SimpleShell.cpp

00001 /*
00002     This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
00003     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.
00004     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.
00005     You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
00006 */
00007 
00008 
00009 #include "libs/Kernel.h"
00010 #include "SimpleShell.h"
00011 #include "libs/nuts_bolts.h"
00012 #include "libs/utils.h"
00013 #include "libs/SerialMessage.h"
00014 #include "libs/StreamOutput.h"
00015 #include "modules/robot/Conveyor.h"
00016 #include "DirHandle.h"
00017 #include "mri.h"
00018 #include "version.h"
00019 #include "PublicDataRequest.h"
00020 #include "FileStream.h"
00021 
00022 #include "modules/tools/temperaturecontrol/TemperatureControlPublicAccess.h"
00023 #include "modules/robot/RobotPublicAccess.h"
00024 #include "NetworkPublicAccess.h"
00025 #include "platform_memory.h"
00026 
00027 extern unsigned int g_maximumHeapAddress;
00028 
00029 #include <malloc.h>
00030 #include <mri.h>
00031 #include <stdio.h>
00032 #include <stdint.h>
00033 
00034 extern "C" uint32_t  __end__;
00035 extern "C" uint32_t  __malloc_free_list;
00036 extern "C" uint32_t  _sbrk(int size);
00037 
00038 #define get_temp_command_checksum CHECKSUM("temp")
00039 #define get_pos_command_checksum  CHECKSUM("pos")
00040 
00041 // command lookup table
00042 SimpleShell::ptentry_t SimpleShell::commands_table[] = {
00043     {CHECKSUM("ls"),       &SimpleShell::ls_command},
00044     {CHECKSUM("cd"),       &SimpleShell::cd_command},
00045     {CHECKSUM("pwd"),      &SimpleShell::pwd_command},
00046     {CHECKSUM("cat"),      &SimpleShell::cat_command},
00047     {CHECKSUM("rm"),       &SimpleShell::rm_command},
00048     {CHECKSUM("reset"),    &SimpleShell::reset_command},
00049     {CHECKSUM("dfu"),      &SimpleShell::dfu_command},
00050     {CHECKSUM("break"),    &SimpleShell::break_command},
00051     {CHECKSUM("help"),     &SimpleShell::help_command},
00052     {CHECKSUM("?"),        &SimpleShell::help_command},
00053     {CHECKSUM("version"),  &SimpleShell::version_command},
00054     {CHECKSUM("mem"),      &SimpleShell::mem_command},
00055     {CHECKSUM("get"),      &SimpleShell::get_command},
00056     {CHECKSUM("set_temp"), &SimpleShell::set_temp_command},
00057     {CHECKSUM("net"),      &SimpleShell::net_command},
00058     {CHECKSUM("load"),     &SimpleShell::load_command},
00059     {CHECKSUM("save"),     &SimpleShell::save_command},
00060 
00061     // unknown command
00062     {0, NULL}
00063 };
00064 
00065 // Adam Greens heap walk from http://mbed.org/forum/mbed/topic/2701/?page=4#comment-22556
00066 static uint32_t heapWalk(StreamOutput *stream, bool verbose)
00067 {
00068     uint32_t chunkNumber = 1;
00069     // The __end__ linker symbol points to the beginning of the heap.
00070     uint32_t chunkCurr = (uint32_t)&__end__;
00071     // __malloc_free_list is the head pointer to newlib-nano's link list of free chunks.
00072     uint32_t freeCurr = __malloc_free_list;
00073     // Calling _sbrk() with 0 reserves no more memory but it returns the current top of heap.
00074     uint32_t heapEnd = _sbrk(0);
00075     // accumulate totals
00076     uint32_t freeSize = 0;
00077     uint32_t usedSize = 0;
00078 
00079     stream->printf("Used Heap Size: %lu\n", heapEnd - chunkCurr);
00080 
00081     // Walk through the chunks until we hit the end of the heap.
00082     while (chunkCurr < heapEnd) {
00083         // Assume the chunk is in use.  Will update later.
00084         int      isChunkFree = 0;
00085         // The first 32-bit word in a chunk is the size of the allocation.  newlib-nano over allocates by 8 bytes.
