diff --git a/CMakeLists.txt b/CMakeLists.txt
index 67a7184..372c74f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,5 +23,5 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_VISIBILITY_PRESET hidden)
 
 
-add_executable(sender main.cpp grbl.h grbl.cpp grbl_test.cpp)
+add_executable(sender main.cpp grbl.h grbl.cpp grbl_test.cpp grbl_communication.h grbl_communication.cpp)
 target_link_libraries(sender nanogui gtest gtest_main)
\ No newline at end of file
diff --git a/grbl_communication.cpp b/grbl_communication.cpp
new file mode 100644
index 0000000..62fbe36
--- /dev/null
+++ b/grbl_communication.cpp
@@ -0,0 +1,119 @@
+#include "grbl_communication.h"
+
+#include <sys/socket.h>
+#include <arpa/inet.h>
+#include <unistd.h>
+#include <iostream>
+#include <fcntl.h>
+#include <chrono>
+
+grbl::tcp_transport::tcp_transport(std::string address, uint16_t p)
+        : ip{std::move(address)}, port{p} {
+    live_check_thread = std::thread(&grbl::tcp_transport::worker, this);
+}
+
+void grbl::tcp_transport::open(grbl::transport_callbacks& cb) {
+    if (is_connected) {
+        close();
+    }
+
+    listener = &cb;
+    fd = socket(AF_INET, SOCK_STREAM, 0);
+    if (fd == -1) {
+        std::cerr << "Error creating socket" << std::endl;
+    }
+
+    struct sockaddr_in serv_addr{};
+    serv_addr.sin_family = AF_INET;
+    serv_addr.sin_port = htons(port);
+
+    if (inet_pton(AF_INET, ip.c_str(), &serv_addr.sin_addr) <= 0) {
+        std::cerr << "Invalid address/ Address not supported" << std::endl;
+        return;
+    }
+
+    auto status = connect(fd, (struct sockaddr *) &serv_addr, sizeof(serv_addr));
+    if (status < 0) {
+        std::cerr << "Connection failed";
+        return;
+    }
+
+    is_connected = true;
+    listener->on_connected(this);
+
+    // set non-blocking please, after we connected
+    fcntl(fd, F_SETFL, O_NONBLOCK);
+}
+
+void grbl::tcp_transport::close() {
+    if (fd >= 0) {
+        ::close(fd);
+
+        is_connected = false;
+        send_queue = std::queue<std::string>{};
+
+        if (listener != nullptr)
+            listener->on_disconnected(this);
+    }
+}
+
+void grbl::tcp_transport::send(std::string line) {
+    if (is_connected) {
+        send_queue.push(line + "\r");
+    }
+}
+
+void grbl::tcp_transport::worker() {
+    std::string received;
+    uint8_t buffer[200];
+
+    while (!should_quit) {
+        if (is_connected) {
+            // anything to write?
+            if (!send_queue.empty()) {
+                auto line = send_queue.front();
+                auto result = write(fd, line.c_str(), line.size());
+                if (result == -1) {
+                    std::cerr << "Failed while writing." << std::endl;
+                    close();
+                }
+
+                send_queue.pop();
+            }
+
+            // anything to read?
+            auto read_bytes = read(fd, buffer, 200);
+            if (read_bytes > 0) {
+                for (int i = 0; i < read_bytes; i++) {
+                    auto is_eol = buffer[i] == '\r' || buffer[i] == '\n';
+                    if (is_eol) {
+                        if (!is_empty_line(received)) {
+                            listener->on_line_received(received, this);
+                        }
+                        received.clear();
+                    } else {
+                        received.push_back(static_cast<char>(buffer[i]));
+                    }
+                }
+            }
+
+            // give some time to others
+            std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        }
+    }
+}
+
+grbl::tcp_transport::~tcp_transport() {
+    close();
+    should_quit = true;
+    live_check_thread.join();
+}
+
+bool grbl::tcp_transport::is_empty_line(std::string line) {
+    for (auto& c: line) {
+        if (c != '\r' && c != '\n' && c != ' ') {
+            return false;
+        }
+    }
+    return true;
+}
diff --git a/grbl_communication.h b/grbl_communication.h
new file mode 100644
index 0000000..94ad643
--- /dev/null
+++ b/grbl_communication.h
@@ -0,0 +1,47 @@
+#pragma once
+
+#include <string>
+#include <thread>
+#include <queue>
+
+namespace grbl {
+
+struct transport;
+
+struct transport_callbacks {
+    virtual void on_connected(transport*) = 0;
+    virtual void on_disconnected(transport*) = 0;
+    virtual void on_line_received(std::string line, transport* ) = 0;
+};
+
+struct transport {
+    virtual void open(transport_callbacks& cb) = 0;
+    virtual void close() = 0;
+    virtual void send(std::string line) = 0;
+};
+
+struct tcp_transport : public transport {
+    virtual ~tcp_transport();
+    tcp_transport(std::string address, uint16_t port);
+
+    void open(transport_callbacks& cb) override;
+    void close() override;
+    void send(std::string line) override;
+
+private:
+
+    void worker();
+
+    std::string ip;
+    uint16_t port;
+    transport_callbacks *listener = nullptr;
+    int fd = -1;
+    volatile bool is_connected = false;
+    std::thread live_check_thread;
+    std::queue<std::string> send_queue;
+    volatile bool should_quit = false;
+    bool is_empty_line(std::string line);
+};
+
+}
+
diff --git a/main.cpp b/main.cpp
index a508f25..ea1f047 100644
--- a/main.cpp
+++ b/main.cpp
@@ -50,6 +50,7 @@
 #include <stb_image.h>
 #include "grbl.h"
 #include <gtest/gtest.h>
+#include "grbl_communication.h"
 
 using namespace nanogui;
 
