*/
-#include "libs/Kernel.h"
#include "SimpleShell.h"
+#include "libs/Kernel.h"
#include "libs/nuts_bolts.h"
#include "libs/utils.h"
#include "libs/SerialMessage.h"
#include "mri.h"
#include "version.h"
#include "PublicDataRequest.h"
+#include "AppendFileStream.h"
#include "FileStream.h"
-
-#include "modules/tools/temperaturecontrol/TemperatureControlPublicAccess.h"
-#include "modules/robot/RobotPublicAccess.h"
+#include "checksumm.h"
+#include "PublicData.h"
+#include "Gcode.h"
+#include "Robot.h"
+#include "ToolManagerPublicAccess.h"
+#include "GcodeDispatch.h"
+
+#include "TemperatureControlPublicAccess.h"
#include "NetworkPublicAccess.h"
#include "platform_memory.h"
+#include "SwitchPublicAccess.h"
+#include "SDFAT.h"
+#include "Thermistor.h"
+#include "md5.h"
+
+#include "system_LPC17xx.h"
+#include "LPC17xx.h"
+
+#include "mbed.h" // for wait_ms()
extern unsigned int g_maximumHeapAddress;
extern "C" uint32_t __malloc_free_list;
extern "C" uint32_t _sbrk(int size);
-#define get_temp_command_checksum CHECKSUM("temp")
-#define get_pos_command_checksum CHECKSUM("pos")
-
// command lookup table
-SimpleShell::ptentry_t SimpleShell::commands_table[] = {
- {CHECKSUM("ls"), &SimpleShell::ls_command},
- {CHECKSUM("cd"), &SimpleShell::cd_command},
- {CHECKSUM("pwd"), &SimpleShell::pwd_command},
- {CHECKSUM("cat"), &SimpleShell::cat_command},
- {CHECKSUM("rm"), &SimpleShell::rm_command},
- {CHECKSUM("reset"), &SimpleShell::reset_command},
- {CHECKSUM("dfu"), &SimpleShell::dfu_command},
- {CHECKSUM("break"), &SimpleShell::break_command},
- {CHECKSUM("help"), &SimpleShell::help_command},
- {CHECKSUM("?"), &SimpleShell::help_command},
- {CHECKSUM("version"), &SimpleShell::version_command},
- {CHECKSUM("mem"), &SimpleShell::mem_command},
- {CHECKSUM("get"), &SimpleShell::get_command},
- {CHECKSUM("set_temp"), &SimpleShell::set_temp_command},
- {CHECKSUM("net"), &SimpleShell::net_command},
- {CHECKSUM("load"), &SimpleShell::load_command},
- {CHECKSUM("save"), &SimpleShell::save_command},
+const SimpleShell::ptentry_t SimpleShell::commands_table[] = {
+ {"ls", SimpleShell::ls_command},
+ {"cd", SimpleShell::cd_command},
+ {"pwd", SimpleShell::pwd_command},
+ {"cat", SimpleShell::cat_command},
+ {"rm", SimpleShell::rm_command},
+ {"mv", SimpleShell::mv_command},
+ {"upload", SimpleShell::upload_command},
+ {"reset", SimpleShell::reset_command},
+ {"dfu", SimpleShell::dfu_command},
+ {"break", SimpleShell::break_command},
+ {"help", SimpleShell::help_command},
+ {"?", SimpleShell::help_command},
+ {"version", SimpleShell::version_command},
+ {"mem", SimpleShell::mem_command},
+ {"get", SimpleShell::get_command},
+ {"set_temp", SimpleShell::set_temp_command},
+ {"switch", SimpleShell::switch_command},
+ {"net", SimpleShell::net_command},
+ {"load", SimpleShell::load_command},
+ {"save", SimpleShell::save_command},
+ {"remount", SimpleShell::remount_command},
+ {"calc_thermistor", SimpleShell::calc_thermistor_command},
+ {"thermistors", SimpleShell::print_thermistors_command},
+ {"md5sum", SimpleShell::md5sum_command},
// unknown command
- {0, NULL}
+ {NULL, NULL}
};
+int SimpleShell::reset_delay_secs = 0;
+
// Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556
static uint32_t heapWalk(StreamOutput *stream, bool verbose)
{
void SimpleShell::on_module_loaded()
{
this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
- this->register_for_event(ON_GCODE_RECEIVED);
- this->register_for_event(ON_SECOND_TICK);
+ this->register_for_event(ON_GCODE_RECEIVED);
+ this->register_for_event(ON_SECOND_TICK);
- this->reset_delay_secs = 0;
+ reset_delay_secs = 0;
}
void SimpleShell::on_second_tick(void *)
{
// we are timing out for the reset
- if (this->reset_delay_secs > 0) {
- if (--this->reset_delay_secs == 0) {
+ if (reset_delay_secs > 0) {
+ if (--reset_delay_secs == 0) {
