#include "PublicData.h"
#include "Gcode.h"
#include "Robot.h"
+#include "ToolManagerPublicAccess.h"
+#include "GcodeDispatch.h"
-#include "modules/tools/temperaturecontrol/TemperatureControlPublicAccess.h"
+#include "TemperatureControlPublicAccess.h"
#include "NetworkPublicAccess.h"
#include "platform_memory.h"
#include "SwitchPublicAccess.h"
void SimpleShell::on_console_line_received( void *argument )
{
SerialMessage new_message = *static_cast<SerialMessage *>(argument);
+ string possible_command = new_message.message;
- // ignore comments and blank lines and if this is a G code then also ignore it
- char first_char = new_message.message[0];
- if(strchr(";( \n\rGMTN", first_char) != NULL) return;
+ // ignore anything that is not lowercase or a $ as it is not a command
+ if(possible_command.size() == 0 || (!islower(possible_command[0]) && possible_command[0] != '$')) {
+ return;
+ }
- string possible_command = new_message.message;
+ // it is a grbl compatible command
+ if(possible_command[0] == '$' && possible_command.size() >= 2) {
+ switch(possible_command[1]) {
+ case 'G':
+ // issue get state
+ get_command("state", new_message.stream);
+ break;
+
+ case 'X':
+ THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
+ new_message.stream->printf("[Caution: Unlocked]\n");
+ break;
+
+ case '#':
+ grblDP_command("", new_message.stream);
+ break;
+
+ case 'H':
+ {
+ // issue G28.3 which is force homing cycle
+ Gcode gcode("G28.3", new_message.stream);
+ THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode);
+ }
+ break;
- //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
- string cmd = shift_parameter(possible_command);
+ default:
+ new_message.stream->printf("error: Invalid statement\n");
+ break;
+ }
+
+ }else{
- // find command and execute it
- parse_command(cmd.c_str(), possible_command, new_message.stream);
+ //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
+ string cmd = shift_parameter(possible_command);
+
+ // find command and execute it
+ if(!parse_command(cmd.c_str(), possible_command, new_message.stream)) {
+ new_message.stream->printf("error: Unsupported command\n");
+ }
+ }
}
// Act upon an ls command
{
// Get parameters ( filename and line limit )
string filename = absolute_from_relative(shift_parameter( parameters ));
- string limit_paramater = shift_parameter( parameters );
+ string limit_parameter = shift_parameter( parameters );
int limit = -1;
- if ( limit_paramater != "" ) {
+ int delay= 0;
+ bool send_eof= false;
+ if ( limit_parameter == "-d" ) {
+ string d= shift_parameter( parameters );
+ char *e = NULL;
+ delay = strtol(d.c_str(), &e, 10);
+ if (e <= d.c_str()) {
+ delay = 0;
+
+ } else {
+ send_eof= true; // we need to terminate file send with an eof
+ }
+
+ }else if ( limit_parameter != "" ) {
char *e = NULL;
- limit = strtol(limit_paramater.c_str(), &e, 10);
- if (e <= limit_paramater.c_str())
+ limit = strtol(limit_parameter.c_str(), &e, 10);
+ if (e <= limit_parameter.c_str())
limit = -1;
}
+ // we have been asked to delay before cat, probably to allow time to issue upload command
+ while(delay-- > 0) {
+ for (int i = 0; i < 10; ++i) {
+ wait_ms(100);
+ THEKERNEL->call_event(ON_IDLE);
+ }
+ }
+
// Open file
FILE *lp = fopen(filename.c_str(), "r");
if (lp == NULL) {
// Print each line of the file
while ((c = fgetc (lp)) != EOF) {
buffer.append((char *)&c, 1);
- if ( char(c) == '\n' || ++linecnt > 80) {
- newlines++;
+ if ( c == '\n' || ++linecnt > 80) {
+ if(c == '\n') newlines++;
stream->puts(buffer.c_str());
buffer.clear();
if(linecnt > 80) linecnt = 0;
}
};
fclose(lp);
+
+ if(send_eof) {
+ stream->puts("\032"); // ^Z terminates the upload
+ }
}
void SimpleShell::upload_command( string parameters, StreamOutput *stream )
__debugbreak();
}
+static int get_active_tool()
+{
+ void *returned_data;
+ bool ok = PublicData::get_value(tool_manager_checksum, get_active_tool_checksum, &returned_data);
+ if (ok) {
+ int active_tool= *static_cast<int *>(returned_data);
+ return active_tool;
+ } else {
+ return 0;
+ }
+}
+
+void SimpleShell::grblDP_command( string parameters, StreamOutput *stream)
+{
+ /*
+ [G54:95.000,40.000,-23.600]
+ [G55:0.000,0.000,0.000]
+ [G56:0.000,0.000,0.000]
+ [G57:0.000,0.000,0.000]
