#include "Thermistor.h"
#include "md5.h"
#include "utils.h"
+#include "AutoPushPop.h"
#include "system_LPC17xx.h"
#include "LPC17xx.h"
#include <mri.h>
#include <stdio.h>
#include <stdint.h>
+#include <functional>
extern "C" uint32_t __end__;
extern "C" uint32_t __malloc_free_list;
extern "C" uint32_t _sbrk(int size);
+
// command lookup table
const SimpleShell::ptentry_t SimpleShell::commands_table[] = {
{"ls", SimpleShell::ls_command},
{"cat", SimpleShell::cat_command},
{"rm", SimpleShell::rm_command},
{"mv", SimpleShell::mv_command},
+ {"mkdir", SimpleShell::mkdir_command},
{"upload", SimpleShell::upload_command},
{"reset", SimpleShell::reset_command},
{"dfu", SimpleShell::dfu_command},
{"calc_thermistor", SimpleShell::calc_thermistor_command},
{"thermistors", SimpleShell::print_thermistors_command},
{"md5sum", SimpleShell::md5sum_command},
-#ifdef CNC
{"test", SimpleShell::test_command},
-#endif
+
// unknown command
{NULL, NULL}
};
break;
case 'X':
- THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
- new_message.stream->printf("[Caution: Unlocked]\nok\n");
+ if(THEKERNEL->is_halted()) {
+ THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
+ new_message.stream->printf("[Caution: Unlocked]\nok\n");
+ }
break;
case '#':
break;
case 'H':
- THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
+ if(THEKERNEL->is_halted()) THEKERNEL->call_event(ON_HALT, (void *)1); // clears on_halt
if(THEKERNEL->is_grbl_mode()) {
// issue G28.2 which is force homing cycle
Gcode gcode("G28.2", new_message.stream);
Gcode gcode("G28", new_message.stream);
THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode);
}
+ new_message.stream->printf("ok\n");
break;
default:
} else if (cmd == "play" || cmd == "progress" || cmd == "abort" || cmd == "suspend" || cmd == "resume") {
// these are handled by Player module
+ } else if (cmd == "fire") {
+ // these are handled by Laser module
+
} else if (cmd == "ok") {
// probably an echo so reply ok
new_message.stream->printf("ok\n");
else stream->printf("renamed %s to %s\r\n", from.c_str(), to.c_str());
}
+// Create a new directory
+void SimpleShell::mkdir_command( string parameters, StreamOutput *stream )
+{
+ string path = absolute_from_relative(shift_parameter( parameters ));
+ int result = mkdir(path.c_str(), 0);
+ if (result != 0) stream->printf("could not create directory %s\r\n", path.c_str());
+ else stream->printf("created directory %s\r\n", path.c_str());
+}
+
// Change current absolute path to provided path
void SimpleShell::cd_command( string parameters, StreamOutput *stream )
{
// we have been asked to delay before cat, probably to allow time to issue upload command
if(delay > 0) {
- safe_delay(delay*1000);
+ safe_delay_ms(delay*1000);
}
// Open file
uploading= false;
} else {
- if ((cnt%400) == 0) {
- // HACK ALERT to get around fwrite corruption close and re open for append
- fclose(fd);
- fd = fopen(upload_filename.c_str(), "a");
+ if ((cnt%1000) == 0) {
// we need to kick things or they die
THEKERNEL->call_event(ON_IDLE);
}
filename = THEKERNEL->config_override_filename();
}
- THEKERNEL->conveyor->wait_for_idle(); //just to be safe as it can take a while to run
+ THECONVEYOR->wait_for_idle(); //just to be safe as it can take a while to run
//remove(filename.c_str()); // seems to cause a hang every now and then
{
AHB1.debug(stream);
}
- stream->printf("Block size: %u bytes\n", sizeof(Block));
+ stream->printf("Block size: %u bytes, Tickinfo size: %u bytes\n", sizeof(Block), sizeof(Block::tickinfo_t) * Block::n_actuators);
}
static uint32_t getDeviceType()
const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768";
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);
#ifdef CNC
- stream->printf(" CNC Build\r\n");
+ stream->printf(" CNC Build ");
+ #endif
+ #ifdef DISABLEMSD
+ stream->printf(" NOMSD Build\r\n");
#endif
+ stream->printf("%d axis\n", MAX_ROBOT_ACTUATORS);
}
// Reset the system
ActuatorCoordinates apos{x, y, z};
float pos[3];
THEROBOT->arm_solution->actuator_to_cartesian(apos, pos);
- stream->printf("cartesian= X %f, Y %f, Z %f, Steps= A %lu, B %lu, C %lu\n",
- pos[0], pos[1], pos[2],