system_reset(false);
}
}
void SimpleShell::on_gcode_received(void *argument)
{
Gcode *gcode = static_cast<Gcode *>(argument);
- string args= get_arguments(gcode->command);
+ string args = get_arguments(gcode->get_command());
if (gcode->has_m) {
if (gcode->m == 20) { // list sd card
- gcode->mark_as_taken();
gcode->stream->printf("Begin file list\r\n");
ls_command("/sd", gcode->stream);
gcode->stream->printf("End file list\r\n");
} else if (gcode->m == 30) { // remove file
- gcode->mark_as_taken();
rm_command("/sd/" + args, gcode->stream);
- }else if(gcode->m == 501) { // load config override
- gcode->mark_as_taken();
+ } else if(gcode->m == 501) { // load config override
if(args.empty()) {
load_command("/sd/config-override", gcode->stream);
- }else{
+ } else {
load_command("/sd/config-override." + args, gcode->stream);
}
- }else if(gcode->m == 504) { // save to specific config override file
- gcode->mark_as_taken();
+ } else if(gcode->m == 504) { // save to specific config override file
if(args.empty()) {
save_command("/sd/config-override", gcode->stream);
- }else{
+ } else {
save_command("/sd/config-override." + args, gcode->stream);
}
}
}
}
-bool SimpleShell::parse_command(unsigned short cs, string args, StreamOutput *stream)
+bool SimpleShell::parse_command(const char *cmd, string args, StreamOutput *stream)
{
- for (ptentry_t *p = commands_table; p->pfunc != NULL; ++p) {
- if (cs == p->command_cs) {
- PFUNC fnc= p->pfunc;
- (this->*fnc)(args, stream);
+ for (const ptentry_t *p = commands_table; p->command != NULL; ++p) {
+ if (strncasecmp(cmd, p->command, strlen(p->command)) == 0) {
+ p->func(args, stream);
return true;
}
}
void SimpleShell::on_console_line_received( void *argument )
{
SerialMessage new_message = *static_cast<SerialMessage *>(argument);
+ string possible_command = new_message.message;
- // ignore comments
- if (new_message.message[0] == ';') 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;
+
+ default:
+ new_message.stream->printf("error: Invalid statement\n");
+ break;
+ }
- //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
+ }else{
- unsigned short check_sum = get_checksum( possible_command.substr(0, possible_command.find_first_of(" \r\n")) ); // todo: put this method somewhere more convenient
+ //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
+ string cmd = shift_parameter(possible_command);
- // find command and execute it
- parse_command(check_sum, get_arguments(possible_command), new_message.stream);
+ // 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
// Convert the first parameter into an absolute path, then list the files in that path
void SimpleShell::ls_command( string parameters, StreamOutput *stream )
{
- string folder = absolute_from_relative( parameters );
+ string path, opts;
+ while(!parameters.empty()) {
+ string s = shift_parameter( parameters );
+ if(s.front() == '-') {
+ opts.append(s);
+ } else {
+ path = s;
+ if(!parameters.empty()) {
+ path.append(" ");
+ path.append(parameters);
+ }
+ break;
+ }
+ }
+
+ path = absolute_from_relative(path);
+
DIR *d;
struct dirent *p;
- d = opendir(folder.c_str());
+ d = opendir(path.c_str());
if (d != NULL) {
while ((p = readdir(d)) != NULL) {
- stream->printf("%s\r\n", lc(string(p->d_name)).c_str());
+ stream->printf("%s", lc(string(p->d_name)).c_str());
+ if(p->d_isdir) {
+ stream->printf("/");
+ } else if(opts.find("-s", 0, 2) != string::npos) {
+ stream->printf(" %d", p->d_fsize);
+ }
+ stream->printf("\r\n");
}
closedir(d);
} else {
- stream->printf("Could not open directory %s \r\n", folder.c_str());
+ stream->printf("Could not open directory %s\r\n", path.c_str());
}
}
+extern SDFAT mounter;
+
+void SimpleShell::remount_command( string parameters, StreamOutput *stream )
+{
+ mounter.remount();
+ stream->printf("remounted\r\n");
+}
+
// Delete a file