00086         // 4 bytes for this 32-bit chunk size and another 4 bytes to allow for 8 byte-alignment of returned pointer.
00087         uint32_t chunkSize = *(uint32_t *)chunkCurr;
00088         // The start of the next chunk is right after the end of this one.
00089         uint32_t chunkNext = chunkCurr + chunkSize;
00090 
00091         // The free list is sorted by address.
00092         // Check to see if we have found the next free chunk in the heap.
00093         if (chunkCurr == freeCurr) {
00094             // Chunk is free so flag it as such.
00095             isChunkFree = 1;
00096             // The second 32-bit word in a free chunk is a pointer to the next free chunk (again sorted by address).
00097             freeCurr = *(uint32_t *)(freeCurr + 4);
00098         }
00099 
00100         // Skip past the 32-bit size field in the chunk header.
00101         chunkCurr += 4;
00102         // 8-byte align the data pointer.
00103         chunkCurr = (chunkCurr + 7) & ~7;
00104         // newlib-nano over allocates by 8 bytes, 4 bytes for the 32-bit chunk size and another 4 bytes to allow for 8
00105         // byte-alignment of the returned pointer.
00106         chunkSize -= 8;
00107         if (verbose)
00108             stream->printf("  Chunk: %lu  Address: 0x%08lX  Size: %lu  %s\n", chunkNumber, chunkCurr, chunkSize, isChunkFree ? "CHUNK FREE" : "");
00109 
00110         if (isChunkFree) freeSize += chunkSize;
00111         else usedSize += chunkSize;
00112 
00113         chunkCurr = chunkNext;
00114         chunkNumber++;
00115     }
00116     stream->printf("Allocated: %lu, Free: %lu\r\n", usedSize, freeSize);
00117     return freeSize;
00118 }
00119 
00120 
00121 void SimpleShell::on_module_loaded()
00122 {
00123     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
00124     this->register_for_event(ON_GCODE_RECEIVED);
00125     this->register_for_event(ON_SECOND_TICK);
00126 
00127     this->reset_delay_secs = 0;
00128 }
00129 
00130 void SimpleShell::on_second_tick(void *)
00131 {
00132     // we are timing out for the reset
00133     if (this->reset_delay_secs > 0) {
00134         if (--this->reset_delay_secs == 0) {
00135             system_reset(false);
00136         }
00137     }
00138 }
00139 
00140 void SimpleShell::on_gcode_received(void *argument)
00141 {
00142     Gcode *gcode = static_cast<Gcode *>(argument);
00143     string args= get_arguments(gcode->command);
00144 
00145     if (gcode->has_m) {
00146         if (gcode->m == 20) { // list sd card
00147             gcode->mark_as_taken();
00148             gcode->stream->printf("Begin file list\r\n");
00149             ls_command("/sd", gcode->stream);
00150             gcode->stream->printf("End file list\r\n");
00151 
00152         } else if (gcode->m == 30) { // remove file
00153             gcode->mark_as_taken();
00154             rm_command("/sd/" + args, gcode->stream);
00155 
00156         }else if(gcode->m == 501) { // load config override
00157             gcode->mark_as_taken();
00158             if(args.empty()) {
00159                 load_command("/sd/config-override", gcode->stream);
00160             }else{
00161                 load_command("/sd/config-override." + args, gcode->stream);
00162             }
00163 
00164         }else if(gcode->m == 504) { // save to specific config override file
00165             gcode->mark_as_taken();
00166             if(args.empty()) {
00167                 save_command("/sd/config-override", gcode->stream);
00168             }else{
00169                 save_command("/sd/config-override." + args, gcode->stream);
00170             }
00171         }
00172     }
00173 }
00174 
00175 bool SimpleShell::parse_command(unsigned short cs, string args, StreamOutput *stream)
00176 {
00177     for (ptentry_t *p = commands_table; p->pfunc != NULL; ++p) {
00178         if (cs == p->command_cs) {
00179             PFUNC fnc= p->pfunc;
00180             (this->*fnc)(args, stream);
00181             return true;
00182         }
00183     }
00184 
00185     return false;
00186 }
00187 
