Stéphane Cachat / Mbed 2 deprecated Smoothie

smoothie port to mbed online compiler (smoothieware.org)

Dependencies:   mbed

For documentation, license, ..., please check http://smoothieware.org/

This version has been tested with a 3 axis machine

modules/utils/simpleshell/SimpleShell.cpp@0:31e91bb0ef3c, 2012-07-31 (annotated)

Committer:
scachat
Date:
Tue Jul 31 21:11:18 2012 +0000
Revision:
0:31e91bb0ef3c
smoothie port to mbed online compiler

Who changed what in which revision?

UserRevisionLine numberNew contents of line
scachat 0:31e91bb0ef3c 1 /*
scachat 0:31e91bb0ef3c 2 This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
scachat 0:31e91bb0ef3c 3 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.
scachat 0:31e91bb0ef3c 4 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.
scachat 0:31e91bb0ef3c 5 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
scachat 0:31e91bb0ef3c 6 */
scachat 0:31e91bb0ef3c 7
scachat 0:31e91bb0ef3c 8
scachat 0:31e91bb0ef3c 9 #include "libs/Kernel.h"
scachat 0:31e91bb0ef3c 10 #include "SimpleShell.h"
scachat 0:31e91bb0ef3c 11 #include "libs/nuts_bolts.h"
scachat 0:31e91bb0ef3c 12 #include "libs/utils.h"
scachat 0:31e91bb0ef3c 13 #include "libs/SerialMessage.h"
scachat 0:31e91bb0ef3c 14 #include "libs/StreamOutput.h"
scachat 0:31e91bb0ef3c 15 #include "modules/robot/Player.h"
scachat 0:31e91bb0ef3c 16
scachat 0:31e91bb0ef3c 17
scachat 0:31e91bb0ef3c 18 void SimpleShell::on_module_loaded(){
scachat 0:31e91bb0ef3c 19 this->current_path = "/";
scachat 0:31e91bb0ef3c 20 this->playing_file = false;
scachat 0:31e91bb0ef3c 21 this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
scachat 0:31e91bb0ef3c 22 this->register_for_event(ON_MAIN_LOOP);
scachat 0:31e91bb0ef3c 23 }
scachat 0:31e91bb0ef3c 24
scachat 0:31e91bb0ef3c 25 // When a new line is received, check if it is a command, and if it is, act upon it
scachat 0:31e91bb0ef3c 26 void SimpleShell::on_console_line_received( void* argument ){
scachat 0:31e91bb0ef3c 27 SerialMessage new_message = *static_cast<SerialMessage*>(argument);
scachat 0:31e91bb0ef3c 28 string possible_command = new_message.message;
scachat 0:31e91bb0ef3c 29
scachat 0:31e91bb0ef3c 30 // We don't compare to a string but to a checksum of that string, this saves some space in flash memory
scachat 0:31e91bb0ef3c 31 unsigned short check_sum = get_checksum( possible_command.substr(0,possible_command.find_first_of(" \r\n")) ); // todo: put this method somewhere more convenient
scachat 0:31e91bb0ef3c 32
scachat 0:31e91bb0ef3c 33 // Act depending on command
scachat 0:31e91bb0ef3c 34 switch( check_sum ){
scachat 0:31e91bb0ef3c 35 case ls_command_checksum : this->ls_command( get_arguments(possible_command), new_message.stream ); break;
scachat 0:31e91bb0ef3c 36 case cd_command_checksum : this->cd_command( get_arguments(possible_command), new_message.stream ); break;
scachat 0:31e91bb0ef3c 37 case pwd_command_checksum : this->pwd_command( get_arguments(possible_command), new_message.stream ); break;
scachat 0:31e91bb0ef3c 38 case cat_command_checksum : this->cat_command( get_arguments(possible_command), new_message.stream ); break;
scachat 0:31e91bb0ef3c 39 case play_command_checksum : this->play_command(get_arguments(possible_command), new_message.stream ); break;
scachat 0:31e91bb0ef3c 40 case reset_command_checksum : this->reset_command(get_arguments(possible_command),new_message.stream ); break;