void SimpleShell::rm_command( string parameters, StreamOutput *stream )
{
- const char *fn= absolute_from_relative(shift_parameter( parameters )).c_str();
+ const char *fn = absolute_from_relative(shift_parameter( parameters )).c_str();
int s = remove(fn);
if (s != 0) stream->printf("Could not delete %s \r\n", fn);
}
+// Rename a file
+void SimpleShell::mv_command( string parameters, StreamOutput *stream )
+{
+ string from = absolute_from_relative(shift_parameter( parameters ));
+ string to = absolute_from_relative(shift_parameter(parameters));
+ int s = rename(from.c_str(), to.c_str());
+ if (s != 0) stream->printf("Could not rename %s to %s\r\n", from.c_str(), to.c_str());
+ else stream->printf("renamed %s to %s\r\n", from.c_str(), to.c_str());
+}
+
// Change current absolute path to provided path
void SimpleShell::cd_command( string parameters, StreamOutput *stream )
{
{
// 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;
- limit = strtol(limit_paramater.c_str(), &e, 10);
- if (e <= limit_paramater.c_str())
+ 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_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) {
string buffer;
int c;
int newlines = 0;
- int linecnt= 0;
+ int linecnt = 0;
// 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;
+ if(linecnt > 80) linecnt = 0;
+ // we need to kick things or they die
+ THEKERNEL->call_event(ON_IDLE);
}
if ( newlines == limit ) {
break;
};
fclose(lp);
+ if(send_eof) {
+ stream->puts("\032"); // ^Z terminates the upload
+ }
+}
+
+void SimpleShell::upload_command( string parameters, StreamOutput *stream )
+{
+ // this needs to be a hack. it needs to read direct from serial and not allow on_main_loop run until done
+ // NOTE this will block all operation until the upload is complete, so do not do while printing
+ if(!THEKERNEL->conveyor->is_queue_empty()) {
+ stream->printf("upload not allowed while printing or busy\n");
+ return;
+ }
+
+ // open file to upload to
+ string upload_filename = absolute_from_relative( parameters );
+ FILE *fd = fopen(upload_filename.c_str(), "w");
+ if(fd != NULL) {
+ stream->printf("uploading to file: %s, send control-D or control-Z to finish\r\n", upload_filename.c_str());
+ } else {
+ stream->printf("failed to open file: %s.\r\n", upload_filename.c_str());
+ return;
+ }
+
+ int cnt = 0;
+ bool uploading = true;
+ while(uploading) {
+ if(!stream->ready()) {
+ // we need to kick things or they die
+ THEKERNEL->call_event(ON_IDLE);
+ continue;
+ }
+
+ char c = stream->_getc();
+ if( c == 4 || c == 26) { // ctrl-D or ctrl-Z
+ uploading = false;
+ // close file
+ fclose(fd);
+ stream->printf("uploaded %d bytes\n", cnt);
+ return;
+
+ } else {
+ // write character to file
+ cnt++;
+ if(fputc(c, fd) != c) {
+ // error writing to file
+ stream->printf("error writing to file. ignoring all characters until EOF\r\n");
+ fclose(fd);
+ fd = NULL;
+ 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");
+ // we need to kick things or they die
+ THEKERNEL->call_event(ON_IDLE);
+ }
+ }
+ }
+ }
+ // we got an error so ignore everything until EOF
+ char c;
+ do {
+ if(stream->ready()) {
+ c= stream->_getc();
+ }else{
+ THEKERNEL->call_event(ON_IDLE);
+ c= 0;
+ }
+ } while(c != 4 && c != 26);
}
// loads the specified config-override file
filename = THEKERNEL->config_override_filename();
}
- FILE *fp= fopen(filename.c_str(), "r");
+ FILE *fp = fopen(filename.c_str(), "r");
if(fp != NULL) {
char buf[132];
stream->printf("Loading config override file: %s...\n", filename.c_str());
while(fgets(buf, sizeof buf, fp) != NULL) {
stream->printf(" %s", buf);
if(buf[0] == ';') continue; // skip the comments
- struct SerialMessage message= {&(StreamOutput::NullStream), buf};
+ struct SerialMessage message = {&(StreamOutput::NullStream), buf};
THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
