Diff: modules/utils/simpleshell/SimpleShell.cpp

Revision:

0:31e91bb0ef3c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/modules/utils/simpleshell/SimpleShell.cpp	Tue Jul 31 21:11:18 2012 +0000
@@ -0,0 +1,162 @@
+/*  
+      This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+      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.
+      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.
+      You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. 
+*/
+
+
+#include "libs/Kernel.h"
+#include "SimpleShell.h"
+#include "libs/nuts_bolts.h"
+#include "libs/utils.h"
+#include "libs/SerialMessage.h"
+#include "libs/StreamOutput.h"
+#include "modules/robot/Player.h"
+
+
+void SimpleShell::on_module_loaded(){
+    this->current_path = "/";
+    this->playing_file = false;
+    this->register_for_event(ON_CONSOLE_LINE_RECEIVED);
+    this->register_for_event(ON_MAIN_LOOP);
+}
+
+// When a new line is received, check if it is a command, and if it is, act upon it
+void SimpleShell::on_console_line_received( void* argument ){
+    SerialMessage new_message = *static_cast<SerialMessage*>(argument);
+    string possible_command = new_message.message;
+
+    // We don't compare to a string but to a checksum of that string, this saves some space in flash memory
+    unsigned short check_sum = get_checksum( possible_command.substr(0,possible_command.find_first_of(" \r\n")) );  // todo: put this method somewhere more convenient
+
+    // Act depending on command
+    switch( check_sum ){
+        case ls_command_checksum      : this->ls_command(  get_arguments(possible_command), new_message.stream ); break;
+        case cd_command_checksum      : this->cd_command(  get_arguments(possible_command), new_message.stream ); break;
+        case pwd_command_checksum     : this->pwd_command( get_arguments(possible_command), new_message.stream ); break;
+        case cat_command_checksum     : this->cat_command( get_arguments(possible_command), new_message.stream ); break;
+        case play_command_checksum    : this->play_command(get_arguments(possible_command), new_message.stream ); break; 
+        case reset_command_checksum   : this->reset_command(get_arguments(possible_command),new_message.stream ); break;
+    }
+}
+
+// Convert a path indication ( absolute or relative ) into a path ( absolute )
+string SimpleShell::absolute_from_relative( string path ){
+    if( path[0] == '/' ){ return path; }
+    if( path[0] == '.' ){ return this->current_path; } 
+    return this->current_path + path;
+}
+
+// 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 = this->absolute_from_relative( parameters );
+    DIR* d;
+    struct dirent* p;
+    d = opendir(folder.c_str());
+    if(d != NULL) {
+        while((p = readdir(d)) != NULL) { stream->printf("%s\r\n", lc(string(p->d_name)).c_str()); }
+    } else {
+        stream->printf("Could not open directory %s \r\n", folder.c_str());
+    }
+}
+
+// Change current absolute path to provided path
+void SimpleShell::cd_command( string parameters, StreamOutput* stream ){
+    string folder = this->absolute_from_relative( parameters );
+    if( folder[folder.length()-1] != '/' ){ folder += "/"; }
+    DIR *d;
+    struct dirent *p;
+    d = opendir(folder.c_str());
+    if(d == NULL) { 
+        stream->printf("Could not open directory %s \r\n", folder.c_str() ); 
+    }else{
+        this->current_path = folder;
+    }
+}
+
+// Responds with the present working directory
+void SimpleShell::pwd_command( string parameters, StreamOutput* stream ){
+    stream->printf("%s\r\n", this->current_path.c_str());
+}
+
+// Output the contents of a file, first parameter is the filename, second is the limit ( in number of lines to output )
+void SimpleShell::cat_command( string parameters, StreamOutput* stream ){
+    
+    // Get parameters ( filename and line limit ) 
+    string filename          = this->absolute_from_relative(shift_parameter( parameters ));
+    string limit_paramater   = shift_parameter( parameters );
+    int limit = -1;
+    if( limit_paramater != "" ){ limit = int(atof(limit_paramater.c_str())); }
+   
+    // Open file 
+    FILE *lp = fopen(filename.c_str(), "r");
+    if(lp == NULL) {
+        stream->printf("File not found: %s\r\n", filename.c_str());
+        return;
+    }
+    string buffer;
+    int c;
+    int newlines = 0; 
+    
+    // Print each line of the file
+    while ((c = fgetc (lp)) != EOF){
+        buffer.append((char *)&c, 1);
+        if( char(c) == '\n' ){
+            newlines++;
+            stream->printf("%s", buffer.c_str());
+            buffer.clear();
+        }
+        if( newlines == limit ){ break; }
+    }; 
+    fclose(lp);
+
+}
+
+// Play a gcode file by considering each line as if it was received on the serial console
+void SimpleShell::play_command( string parameters, StreamOutput* stream ){
+    // Get filename
+    string filename          = this->absolute_from_relative(shift_parameter( parameters ));
+    this->current_file_handler = fopen( filename.c_str(), "r");
+    if(this->current_file_handler == NULL)
+    {
+        stream->printf("File not found: %s\r\n", filename.c_str());
+        return;
+    }
+    this->playing_file = true;
+    this->current_stream = stream;
+}
+
+// Reset the system
+void SimpleShell::reset_command( string parameters, StreamOutput* stream){
+    stream->printf("Smoothie out. Peace.\r\n");
+    system_reset();
+}
+
+void SimpleShell::on_main_loop(void* argument){
+
+    if( this->playing_file ){ 
+        string buffer;
+        int c;
+        // Print each line of the file
+        while ((c = fgetc(this->current_file_handler)) != EOF){
+            if (c == '\n'){
+                this->current_stream->printf("%s\n", buffer.c_str());
+                struct SerialMessage message; 
+                message.message = buffer;
+                message.stream = this->current_stream;
+                // wait for the queue to have enough room that a serial message could still be received before sending
+                this->kernel->player->wait_for_queue(2);
+                this->kernel->call_event(ON_CONSOLE_LINE_RECEIVED, &message); 
+                buffer.clear();
+                return;
+            }else{
+                buffer += c;
+            }
+        }; 
+
+        fclose(this->current_file_handler);
+        this->playing_file = false;
+    }
+}