scachat 0:31e91bb0ef3c 41 }
scachat 0:31e91bb0ef3c 42 }
scachat 0:31e91bb0ef3c 43
scachat 0:31e91bb0ef3c 44 // Convert a path indication ( absolute or relative ) into a path ( absolute )
scachat 0:31e91bb0ef3c 45 string SimpleShell::absolute_from_relative( string path ){
scachat 0:31e91bb0ef3c 46 if( path[0] == '/' ){ return path; }
scachat 0:31e91bb0ef3c 47 if( path[0] == '.' ){ return this->current_path; }
scachat 0:31e91bb0ef3c 48 return this->current_path + path;
scachat 0:31e91bb0ef3c 49 }
scachat 0:31e91bb0ef3c 50
scachat 0:31e91bb0ef3c 51 // Act upon an ls command
scachat 0:31e91bb0ef3c 52 // Convert the first parameter into an absolute path, then list the files in that path
scachat 0:31e91bb0ef3c 53 void SimpleShell::ls_command( string parameters, StreamOutput* stream ){
scachat 0:31e91bb0ef3c 54 string folder = this->absolute_from_relative( parameters );
scachat 0:31e91bb0ef3c 55 DIR* d;
scachat 0:31e91bb0ef3c 56 struct dirent* p;
scachat 0:31e91bb0ef3c 57 d = opendir(folder.c_str());
scachat 0:31e91bb0ef3c 58 if(d != NULL) {
scachat 0:31e91bb0ef3c 59 while((p = readdir(d)) != NULL) { stream->printf("%s\r\n", lc(string(p->d_name)).c_str()); }
scachat 0:31e91bb0ef3c 60 } else {
scachat 0:31e91bb0ef3c 61 stream->printf("Could not open directory %s \r\n", folder.c_str());
scachat 0:31e91bb0ef3c 62 }
scachat 0:31e91bb0ef3c 63 }
scachat 0:31e91bb0ef3c 64
scachat 0:31e91bb0ef3c 65 // Change current absolute path to provided path
scachat 0:31e91bb0ef3c 66 void SimpleShell::cd_command( string parameters, StreamOutput* stream ){
scachat 0:31e91bb0ef3c 67 string folder = this->absolute_from_relative( parameters );
scachat 0:31e91bb0ef3c 68 if( folder[folder.length()-1] != '/' ){ folder += "/"; }
scachat 0:31e91bb0ef3c 69 DIR *d;
scachat 0:31e91bb0ef3c 70 struct dirent *p;
scachat 0:31e91bb0ef3c 71 d = opendir(folder.c_str());
scachat 0:31e91bb0ef3c 72 if(d == NULL) {
scachat 0:31e91bb0ef3c 73 stream->printf("Could not open directory %s \r\n", folder.c_str() );
scachat 0:31e91bb0ef3c 74 }else{
scachat 0:31e91bb0ef3c 75 this->current_path = folder;
scachat 0:31e91bb0ef3c 76 }
scachat 0:31e91bb0ef3c 77 }
scachat 0:31e91bb0ef3c 78
scachat 0:31e91bb0ef3c 79 // Responds with the present working directory
scachat 0:31e91bb0ef3c 80 void SimpleShell::pwd_command( string parameters, StreamOutput* stream ){
scachat 0:31e91bb0ef3c 81 stream->printf("%s\r\n", this->current_path.c_str());
scachat 0:31e91bb0ef3c 82 }
scachat 0:31e91bb0ef3c 83
scachat 0:31e91bb0ef3c 84 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
scachat 0:31e91bb0ef3c 85 void SimpleShell::cat_command( string parameters, StreamOutput* stream ){
scachat 0:31e91bb0ef3c 86
scachat 0:31e91bb0ef3c 87 // Get parameters ( filename and line limit )
scachat 0:31e91bb0ef3c 88 string filename = this->absolute_from_relative(shift_parameter( parameters ));
scachat 0:31e91bb0ef3c 89 string limit_paramater = shift_parameter( parameters );
scachat 0:31e91bb0ef3c 90 int limit = -1;
scachat 0:31e91bb0ef3c 91 if( limit_paramater != "" ){ limit = int(atof(limit_paramater.c_str())); }
scachat 0:31e91bb0ef3c 92
scachat 0:31e91bb0ef3c 93 // Open file
scachat 0:31e91bb0ef3c 94 FILE *lp = fopen(filename.c_str(), "r");
scachat 0:31e91bb0ef3c 95 if(lp == NULL) {
scachat 0:31e91bb0ef3c 96 stream->printf("File not found: %s\r\n", filename.c_str());