}
stream->printf("config override file executed\n");
fclose(fp);
- }else{
+ } else {
stream->printf("File not found: %s\n", filename.c_str());
}
}
filename = THEKERNEL->config_override_filename();
}
- // replace stream with one that writes to config-override file
- FileStream *gs = new FileStream(filename.c_str());
- if(!gs->is_open()) {
- stream->printf("Unable to open File %s for write\n", filename.c_str());
- return;
+ THEKERNEL->conveyor->wait_for_empty_queue(); //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
+ {
+ FileStream fs(filename.c_str());
+ fs.printf("; DO NOT EDIT THIS FILE\n");
+ // this also will truncate the existing file instead of deleting it
}
+ // stream that appends to file
+ AppendFileStream *gs = new AppendFileStream(filename.c_str());
+ // if(!gs->is_open()) {
+ // stream->printf("Unable to open File %s for write\n", filename.c_str());
+ // return;
+ // }
+
+ __disable_irq();
// issue a M500 which will store values in the file stream
Gcode *gcode = new Gcode("M500", gs);
THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
delete gs;
delete gcode;
+ __enable_irq();
stream->printf("Settings Stored to %s\r\n", filename.c_str());
}
unsigned long m = g_maximumHeapAddress - heap;
stream->printf("Unused Heap: %lu bytes\r\n", m);
- uint32_t f= heapWalk(stream, verbose);
+ uint32_t f = heapWalk(stream, verbose);
stream->printf("Total Free RAM: %lu bytes\r\n", m + f);
stream->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0.free(), AHB1.free());
- if (verbose)
- {
+ if (verbose) {
AHB0.debug(stream);
AHB1.debug(stream);
}
void SimpleShell::net_command( string parameters, StreamOutput *stream)
{
void *returned_data;
- bool ok= THEKERNEL->public_data->get_value( network_checksum, get_ipconfig_checksum, &returned_data );
+ bool ok = PublicData::get_value( network_checksum, get_ipconfig_checksum, &returned_data );
if(ok) {
- char *str= (char *)returned_data;
+ char *str = (char *)returned_data;
stream->printf("%s\r\n", str);
free(str);
- }else{
+ } else {
stream->printf("No network detected\n");
}
}
void SimpleShell::reset_command( string parameters, StreamOutput *stream)
{
stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
- this->reset_delay_secs = 5; // reboot in 5 seconds
+ reset_delay_secs = 5; // reboot in 5 seconds
}
// go into dfu boot mode
__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)
{
- int what = get_checksum(shift_parameter( parameters ));
- void *returned_data;
+ string what = shift_parameter( parameters );
- if (what == get_temp_command_checksum) {
+ if (what == "temp") {
+ struct pad_temperature temp;
string type = shift_parameter( parameters );
- bool ok = THEKERNEL->public_data->get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data );
+ if(type.empty()) {
+ // scan all temperature controls
+ std::vector<struct pad_temperature> controllers;
+ bool ok = PublicData::get_value(temperature_control_checksum, poll_controls_checksum, &controllers);
+ if (ok) {
+ for (auto &c : controllers) {
+ stream->printf("%s (%d) temp: %f/%f @%d\r\n", c.designator.c_str(), c.id, c.current_temperature, c.target_temperature, c.pwm);
+ }
+
+ } else {
+ stream->printf("no heaters found\r\n");
+ }
- if (ok) {
- struct pad_temperature temp = *static_cast<struct pad_temperature *>(returned_data);
- stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
- } else {
- stream->printf("%s is not a known temperature device\r\n", type.c_str());
+ }else{
+ bool ok = PublicData::get_value( temperature_control_checksum, current_temperature_checksum, get_checksum(type), &temp );
+
+ if (ok) {
+ stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
+ } else {
+ stream->printf("%s is not a known temperature device\r\n", type.c_str());
+ }
}
- } else if (what == get_pos_command_checksum) {
