Merge remote-tracking branch 'upstream/edge' into upstreamedge

[clinton/Smoothieware.git] / src / modules / utils / simpleshell / SimpleShell.cpp

diff --git a/src/modules/utils/simpleshell/SimpleShell.cpp b/src/modules/utils/simpleshell/SimpleShell.cpp
index 6cc5ad3..07add3a 100644 (file)
--- a/src/modules/utils/simpleshell/SimpleShell.cpp
+++ b/src/modules/utils/simpleshell/SimpleShell.cpp
@@ -231,7 +231,7 @@ void SimpleShell::on_console_line_received( void *argument )
                 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);
@@ -591,7 +591,7 @@ void SimpleShell::mem_command( string parameters, StreamOutput *stream)
         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()
@@ -637,7 +637,9 @@ void SimpleShell::version_command( string parameters, StreamOutput *stream)
     #ifdef CNC
     stream->printf("  CNC Build ");
     #endif
-
+    #ifdef DISABLEMSD
+    stream->printf("  NOMSD Build\r\n");
+    #endif
     stream->printf("%d axis\n", MAX_ROBOT_ACTUATORS);
 }
 
@@ -814,14 +816,14 @@ void SimpleShell::get_command( string parameters, StreamOutput *stream)
         }
 
    } 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
@@ -979,7 +981,6 @@ void SimpleShell::test_command( string parameters, StreamOutput *stream)
             struct SerialMessage message{&StreamOutput::NullStream, cmd};
             THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
             if(THEKERNEL->is_halted()) break;
-            THECONVEYOR->wait_for_idle();
             toggle= !toggle;
         }
         stream->printf("done\n");
@@ -1011,7 +1012,6 @@ void SimpleShell::test_command( string parameters, StreamOutput *stream)
             stream->printf("%s\n", cmd);
             message.message= cmd;
             THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
-            THECONVEYOR->wait_for_idle();
         }
 
         // leave it where it started
@@ -1022,7 +1022,7 @@ void SimpleShell::test_command( string parameters, StreamOutput *stream)
             THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
         }
 
-       THEROBOT->pop_state();
+        THEROBOT->pop_state();
         stream->printf("done\n");
 
     }else if (what == "square") {
@@ -1065,8 +1065,7 @@ void SimpleShell::test_command( string parameters, StreamOutput *stream)
                 THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message );
             }
             if(THEKERNEL->is_halted()) break;
-            THECONVEYOR->wait_for_idle();
-        }
+         }
         stream->printf("done\n");
 
     }else if (what == "raw") {
@@ -1079,13 +1078,19 @@ void SimpleShell::test_command( string parameters, StreamOutput *stream)
             return;
         }
 
-        uint8_t a= toupper(axis[0]) - 'X';
+        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 > Z_AXIS) {
-            stream->printf("error: axis must be x y or z\n");
+        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;
         }