scachat 0:31e91bb0ef3c 97 return;
scachat 0:31e91bb0ef3c 98 }
scachat 0:31e91bb0ef3c 99 string buffer;
scachat 0:31e91bb0ef3c 100 int c;
scachat 0:31e91bb0ef3c 101 int newlines = 0;
scachat 0:31e91bb0ef3c 102
scachat 0:31e91bb0ef3c 103 // Print each line of the file
scachat 0:31e91bb0ef3c 104 while ((c = fgetc (lp)) != EOF){
scachat 0:31e91bb0ef3c 105 buffer.append((char *)&c, 1);
scachat 0:31e91bb0ef3c 106 if( char(c) == '\n' ){
scachat 0:31e91bb0ef3c 107 newlines++;
scachat 0:31e91bb0ef3c 108 stream->printf("%s", buffer.c_str());
scachat 0:31e91bb0ef3c 109 buffer.clear();
scachat 0:31e91bb0ef3c 110 }
scachat 0:31e91bb0ef3c 111 if( newlines == limit ){ break; }
scachat 0:31e91bb0ef3c 112 };
scachat 0:31e91bb0ef3c 113 fclose(lp);
scachat 0:31e91bb0ef3c 114
scachat 0:31e91bb0ef3c 115 }
scachat 0:31e91bb0ef3c 116
scachat 0:31e91bb0ef3c 117 // Play a gcode file by considering each line as if it was received on the serial console
scachat 0:31e91bb0ef3c 118 void SimpleShell::play_command( string parameters, StreamOutput* stream ){
scachat 0:31e91bb0ef3c 119 // Get filename
scachat 0:31e91bb0ef3c 120 string filename = this->absolute_from_relative(shift_parameter( parameters ));
scachat 0:31e91bb0ef3c 121 this->current_file_handler = fopen( filename.c_str(), "r");
scachat 0:31e91bb0ef3c 122 if(this->current_file_handler == NULL)
scachat 0:31e91bb0ef3c 123 {
scachat 0:31e91bb0ef3c 124 stream->printf("File not found: %s\r\n", filename.c_str());
scachat 0:31e91bb0ef3c 125 return;
scachat 0:31e91bb0ef3c 126 }
scachat 0:31e91bb0ef3c 127 this->playing_file = true;
scachat 0:31e91bb0ef3c 128 this->current_stream = stream;
scachat 0:31e91bb0ef3c 129 }
scachat 0:31e91bb0ef3c 130
scachat 0:31e91bb0ef3c 131 // Reset the system
scachat 0:31e91bb0ef3c 132 void SimpleShell::reset_command( string parameters, StreamOutput* stream){
scachat 0:31e91bb0ef3c 133 stream->printf("Smoothie out. Peace.\r\n");
scachat 0:31e91bb0ef3c 134 system_reset();
scachat 0:31e91bb0ef3c 135 }
scachat 0:31e91bb0ef3c 136
scachat 0:31e91bb0ef3c 137 void SimpleShell::on_main_loop(void* argument){
scachat 0:31e91bb0ef3c 138
scachat 0:31e91bb0ef3c 139 if( this->playing_file ){
scachat 0:31e91bb0ef3c 140 string buffer;
scachat 0:31e91bb0ef3c 141 int c;
scachat 0:31e91bb0ef3c 142 // Print each line of the file
scachat 0:31e91bb0ef3c 143 while ((c = fgetc(this->current_file_handler)) != EOF){
scachat 0:31e91bb0ef3c 144 if (c == '\n'){
scachat 0:31e91bb0ef3c 145 this->current_stream->printf("%s\n", buffer.c_str());
scachat 0:31e91bb0ef3c 146 struct SerialMessage message;
scachat 0:31e91bb0ef3c 147 message.message = buffer;
scachat 0:31e91bb0ef3c 148 message.stream = this->current_stream;
scachat 0:31e91bb0ef3c 149 // wait for the queue to have enough room that a serial message could still be received before sending
scachat 0:31e91bb0ef3c 150 this->kernel->player->wait_for_queue(2);
scachat 0:31e91bb0ef3c 151 this->kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message);
scachat 0:31e91bb0ef3c 152 buffer.clear();
scachat 0:31e91bb0ef3c 153 return;
scachat 0:31e91bb0ef3c 154 }else{
scachat 0:31e91bb0ef3c 155 buffer += c;
scachat 0:31e91bb0ef3c 156 }
scachat 0:31e91bb0ef3c 157 };
scachat 0:31e91bb0ef3c 158
scachat 0:31e91bb0ef3c 159 fclose(this->current_file_handler);
scachat 0:31e91bb0ef3c 160 this->playing_file = false;
scachat 0:31e91bb0ef3c 161 }
scachat 0:31e91bb0ef3c 162 }