00188 // When a new line is received, check if it is a command, and if it is, act upon it
00189 void SimpleShell::on_console_line_received( void *argument )
00190 {
00191     SerialMessage new_message = *static_cast<SerialMessage *>(argument);
00192 
00193     // ignore comments
00194     if (new_message.message[0] == ';') return;
00195 
00196     string possible_command = new_message.message;
00197 
00198     //new_message.stream->printf("Received %s\r\n", possible_command.c_str());
00199 
00200     unsigned short check_sum = get_checksum( possible_command.substr(0, possible_command.find_first_of(" \r\n")) ); // todo: put this method somewhere more convenient
00201 
00202     // find command and execute it
00203     parse_command(check_sum, get_arguments(possible_command), new_message.stream);
00204 }
00205 
00206 // Act upon an ls command
00207 // Convert the first parameter into an absolute path, then list the files in that path
00208 void SimpleShell::ls_command( string parameters, StreamOutput *stream )
00209 {
00210     string folder = absolute_from_relative( parameters );
00211     DIR *d;
00212     struct dirent *p;
00213     d = opendir(folder.c_str());
00214     if (d != NULL) {
00215         while ((p = readdir(d)) != NULL) {
00216             stream->printf("%s\r\n", lc(string(p->d_name)).c_str());
00217         }
00218         closedir(d);
00219     } else {
00220         stream->printf("Could not open directory %s \r\n", folder.c_str());
00221     }
00222 }
00223 
00224 // Delete a file
00225 void SimpleShell::rm_command( string parameters, StreamOutput *stream )
00226 {
00227     const char *fn= absolute_from_relative(shift_parameter( parameters )).c_str();
00228     int s = remove(fn);
00229     if (s != 0) stream->printf("Could not delete %s \r\n", fn);
00230 }
00231 
00232 // Change current absolute path to provided path
00233 void SimpleShell::cd_command( string parameters, StreamOutput *stream )
00234 {
00235     string folder = absolute_from_relative( parameters );
00236 
00237     DIR *d;
00238     d = opendir(folder.c_str());
00239     if (d == NULL) {
00240         stream->printf("Could not open directory %s \r\n", folder.c_str() );
00241     } else {
00242         THEKERNEL->current_path = folder;
00243         closedir(d);
00244     }
00245 }
00246 
00247 // Responds with the present working directory
00248 void SimpleShell::pwd_command( string parameters, StreamOutput *stream )
00249 {
00250     stream->printf("%s\r\n", THEKERNEL->current_path.c_str());
00251 }
00252 
00253 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
00254 void SimpleShell::cat_command( string parameters, StreamOutput *stream )
00255 {
00256     // Get parameters ( filename and line limit )
00257     string filename          = absolute_from_relative(shift_parameter( parameters ));
00258     string limit_paramater   = shift_parameter( parameters );
00259     int limit = -1;
00260     if ( limit_paramater != "" ) {
00261         char *e = NULL;
00262         limit = strtol(limit_paramater.c_str(), &e, 10);
00263         if (e <= limit_paramater.c_str())
00264             limit = -1;
00265     }
00266 
00267     // Open file
00268     FILE *lp = fopen(filename.c_str(), "r");
00269     if (lp == NULL) {
00270         stream->printf("File not found: %s\r\n", filename.c_str());
00271         return;
00272     }
00273     string buffer;
00274     int c;
00275     int newlines = 0;
00276     int linecnt= 0;
00277     // Print each line of the file
00278     while ((c = fgetc (lp)) != EOF) {
00279         buffer.append((char *)&c, 1);
00280         if ( char(c) == '\n' || ++linecnt > 80) {
00281             newlines++;
00282             stream->puts(buffer.c_str());
00283             buffer.clear();
00284             if(linecnt > 80) linecnt= 0;
00285         }
00286         if ( newlines == limit ) {
00287             break;
00288         }
00289     };
00290     fclose(lp);
00291 
00292 }
00293 
00294 // loads the specified config-override file
00295 void SimpleShell::load_command( string parameters, StreamOutput *stream )
00296 {
00297     // Get parameters ( filename )
