Implemented run program handler.
This commit is contained in:
+77
-83
@@ -89,15 +89,6 @@ grbl::machine_status grbl::status_from_string(const std::string& status) {
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return machine_status::unknown;
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}
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void grbl::machine::run_program(const grbl::program& pgm) {
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std::cout << "running program (" << pgm.filename << ") with " << pgm.number_of_instructions() << " instructions" << std::endl;
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running_program = pgm;
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state = grbl_machine_state::run_program;
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executed_instructions = 0;
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continue_program();
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}
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void grbl::machine::check_program(const grbl::program& pgm) {
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running_program = pgm;
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std::cout << "checking program (" << running_program.filename << ") with " << running_program.number_of_instructions()
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@@ -105,6 +96,13 @@ void grbl::machine::check_program(const grbl::program& pgm) {
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switch_to_state(grbl_machine_state::check_program);
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}
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void grbl::machine::run_program(const grbl::program& pgm) {
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running_program = pgm;
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std::cout << "running program (" << running_program.filename << ") with " << running_program.number_of_instructions() << " instructions"
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<< std::endl;
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switch_to_state(grbl_machine_state::run_program);
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}
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std::string grbl::status_to_string(const grbl::machine_status& status) {
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switch (status) {
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case machine_status::idle:
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@@ -460,76 +458,6 @@ void grbl::machine::on_line_received(std::string line, grbl::transport *transpor
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std::cout << ">> " << line << std::endl;
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states[state]->on_line_received(line);
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// if (starts_with(line, "ok")) {
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// if (state == grbl_machine_state::run_program || state == grbl_machine_state::check_program) {
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// if (!entered_check_mode) {
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// entered_check_mode = true;
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// }
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// continue_program();
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// } else if (state == grbl_machine_state::idle && entered_check_mode) {
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// entered_check_mode = false;
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// }
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//
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// } else if (starts_with(line, "error")) {
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// size_t error = std::stoi(line.substr(6));
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// if (state == grbl_machine_state::run_program) {
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// listener->on_run_completed(false, executed_instructions - 1, error);
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// state = grbl_machine_state::idle;
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// } else if (state == grbl_machine_state::check_program) {
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// listener->on_check_completed(false, executed_instructions - 1, error);
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// state = grbl_machine_state::idle;
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// pipe->send("$C"); // exit check mode
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// }
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//// on_error(error);
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// } else {
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// // we have a push message
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// if (starts_with(line, "Grbl")) {
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// listener->on_banner(line);
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// pipe->send("$10=0"); // display position in work pos, please
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// pipe->send("$$"); // get all settings
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// pipe->send("$#"); // get all offsets
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// reset_machine_state();
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// } else if (starts_with(line, "<")) {
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// last_report = parse_status_report(line, last_report);
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// listener->on_realtime_status_report(last_report);
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// } else if (starts_with(line, "[MSG:")) {
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// listener->on_message(line.substr(5, line.size() - 6));
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// } else if (starts_with(line, "ALARM:")) {
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// listener->on_alarm(std::stoi(line.substr(6)));
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// } else {
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// std::cout << "received >> " << line << std::endl;
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// }
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// }
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}
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void grbl::machine::continue_program() {
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bool program_ended = false;
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if (executed_instructions < running_program.number_of_instructions()) {
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instruction to_send;
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do {
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to_send = running_program.instruction_at(executed_instructions++);
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} while (to_send.type != instruction_type::gcode && executed_instructions < running_program.number_of_instructions());
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if (to_send.type == instruction_type::gcode) {
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pipe->send(to_send.command);
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} else {
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program_ended = true;
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}
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} else {
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program_ended = true;
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}
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if (program_ended) {
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if (state == grbl_machine_state::check_program) {
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pipe->send("$C");
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listener->on_check_completed(true, 0, 0);
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} else if (state == grbl_machine_state::run_program) {
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listener->on_run_completed(true, 0, 0);
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}
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state = grbl_machine_state::idle;
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}
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}
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void grbl::machine::request_jog(jog_state jog) const {
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@@ -597,8 +525,8 @@ void grbl::machine::request_feed_hold() {
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}
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void grbl::machine::reset_machine_state() {
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state = grbl_machine_state::idle;
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executed_instructions = false;
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switch_to_state(grbl_machine_state::idle);
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executed_instructions = 0;
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}
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void grbl::machine::switch_to_state(grbl::grbl_machine_state new_state) {
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@@ -884,13 +812,79 @@ void grbl::machine_state_run_program::on_disconnected(machine *m) {
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}
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void grbl::machine_state_run_program::on_enter(grbl::machine *m) {
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cnc = m;
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stage = run_stage::start;
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run_failed = false;
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run_error = 0;
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move_to_next_run_stage();
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}
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void grbl::machine_state_run_program::on_exit(grbl::machine *m) {
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}
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void grbl::machine_state_run_program::on_line_received(std::string line) {
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void grbl::machine_state_run_program::move_to_next_run_stage() {
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switch (stage) {
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case run_stage::start:
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cnc->executed_instructions = 0;
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continue_program();
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stage = run_stage::run_program;
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break;
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case run_stage::run_program:
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if (run_failed || !continue_program()) {
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if (run_failed) {
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cnc->listener->on_run_completed(false, cnc->executed_instructions - 1, run_error);
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} else {
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cnc->listener->on_run_completed(true, 0, 0);
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}
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cnc->switch_to_state(grbl_machine_state::idle);
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}
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break;
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}
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}
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bool grbl::machine_state_run_program::continue_program() {
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if (cnc->executed_instructions >= cnc->running_program.number_of_instructions())
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return false;
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instruction to_send;
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do {
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to_send = cnc->running_program.instruction_at(cnc->executed_instructions++);
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} while (to_send.type != instruction_type::gcode && cnc->executed_instructions < cnc->running_program.number_of_instructions());
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if (to_send.type == instruction_type::gcode) {
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cnc->pipe->send(to_send.command);
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cnc->awaiting_responses++;
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return true;
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}
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return false;
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}
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void grbl::machine_state_run_program::on_line_received(std::string line) {
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if (starts_with(line, "ok")) {
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if (cnc->awaiting_responses > 0) {
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cnc->awaiting_responses--;
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}
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move_to_next_run_stage();
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} else if (starts_with(line, "error")) {
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if (cnc->awaiting_responses > 0) {
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cnc->awaiting_responses--;
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}
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run_failed = true;
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run_error = std::stoi(line.substr(6));
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move_to_next_run_stage();
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} else if (starts_with(line, "Grbl")) {
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cnc->listener->on_banner(line);
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cnc->reset_machine_state();
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} else if (starts_with(line, "<")) {
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cnc->last_report = parse_status_report(line, cnc->last_report);
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cnc->listener->on_realtime_status_report(cnc->last_report);
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} else if (starts_with(line, "[MSG:")) {
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cnc->listener->on_message(line.substr(5, line.size() - 6));
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} else if (starts_with(line, "ALARM:")) {
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cnc->listener->on_alarm(std::stoi(line.substr(6)));
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}
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}
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