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/Player.h"
00016 
00017 
00018 void SimpleShell::on_module_loaded(){
00019     this->current_path = "/";
00020     this->playing_file = false;
00021     this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
00022     this->register_for_event(ON_MAIN_LOOP);
00023 }
00024 
00025 // When a new line is received, check if it is a command, and if it is, act upon it
00026 void SimpleShell::on_console_line_received( void* argument ){
00027     SerialMessage new_message = *static_cast<SerialMessage*>(argument);
00028     string possible_command = new_message.message;
00029 
00030     // We don't compare to a string but to a checksum of that string, this saves some space in flash memory
00031     unsigned short check_sum = get_checksum( possible_command.substr(0,possible_command.find_first_of(" \r\n")) );  // todo: put this method somewhere more convenient
00032 
00033     // Act depending on command
00034     switch( check_sum ){
00035         case ls_command_checksum      : this->ls_command(  get_arguments(possible_command), new_message.stream ); break;
00036         case cd_command_checksum      : this->cd_command(  get_arguments(possible_command), new_message.stream ); break;
00037         case pwd_command_checksum     : this->pwd_command( get_arguments(possible_command), new_message.stream ); break;
00038         case cat_command_checksum     : this->cat_command( get_arguments(possible_command), new_message.stream ); break;
00039         case play_command_checksum    : this->play_command(get_arguments(possible_command), new_message.stream ); break; 
00040         case reset_command_checksum   : this->reset_command(get_arguments(possible_command),new_message.stream ); break;
00041     }
00042 }
00043 
00044 // Convert a path indication ( absolute or relative ) into a path ( absolute )
00045 string SimpleShell::absolute_from_relative( string path ){
00046     if( path[0] == '/' ){ return path; }
00047     if( path[0] == '.' ){ return this->current_path; } 
00048     return this->current_path + path;
00049 }
00050 
00051 // Act upon an ls command
00052 // Convert the first parameter into an absolute path, then list the files in that path
00053 void SimpleShell::ls_command( string parameters, StreamOutput* stream ){
00054     string folder = this->absolute_from_relative( parameters );
00055     DIR* d;
00056     struct dirent* p;
00057     d = opendir(folder.c_str());
00058     if(d != NULL) {
00059         while((p = readdir(d)) != NULL) { stream->printf("%s\r\n", lc(string(p->d_name)).c_str()); }
00060     } else {
00061         stream->printf("Could not open directory %s \r\n", folder.c_str());
00062     }
00063 }
00064 
00065 // Change current absolute path to provided path
00066 void SimpleShell::cd_command( string parameters, StreamOutput* stream ){
00067     string folder = this->absolute_from_relative( parameters );
00068     if( folder[folder.length()-1] != '/' ){ folder += "/"; }
00069     DIR *d;
00070     struct dirent *p;
00071     d = opendir(folder.c_str());
00072     if(d == NULL) { 
00073         stream->printf("Could not open directory %s \r\n", folder.c_str() ); 
00074     }else{
00075         this->current_path = folder;
00076     }
00077 }
00078 
00079 // Responds with the present working directory
00080 void SimpleShell::pwd_command( string parameters, StreamOutput* stream ){
00081     stream->printf("%s\r\n", this->current_path.c_str());
00082 }
00083 
00084 // Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
00085 void SimpleShell::cat_command( string parameters, StreamOutput* stream ){
00086     
00087     // Get parameters ( filename and line limit ) 
00088     string filename          = this->absolute_from_relative(shift_parameter( parameters ));
00089     string limit_paramater   = shift_parameter( parameters );
00090     int limit = -1;
00091     if( limit_paramater != "" ){ limit = int(atof(limit_paramater.c_str())); }
00092    
00093     // Open file 
00094     FILE *lp = fopen(filename.c_str(), "r");
00095     if(lp == NULL) {
00096         stream->printf("File not found: %s\r\n", filename.c_str());
00097         return;
00098     }
00099     string buffer;
00100     int c;
00101     int newlines = 0; 
00102     
00103     // Print each line of the file
00104     while ((c = fgetc (lp)) != EOF){
00105         buffer.append((char *)&c, 1);
00106         if( char(c) == '\n' ){
00107             newlines++;
00108             stream->printf("%s", buffer.c_str());
00109             buffer.clear();
00110         }
00111         if( newlines == limit ){ break; }
00112     }; 
00113     fclose(lp);
00114 
00115 }
00116 
00117 // Play a gcode file by considering each line as if it was received on the serial console
00118 void SimpleShell::play_command( string parameters, StreamOutput* stream ){
00119     // Get filename
00120     string filename          = this->absolute_from_relative(shift_parameter( parameters ));
00121     this->current_file_handler = fopen( filename.c_str(), "r");
00122     if(this->current_file_handler == NULL)
00123     {
00124         stream->printf("File not found: %s\r\n", filename.c_str());
00125         return;
00126     }
00127     this->playing_file = true;
00128     this->current_stream = stream;
00129 }
00130 
00131 // Reset the system
00132 void SimpleShell::reset_command( string parameters, StreamOutput* stream){
00133     stream->printf("Smoothie out. Peace.\r\n");
00134     system_reset();
00135 }
00136 
00137 void SimpleShell::on_main_loop(void* argument){
00138 
00139     if( this->playing_file ){ 
00140         string buffer;
00141         int c;
00142         // Print each line of the file
00143         while ((c = fgetc(this->current_file_handler)) != EOF){
00144             if (c == '\n'){
00145                 this->current_stream->printf("%s\n", buffer.c_str());
00146                 struct SerialMessage message; 
00147                 message.message = buffer;
00148                 message.stream = this->current_stream;
00149                 // wait for the queue to have enough room that a serial message could still be received before sending
00150                 this->kernel->player->wait_for_queue(2);
00151                 this->kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message); 
00152                 buffer.clear();
00153                 return;
00154             }else{
00155                 buffer += c;
00156             }
00157         }; 
00158 
00159         fclose(this->current_file_handler);
00160         this->playing_file = false;
00161     }
00162 }