@@ -611,8 +612,29 @@ private:
     int m_current_image;
 };
 
+
+struct grbl_listener : public grbl::transport_callbacks {
+    void on_connected(grbl::transport *t) override {
+        std::cout << "Listener: connected!" << std::endl;
+        t->send("$$");
+    }
+
+    void on_disconnected(grbl::transport *t) override {
+        std::cout << "Listener: disconnected!" << std::endl;
+    }
+
+    void on_line_received(std::string line, grbl::transport *t) override {
+        std::cout << "Listener: -> " << line << std::endl;
+    }
+};
+
 int main(int argc, char **argv) {
 
+    grbl_listener listener{};
+
+    grbl::tcp_transport transport("192.168.5.39", 23);
+    transport.open(listener);
+
     testing::InitGoogleTest(&argc, argv);
     auto result = RUN_ALL_TESTS();
     if (result) {
@@ -621,9 +643,9 @@ int main(int argc, char **argv) {
 
     try {
 
-        grbl::program pgm;
-        pgm.load("./program.nc");
-        pgm.dump(std::cout);
+//        grbl::program pgm;
+//        pgm.load("./program.nc");
+//        pgm.dump(std::cout);
 
         nanogui::init();
 
diff --git a/program.nc b/program.nc
new file mode 100644
index 0000000..de2194f
--- /dev/null
+++ b/program.nc
@@ -0,0 +1,1414 @@
+( pcb2gcode 1.2.2 )
+( Software-independent Gcode )
+
+G94 ( Millimeters per minute feed rate. )
+G21 ( Units == Millimeters. )
+
+G90 ( Absolute coordinates. )
+S10000 ( RPM spindle speed. )
+G64 P0.05080 ( set maximum deviation from commanded toolpath )
+F600.00000 ( Feedrate. )
+
+F600.00000 ( Feedrate. )
+M3 ( Spindle on clockwise. )
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X3.87739 Y78.52820 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
+X3.87739 Y78.52820
+X3.62339 Y78.47740
+X3.59799 Y78.42660
+X3.26779 Y78.27420
+X3.03919 Y78.04560
+X2.98839 Y78.04560
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+X4.99499 Y78.60440
+X4.74099 Y78.62980
+X4.05519 Y78.60440
+X3.87739 Y78.52820
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X19.82859 Y72.68620 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
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+X22.03839 Y70.88280
+X22.03839 Y72.78780
+X19.82859 Y72.78780
+X19.82859 Y72.68620
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X20.28579 Y70.14620 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X20.28579 Y67.60620 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
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+X20.56519 Y67.70780
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X41.18999 Y65.19320 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X41.74879 Y67.73320 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X39.94539 Y53.33140 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X56.20139 Y50.28340 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
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+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G00 Z5.00000 ( retract )
+
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+F300.00000
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X55.36319 Y35.37360 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
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+X56.12519 Y35.47520
+X55.69339 Y35.47520
+X55.36319 Y35.37360
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X54.80439 Y32.83360 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
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+X57.01419 Y30.72540
+X57.01419 Y32.93520
+X54.80439 Y32.93520
+X54.80439 Y32.83360
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X60.36699 Y43.17140 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
+X60.36699 Y43.17140
+X60.18919 Y43.12060
+X59.96059 Y42.94280
+X59.78279 Y42.73960
+X59.65579 Y42.46020
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+X60.03679 Y40.86000
+X60.08759 Y40.86000
+X60.29079 Y40.70760
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+X61.23059 Y40.60600
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+X62.04339 Y41.06320
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+X62.24659 Y41.52040
+X62.27199 Y42.20620
+X62.22119 Y42.46020
+X62.09419 Y42.73960
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
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+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X74.18459 Y71.31460 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X77.28339 Y71.31460 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
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+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X94.96179 Y65.57420 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X94.50459 Y63.03420 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
+X94.50459 Y63.03420
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X94.50459 Y54.04260 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X92.04079 Y53.50920 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X88.94199 Y53.50920 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
+X88.94199 Y53.50920
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X95.06339 Y51.50260 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X95.87619 Y78.52820 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X95.87619 Y6.51920 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X49.77519 Y8.44960 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X49.21639 Y10.98960 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X45.15239 Y10.98960 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X45.71119 Y8.44960 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X23.13059 Y13.19940 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X21.30179 Y15.38380 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X22.29239 Y19.98120 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
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+X22.29239 Y20.08280
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X22.74959 Y22.52120 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
+X22.74959 Y22.52120
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+X22.80039 Y22.57200
+X22.74959 Y22.52120
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
+G00 X22.74959 Y25.06120 ( rapid move to begin. )
+F300.00000
+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+F600.00000
+X22.74959 Y25.06120
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G00 Z5.00000 ( retract )
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G00 Z5.00000 ( retract )
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G00 Z5.00000 ( retract )
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G00 Z5.00000 ( retract )
+
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G00 Z5.00000 ( retract )
+
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z5.00000 ( retract )
+
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+G01 Z-0.05000
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
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+
+G04 P0 ( dwell for no time -- G64 should not smooth over this point )
+G00 Z10.000 ( retract )
+
+M5 ( Spindle off. )
+M9 ( Coolant off. )
+M2 ( Program end. )
+