00298     string filename = absolute_from_relative(parameters);
00299     if(filename == "/") {
00300         filename = THEKERNEL->config_override_filename();
00301     }
00302 
00303     FILE *fp= fopen(filename.c_str(), "r");
00304     if(fp != NULL) {
00305         char buf[132];
00306         stream->printf("Loading config override file: %s...\n", filename.c_str());
00307         while(fgets(buf, sizeof buf, fp) != NULL) {
00308             stream->printf("  %s", buf);
00309             if(buf[0] == ';') continue; // skip the comments
00310             struct SerialMessage message= {&(StreamOutput::NullStream), buf};
00311             THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
00312         }
00313         stream->printf("config override file executed\n");
00314         fclose(fp);
00315 
00316     }else{
00317         stream->printf("File not found: %s\n", filename.c_str());
00318     }
00319 }
00320 
00321 // saves the specified config-override file
00322 void SimpleShell::save_command( string parameters, StreamOutput *stream )
00323 {
00324     // Get parameters ( filename )
00325     string filename = absolute_from_relative(parameters);
00326     if(filename == "/") {
00327         filename = THEKERNEL->config_override_filename();
00328     }
00329 
00330     // replace stream with one that writes to config-override file
00331     FileStream *gs = new FileStream(filename.c_str());
00332     if(!gs->is_open()) {
00333         stream->printf("Unable to open File %s for write\n", filename.c_str());
00334         return;
00335     }
00336 
00337     // issue a M500 which will store values in the file stream
00338     Gcode *gcode = new Gcode("M500", gs);
00339     THEKERNEL->call_event(ON_GCODE_RECEIVED, gcode );
00340     delete gs;
00341     delete gcode;
00342 
00343     stream->printf("Settings Stored to %s\r\n", filename.c_str());
00344 }
00345 
00346 // show free memory
00347 void SimpleShell::mem_command( string parameters, StreamOutput *stream)
00348 {
00349     bool verbose = shift_parameter( parameters ).find_first_of("Vv") != string::npos ;
00350     unsigned long heap = (unsigned long)_sbrk(0);
00351     unsigned long m = g_maximumHeapAddress - heap;
00352     stream->printf("Unused Heap: %lu bytes\r\n", m);
00353 
00354     uint32_t f= heapWalk(stream, verbose);
00355     stream->printf("Total Free RAM: %lu bytes\r\n", m + f);
00356 
00357     stream->printf("Free AHB0: %lu, AHB1: %lu\r\n", AHB0.free(), AHB1.free());
00358     if (verbose)
00359     {
00360         AHB0.debug(stream);
00361         AHB1.debug(stream);
00362     }
00363 }
00364 
00365 static uint32_t getDeviceType()
00366 {
00367 #define IAP_LOCATION 0x1FFF1FF1
00368     uint32_t command[1];
00369     uint32_t result[5];
00370     typedef void (*IAP)(uint32_t *, uint32_t *);
00371     IAP iap = (IAP) IAP_LOCATION;
00372 
00373     __disable_irq();
00374 
00375     command[0] = 54;
00376     iap(command, result);
00377 
00378     __enable_irq();
00379 
00380     return result[1];
00381 }
00382 
00383 // get network config
00384 void SimpleShell::net_command( string parameters, StreamOutput *stream)
00385 {
00386     void *returned_data;
00387     bool ok= THEKERNEL->public_data->get_value( network_checksum, get_ipconfig_checksum, &returned_data );
00388     if(ok) {
00389         char *str= (char *)returned_data;
00390         stream->printf("%s\r\n", str);
00391         free(str);
00392 
00393     }else{
00394         stream->printf("No network detected\n");
00395     }
00396 }
00397 
00398 // print out build version
00399 void SimpleShell::version_command( string parameters, StreamOutput *stream)
00400 {
00401     Version vers;
00402     uint32_t dev = getDeviceType();
00403     const char *mcu = (dev & 0x00100000) ? "LPC1769" : "LPC1768";
00404     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);
00405 }
00406 
00407 // Reset the system
00408 void SimpleShell::reset_command( string parameters, StreamOutput *stream)
00409 {
00410     stream->printf("Smoothie out. Peace. Rebooting in 5 seconds...\r\n");