- bool ok = THEKERNEL->public_data->get_value( robot_checksum, current_position_checksum, &returned_data );
+ } else if (what == "pos") {
+ // 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]));
+ }
- if (ok) {
- float *pos = static_cast<float *>(returned_data);
- stream->printf("Position X: %f, Y: %f, Z: %f\r\n", pos[0], pos[1], pos[2]);
+ 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("get pos command failed\r\n");
- }
+ } else {
+ stream->printf("error: unknown option %s\n", what.c_str());
}
}
string type = shift_parameter( parameters );
string temp = shift_parameter( parameters );
float t = temp.empty() ? 0.0 : strtof(temp.c_str(), NULL);
- bool ok = THEKERNEL->public_data->set_value( temperature_control_checksum, get_checksum(type), &t );
+ bool ok = PublicData::set_value( temperature_control_checksum, get_checksum(type), &t );
if (ok) {
stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t);
}
}
+void SimpleShell::print_thermistors_command( string parameters, StreamOutput *stream)
+{
+ Thermistor::print_predefined_thermistors(stream);
+}
+
+void SimpleShell::calc_thermistor_command( string parameters, StreamOutput *stream)
+{
+ string s = shift_parameter( parameters );
+ int saveto= -1;
+ // see if we have -sn as first argument
+ if(s.find("-s", 0, 2) != string::npos) {
+ // save the results to thermistor n
+ saveto= strtol(s.substr(2).c_str(), nullptr, 10);
+ }else{
+ parameters= s;
+ }
+
+ std::vector<float> trl= parse_number_list(parameters.c_str());
+ if(trl.size() == 6) {
+ // calculate the coefficients
+ float c1, c2, c3;
+ std::tie(c1, c2, c3) = Thermistor::calculate_steinhart_hart_coefficients(trl[0], trl[1], trl[2], trl[3], trl[4], trl[5]);
+ stream->printf("Steinhart Hart coefficients: I%1.18f J%1.18f K%1.18f\n", c1, c2, c3);
+ if(saveto == -1) {
+ 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);
+ string g(buf, n);
+ Gcode gcode(g, &(StreamOutput::NullStream));
+ THEKERNEL->call_event(ON_GCODE_RECEIVED, &gcode );
+ stream->printf(" Setting Thermistor %d to those settings, save with M500\n", saveto);
+ }
+
+ }else{
+ // give help
+ stream->printf("Usage: calc_thermistor T1,R1,T2,R2,T3,R3\n");
+ }
+}
+
+// used to test out the get public data events for 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());
+ }
+}
+
+void SimpleShell::md5sum_command( string parameters, StreamOutput *stream )
+{
+ string filename = absolute_from_relative(parameters);
+
+ // Open file
+ FILE *lp = fopen(filename.c_str(), "r");
+ if (lp == NULL) {
+ stream->printf("File not found: %s\r\n", filename.c_str());
+ return;
+ }
+ MD5 md5;
+ uint8_t buf[64];
+ do {
+ size_t n= fread(buf, 1, sizeof buf, lp);
+ if(n > 0) md5.update(buf, n);
+ } while(!feof(lp));
+
+ stream->printf("%s %s\n", md5.finalize().hexdigest().c_str(), filename.c_str());
+ fclose(lp);
+}
+
+
+
void SimpleShell::help_command( string parameters, StreamOutput *stream )
{
stream->printf("Commands:\r\n");
stream->printf("version\r\n");
stream->printf("mem [-v]\r\n");
- stream->printf("ls [folder]\r\n");
+ 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("play file [-v]\r\n");
stream->printf("progress - shows progress of current play\r\n");
stream->printf("abort - abort currently playing file\r\n");
stream->printf("break - break into debugger\r\n");
stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
- stream->printf("config-load [<file_name>]\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");
+ stream->printf("upload filename - saves a stream of text to the named file\r\n");
+ stream->printf("calc_thermistor [-s0] T1,R1,T2,R2,T3,R3 - calculate the Steinhart Hart coefficients for a thermistor\r\n");
+ stream->printf("thermistors - print out the predefined thermistors\r\n");
+ stream->printf("md5sum file - prints md5 sum of the given file\r\n");
}
HCoop / clinton / Smoothieware.git / blobdiff