- lroundf(x*THEROBOT->actuators[0]->get_steps_per_mm()),
- lroundf(y*THEROBOT->actuators[1]->get_steps_per_mm()),
- lroundf(z*THEROBOT->actuators[2]->get_steps_per_mm()));
+ stream->printf("cartesian= X %f, Y %f, Z %f\n", pos[0], pos[1], pos[2]);
x= pos[0];
y= pos[1];
z= pos[2];
float pos[3]{x, y, z};
ActuatorCoordinates apos;
THEROBOT->arm_solution->cartesian_to_actuator(pos, apos);
- stream->printf("actuator= A %f, B %f, C %f\n", apos[0], apos[1], apos[2]);
+ stream->printf("actuator= X %f, Y %f, Z %f\n", apos[0], apos[1], apos[2]);
}
if(move) {
message.message = cmd;
message.stream = &(StreamOutput::NullStream);
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
- THEKERNEL->conveyor->wait_for_idle();
+ THECONVEYOR->wait_for_idle();
}
} else if (what == "pos") {
- // convenience to call all the various M114 variants
- char buf[64];
- THEROBOT->print_position(0, buf, sizeof buf); stream->printf("last %s\n", buf);
- THEROBOT->print_position(1, buf, sizeof buf); stream->printf("realtime %s\n", buf);
- THEROBOT->print_position(2, buf, sizeof buf); stream->printf("%s\n", buf);
- THEROBOT->print_position(3, buf, sizeof buf); stream->printf("%s\n", buf);
- THEROBOT->print_position(4, buf, sizeof buf); stream->printf("%s\n", buf);
- THEROBOT->print_position(5, buf, sizeof buf); stream->printf("%s\n", buf);
+ // convenience to call all the various M114 variants, shows ABC axis where relevant
+ std::string buf;
+ THEROBOT->print_position(0, buf); stream->printf("last %s\n", buf.c_str()); buf.clear();
+ THEROBOT->print_position(1, buf); stream->printf("realtime %s\n", buf.c_str()); buf.clear();
+ THEROBOT->print_position(2, buf); stream->printf("%s\n", buf.c_str()); buf.clear();
+ THEROBOT->print_position(3, buf); stream->printf("%s\n", buf.c_str()); buf.clear();
+ THEROBOT->print_position(4, buf); stream->printf("%s\n", buf.c_str()); buf.clear();
+ THEROBOT->print_position(5, buf); stream->printf("%s\n", buf.c_str()); buf.clear();
} else if (what == "wcs") {
// print the wcs state
} 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%1.4f]\n",
+ stream->printf("[G%d %s G%d G%d G%d G94 M0 M5 M9 T%d F%1.4f S%1.4f]\n",
THEKERNEL->gcode_dispatch->get_modal_command(),
wcs2gcode(THEROBOT->get_current_wcs()).c_str(),
THEROBOT->plane_axis_0 == X_AXIS && THEROBOT->plane_axis_1 == Y_AXIS && THEROBOT->plane_axis_2 == Z_AXIS ? 17 :
THEROBOT->inch_mode ? 20 : 21,
THEROBOT->absolute_mode ? 90 : 91,
get_active_tool(),
- THEROBOT->from_millimeters(THEROBOT->get_feed_rate()));
+ THEROBOT->from_millimeters(THEROBOT->get_feed_rate()),
+ THEROBOT->get_s_value());
} else if (what == "status") {
// also ? on serial and usb
stream->printf(" Paste the above in the M305 S0 command, then save with M500\n");
}else{
char buf[80];
- int n = snprintf(buf, sizeof(buf), "M305 S%d I%1.18f J%1.18f K%1.18f", saveto, c1, c2, c3);
+ size_t n = snprintf(buf, sizeof(buf), "M305 S%d I%1.18f J%1.18f K%1.18f", saveto, c1, c2, c3);
+ if(n > sizeof(buf)) n= sizeof(buf);
string g(buf, n);
Gcode gcode(g, &(StreamOutput::NullStream));
THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode );
#endif
}
-// used to test out the get public data events for switch
+// set or get switch state for a named switch
void SimpleShell::switch_command( string parameters, StreamOutput *stream)
{
string type = shift_parameter( parameters );
string value = shift_parameter( parameters );
bool ok = false;
- if(value == "on" || value == "off") {
- bool b = value == "on";
- ok = PublicData::set_value( switch_checksum, get_checksum(type), state_checksum, &b );
- } else {
- float v = strtof(value.c_str(), NULL);
- ok = PublicData::set_value( switch_checksum, get_checksum(type), value_checksum, &v );
- }
- if (ok) {
- stream->printf("switch %s set to: %s\r\n", type.c_str(), value.c_str());
- } else {
- stream->printf("%s is not a known switch device\r\n", type.c_str());
+ if(value.empty()) {
+ // get switch state
+ struct pad_switch pad;
+ bool ok = PublicData::get_value(switch_checksum, get_checksum(type), 0, &pad);
+ if (!ok) {
+ stream->printf("unknown switch %s.\n", type.c_str());
+ return;
+ }
+ stream->printf("switch %s is %d\n", type.c_str(), pad.state);