00411     this->reset_delay_secs = 5; // reboot in 5 seconds
00412 }
00413 
00414 // go into dfu boot mode
00415 void SimpleShell::dfu_command( string parameters, StreamOutput *stream)
00416 {
00417     stream->printf("Entering boot mode...\r\n");
00418     system_reset(true);
00419 }
00420 
00421 // Break out into the MRI debugging system
00422 void SimpleShell::break_command( string parameters, StreamOutput *stream)
00423 {
00424     stream->printf("Entering MRI debug mode...\r\n");
00425     __debugbreak();
00426 }
00427 
00428 // used to test out the get public data events
00429 void SimpleShell::get_command( string parameters, StreamOutput *stream)
00430 {
00431     int what = get_checksum(shift_parameter( parameters ));
00432     void *returned_data;
00433 
00434     if (what == get_temp_command_checksum) {
00435         string type = shift_parameter( parameters );
00436         bool ok = THEKERNEL->public_data->get_value( temperature_control_checksum, get_checksum(type), current_temperature_checksum, &returned_data );
00437 
00438         if (ok) {
00439             struct pad_temperature temp =  *static_cast<struct pad_temperature *>(returned_data);
00440             stream->printf("%s temp: %f/%f @%d\r\n", type.c_str(), temp.current_temperature, temp.target_temperature, temp.pwm);
00441         } else {
00442             stream->printf("%s is not a known temperature device\r\n", type.c_str());
00443         }
00444 
00445     } else if (what == get_pos_command_checksum) {
00446         bool ok = THEKERNEL->public_data->get_value( robot_checksum, current_position_checksum, &returned_data );
00447 
00448         if (ok) {
00449             float *pos = static_cast<float *>(returned_data);
00450             stream->printf("Position X: %f, Y: %f, Z: %f\r\n", pos[0], pos[1], pos[2]);
00451 
00452         } else {
00453             stream->printf("get pos command failed\r\n");
00454         }
00455     }
00456 }
00457 
00458 // used to test out the get public data events
00459 void SimpleShell::set_temp_command( string parameters, StreamOutput *stream)
00460 {
00461     string type = shift_parameter( parameters );
00462     string temp = shift_parameter( parameters );
00463     float t = temp.empty() ? 0.0 : strtof(temp.c_str(), NULL);
00464     bool ok = THEKERNEL->public_data->set_value( temperature_control_checksum, get_checksum(type), &t );
00465 
00466     if (ok) {
00467         stream->printf("%s temp set to: %3.1f\r\n", type.c_str(), t);
00468     } else {
00469         stream->printf("%s is not a known temperature device\r\n", type.c_str());
00470     }
00471 }
00472 
00473 void SimpleShell::help_command( string parameters, StreamOutput *stream )
00474 {
00475     stream->printf("Commands:\r\n");
00476     stream->printf("version\r\n");
00477     stream->printf("mem [-v]\r\n");
00478     stream->printf("ls [folder]\r\n");
00479     stream->printf("cd folder\r\n");
00480     stream->printf("pwd\r\n");
00481     stream->printf("cat file [limit]\r\n");
00482     stream->printf("rm file\r\n");
00483     stream->printf("play file [-v]\r\n");
00484     stream->printf("progress - shows progress of current play\r\n");
00485     stream->printf("abort - abort currently playing file\r\n");
00486     stream->printf("reset - reset smoothie\r\n");
00487     stream->printf("dfu - enter dfu boot loader\r\n");
00488     stream->printf("break - break into debugger\r\n");
00489     stream->printf("config-get [<configuration_source>] <configuration_setting>\r\n");
00490     stream->printf("config-set [<configuration_source>] <configuration_setting> <value>\r\n");
00491     stream->printf("config-load [<file_name>]\r\n");
00492     stream->printf("get temp [bed|hotend]\r\n");
00493     stream->printf("set_temp bed|hotend 185\r\n");
00494     stream->printf("get pos\r\n");
00495     stream->printf("net\r\n");
00496     stream->printf("load [file] - loads a configuration override file from soecified name or config-override\r\n");
00497     stream->printf("save [file] - saves a configuration override file as specified filename or as config-override\r\n");
00498 }
00499