+ [G58:0.000,0.000,0.000]
+ [G59:0.000,0.000,0.000]
+ [G28:0.000,0.000,0.000]
+ [G30:0.000,0.000,0.000]
+ [G92:0.000,0.000,0.000]
+ [TLO:0.000]
+ [PRB:0.000,0.000,0.000:0]
+ */
+ std::vector<Robot::wcs_t> v= THEKERNEL->robot->get_wcs_state();
+ int n= std::get<1>(v[0]);
+ for (int i = 1; i <= n; ++i) {
+ stream->printf("[%s:%1.3f,%1.3f,%1.3f]\n", wcs2gcode(i-1).c_str(), std::get<0>(v[i]), std::get<1>(v[i]), std::get<2>(v[i]));
+ }
+
+ stream->printf("[G28:%1.3f,%1.3f,%1.3f]\n", 0.0F, 0.0F, 0.0F);
+ stream->printf("[G30:%1.3f,%1.3f,%1.3f]\n", 0.0F, 0.0F, 0.0F);
+ stream->printf("[G92:%1.3f,%1.3f,%1.3f]\n", std::get<0>(v[n+1]), std::get<1>(v[n+1]), std::get<2>(v[n+1]));
+ stream->printf("[TL0:%1.3f]\n", std::get<2>(v[n+2]));
+
+ // TODO this shoul dbe the last probe position, which will be this if probe was the last thing done
+ float current_machine_pos[3];
+ THEKERNEL->robot->get_axis_position(current_machine_pos);
+ stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", current_machine_pos[X_AXIS], current_machine_pos[Y_AXIS], current_machine_pos[Z_AXIS], 0);
+}
+
// used to test out the get public data events
void SimpleShell::get_command( string parameters, StreamOutput *stream)
{
}
} else if (what == "pos") {
- float pos[3];
- THEKERNEL->robot->get_axis_position(pos);
- stream->printf("Position X: %f, Y: %f, Z: %f\r\n", pos[0], pos[1], pos[2]);
+ // convenience to call all the various M114 variants
+ char buf[64];
+ THEKERNEL->robot->print_position(0, buf, sizeof buf); stream->printf("last %s\n", buf);
+ THEKERNEL->robot->print_position(1, buf, sizeof buf); stream->printf("realtime %s\n", buf);
+ THEKERNEL->robot->print_position(2, buf, sizeof buf); stream->printf("%s\n", buf);
+ THEKERNEL->robot->print_position(3, buf, sizeof buf); stream->printf("%s\n", buf);
+ THEKERNEL->robot->print_position(4, buf, sizeof buf); stream->printf("%s\n", buf);
+ THEKERNEL->robot->print_position(5, buf, sizeof buf); stream->printf("%s\n", buf);
+
+ } else if (what == "wcs") {
+ // print the wcs state
+ std::vector<Robot::wcs_t> v= THEKERNEL->robot->get_wcs_state();
+ char current_wcs= std::get<0>(v[0]);
+ stream->printf("current WCS: %s\n", wcs2gcode(current_wcs).c_str());
+ int n= std::get<1>(v[0]);
+ for (int i = 1; i <= n; ++i) {
+ stream->printf("%s: %1.4f, %1.4f, %1.4f\n", wcs2gcode(i-1).c_str(), std::get<0>(v[i]), std::get<1>(v[i]), std::get<2>(v[i]));
+ }
+
+ stream->printf("G92: %1.4f, %1.4f, %1.4f\n", std::get<0>(v[n+1]), std::get<1>(v[n+1]), std::get<2>(v[n+1]));
+ stream->printf("ToolOffset: %1.4f, %1.4f, %1.4f\n", std::get<0>(v[n+2]), std::get<1>(v[n+2]), std::get<2>(v[n+2]));
+
+ } else if (what == "state") {
+ // also $G
+ // [G0 G54 G17 G21 G90 G94 M0 M5 M9 T0 F0.]
+ stream->printf("[G%d %s G%d G%d G%d G94 M0 M5 M9 T%d F%1.1f]\n",
+ THEKERNEL->gcode_dispatch->get_modal_command(),
+ wcs2gcode(THEKERNEL->robot->get_current_wcs()).c_str(),
+ THEKERNEL->robot->plane_axis_0 == X_AXIS && THEKERNEL->robot->plane_axis_1 == Y_AXIS && THEKERNEL->robot->plane_axis_2 == Z_AXIS ? 17 :
+ THEKERNEL->robot->plane_axis_0 == X_AXIS && THEKERNEL->robot->plane_axis_1 == Z_AXIS && THEKERNEL->robot->plane_axis_2 == Y_AXIS ? 18 :
+ THEKERNEL->robot->plane_axis_0 == Y_AXIS && THEKERNEL->robot->plane_axis_1 == Z_AXIS && THEKERNEL->robot->plane_axis_2 == X_AXIS ? 19 : 17,
+ THEKERNEL->robot->inch_mode ? 20 : 21,
+ THEKERNEL->robot->absolute_mode ? 90 : 91,
+ get_active_tool(),
+ THEKERNEL->robot->get_feed_rate());
+
+ } else {
+ stream->printf("error: unknown option %s\n", what.c_str());
}
}
stream->printf("ls [-s] [folder]\r\n");
stream->printf("cd folder\r\n");
stream->printf("pwd\r\n");
- stream->printf("cat file [limit]\r\n");
+ stream->printf("cat file [limit] [-d 10]\r\n");
stream->printf("rm file\r\n");
stream->printf("mv file newfile\r\n");
stream->printf("remount\r\n");
stream->printf("get temp [bed|hotend]\r\n");
stream->printf("set_temp bed|hotend 185\r\n");
stream->printf("get pos\r\n");
+ stream->printf("get wcs\r\n");
+ stream->printf("get state\r\n");
stream->printf("net\r\n");
stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n");
stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n");
HCoop / clinton / Smoothieware.git / blobdiff