+
+ }else{
+ // set switch state
+ if(value == "on" || value == "off") {
+ bool b = value == "on";
+ ok = PublicData::set_value( switch_checksum, get_checksum(type), state_checksum, &b );
+ } else {
+ float v = strtof(value.c_str(), NULL);
+ ok = PublicData::set_value( switch_checksum, get_checksum(type), value_checksum, &v );
+ }
+ if (ok) {
+ stream->printf("switch %s set to: %s\n", type.c_str(), value.c_str());
+ } else {
+ stream->printf("%s is not a known switch device\n", type.c_str());
+ }
}
}
fclose(lp);
}
-#ifdef CNC
// runs several types of test on the mechanisms
void SimpleShell::test_command( string parameters, StreamOutput *stream)
{
+ AutoPushPop app; // this will save the state and restore it on exit
string what = shift_parameter( parameters );
if (what == "jog") {
struct SerialMessage message{&StreamOutput::NullStream, cmd};
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
if(THEKERNEL->is_halted()) break;
- THEKERNEL->conveyor->wait_for_idle();
toggle= !toggle;
}
stream->printf("done\n");
uint32_t n= strtol(iters.c_str(), NULL, 10);
float f= speed.empty() ? THEROBOT->get_feed_rate() : strtof(speed.c_str(), NULL);
+ THEROBOT->push_state();
char cmd[64];
- snprintf(cmd, sizeof(cmd), "G0 X%f Y0 F%f", -r, f);
+ snprintf(cmd, sizeof(cmd), "G91 G0 X%f F%f G90", -r, f);
stream->printf("%s\n", cmd);
struct SerialMessage message{&StreamOutput::NullStream, cmd};
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
for (uint32_t i = 0; i < n; ++i) {
if(THEKERNEL->is_halted()) break;
- snprintf(cmd, sizeof(cmd), "G2 X%f Y0 I%f J0 F%f", -r, r, f);
+ snprintf(cmd, sizeof(cmd), "G2 I%f J0 F%f", r, f);
stream->printf("%s\n", cmd);
message.message= cmd;
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
- THEKERNEL->conveyor->wait_for_idle();
}
+
+ // leave it where it started
+ if(!THEKERNEL->is_halted()) {
+ snprintf(cmd, sizeof(cmd), "G91 G0 X%f F%f G90", r, f);
+ stream->printf("%s\n", cmd);
+ struct SerialMessage message{&StreamOutput::NullStream, cmd};
+ THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
+ }
+
+ THEROBOT->pop_state();
stream->printf("done\n");
}else if (what == "square") {
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
}
if(THEKERNEL->is_halted()) break;
- THEKERNEL->conveyor->wait_for_idle();
- }
+ }
stream->printf("done\n");
+ }else if (what == "raw") {
+ // issues raw steps to the specified axis usage: axis steps steps/sec
+ string axis = shift_parameter( parameters );
+ string stepstr = shift_parameter( parameters );
+ string stepspersec = shift_parameter( parameters );
+ if(axis.empty() || stepstr.empty() || stepspersec.empty()) {
+ stream->printf("error: Need axis steps steps/sec\n");
+ return;
+ }
+
+ char ax= toupper(axis[0]);
+ uint8_t a= ax >= 'X' ? ax - 'X' : ax - 'A' + 3;
+ int steps= strtol(stepstr.c_str(), NULL, 10);
+ bool dir= steps >= 0;
+ steps= std::abs(steps);
+
+ if(a > C_AXIS) {
+ stream->printf("error: axis must be x, y, z, a, b, c\n");
+ return;
+ }
+
+ if(a >= THEROBOT->get_number_registered_motors()) {
+ stream->printf("error: axis is out of range\n");
+ return;
+ }
+
+ uint32_t sps= strtol(stepspersec.c_str(), NULL, 10);
+ sps= std::max(sps, 1UL);
+
+ uint32_t delayus= 1000000.0F / sps;
+ for(int s= 0;s<steps;s++) {
+ if(THEKERNEL->is_halted()) break;
+ THEROBOT->actuators[a]->manual_step(dir);
+ // delay but call on_idle
+ safe_delay_us(delayus);
+ }
+
+ // reset the position based on current actuator position
+ THEROBOT->reset_position_from_current_actuator_position();
+
+ //stream->printf("done\n");
+
}else {
stream->printf("usage:\n test jog axis distance iterations [feedrate]\n");
stream->printf(" test square size iterations [feedrate]\n");
stream->printf(" test circle radius iterations [feedrate]\n");
+ stream->printf(" test raw axis steps steps/sec\n");
}
}
-#endif
void SimpleShell::help_command( string parameters, StreamOutput *stream )
{
stream->printf("get [pos|wcs|state|status|fk|ik]\r\n");
stream->printf("get temp [bed|hotend]\r\n");
stream->printf("set_temp bed|hotend 185\r\n");
+ stream->printf("switch name [value]\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