
 374 {
 375 #define IAP_LOCATION 0x1FFF1FF1
 376     uint32_t command[1];
 377     uint32_t result[5];
 378     typedef void (*IAP)(uint32_t *, uint32_t *);
 379     IAP iap = (IAP) IAP_LOCATION;
 380
 381     __disable_irq();
 382
 383     command[0] = 54;
 384     iap(command, result);
 385
 386     __enable_irq();
 387
 388     return result[1];
 389 }
 390
 391 // get network config
 392 void SimpleShell::net_command( string parameters, StreamOutput *stream)
 393 {
 394     void *returned_data;
 395     bool ok= THEKERNEL->public_data->get_value( network_checksum, get_ipconfig_checksum, &returned_data );
 396     if(ok) {
 397         char *str= (char *)returned_data;
 398         stream->printf("%s\r\n", str);
 399         free(str);
 400
 401     }else{
 402         stream->printf("No network detected\n");
 403     }
 404 }
 405
 406 // print out build version
 407 void SimpleShell::version_command( string parameters, StreamOutput *stream)
 408 {
 409     Version vers;
 410     uint32_t dev = getDeviceType();
 411     const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768";
 412     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);
 413 }
 414
 415 // Reset the system
 416 void SimpleShell::reset_command( string parameters, StreamOutput *stream)
 417 {
 418     stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
 419     this->reset_delay_secs = 5; // reboot in 5 seconds
 420 }
 421
 422 // go into dfu boot mode
 423 void SimpleShell::dfu_command( string parameters, StreamOutput *stream)
 424 {
 425     stream->printf("Entering boot mode...\r\n");
 426     system_reset(true);
 427 }
 428
 429 // Break out into the MRI debugging system
 430 void SimpleShell::break_command( string parameters, StreamOutput *stream)
 431 {
 432     stream->printf("Entering MRI debug mode...\r\n");
 433     __debugbreak();
 434 }
 435
 436 // used to test out the get public data events
 437 void SimpleShell::get_command( string parameters, StreamOutput *stream)
 438 {
 439     int what = get_checksum(shift_parameter( parameters ));
 440     void *returned_data;
 441
 442     if (what == get_temp_command_checksum) {
 443         string type = shift_parameter( parameters );
 444         bool ok = THEKERNEL->public_data->get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data );
 445
 446         if (ok) {
 447             struct pad_temperature temp =  *static_cast<struct pad_temperature *>(returned_data);
 448             stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
 449         } else {
 450             stream->printf("%s is not a known temperature device\r\n", type.c_str());
 451         }
 452
 453     } else if (what == get_pos_command_checksum) {
 454         bool ok = THEKERNEL->public_data->get_value( robot_checksum, current_position_checksum, &returned_data );
 455
 456         if (ok) {
 457             float *pos = static_cast<float *>(returned_data);
 458             stream->printf("Position X: %f, Y: %f, Z: %f\r\n", pos[0], pos[1], pos[2]);
 459
 460         } else {
 461             stream->printf("get pos command failed\r\n");
 462         }
 463     }
 464 }
 465
 466 // used to test out the get public data events
 467 void SimpleShell::set_temp_command( string parameters, StreamOutput *stream)
 468 {
 469     string type = shift_parameter( parameters );
 470     string temp = shift_parameter( parameters );
 471     float t = temp.empty() ? 0.0 : strtof(temp.c_str(), NULL);
 472     bool ok = THEKERNEL->public_data->set_value( temperature_control_checksum, get_checksum(type), &t );
 473
 474     if (ok) {
 475         stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t);
 476     } else {
 477         stream->printf("%s is not a known temperature device\r\n", type.c_str());
 478     }
 479 }
 480
 481 void SimpleShell::help_command( string parameters, StreamOutput *stream )
 482 {
 483     stream->printf("Commands:\r\n");
 484     stream->printf("version\r\n");
 485     stream->printf("mem [-v]\r\n");
 486     stream->printf("ls [folder]\r\n");
 487     stream->printf("cd folder\r\n");
 488     stream->printf("pwd\r\n");
 489     stream->printf("cat file [limit]\r\n");
 490     stream->printf("rm file\r\n");
 491     stream->printf("play file [-v]\r\n");
 492     stream->printf("progress - shows progress of current play\r\n");
 493     stream->printf("abort - abort currently playing file\r\n");
 494     stream->printf("reset - reset smoothie\r\n");
 495     stream->printf("dfu - enter dfu boot loader\r\n");
 496     stream->printf("break - break into debugger\r\n");
 497     stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
 498     stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
 499     stream->printf("config-load [<file_name>]\r\n");
 500     stream->printf("get temp [bed|hotend]\r\n");
 501     stream->printf("set_temp bed|hotend 185\r\n");
 502     stream->printf("get pos\r\n");
 503     stream->printf("net\r\n");
 504     stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n");
 505     stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n");
 506 }
 507