Communicator banner + single char commands

grbl_communication.cpp

@@ -52,13 +52,20 @@ void grbl::tcp_transport::close() {
         is_connected = false;
         send_queue = std::queue<std::string>{};
 
-        if (listener != nullptr)
+        if (listener != nullptr) {
             listener->on_disconnected(this);
+            listener = nullptr;
+        }
+
+        fd = -1;
     }
 }
 
 void grbl::tcp_transport::send(std::string line) {
     if (is_connected) {
+        if (line.at(0) == (char) 0xff)
+            send_queue.push(line);
+        else
             send_queue.push(line + "\r");
     }
 }
@@ -93,8 +100,14 @@ void grbl::tcp_transport::worker() {
                     auto is_eol = buffer[i] == '\r' || buffer[i] == '\n';
                     if (is_eol) {
                         if (!is_empty_line(received)) {
+                            // starts with? https://stackoverflow.com/questions/1878001/how-do-i-check-if-a-c-stdstring-starts-with-a-certain-string-and-convert-a
+                            if (received.rfind("Grbl", 0) == 0) {
+                                listener->on_banner(received, this);
+
+                            } else {
                                 listener->on_line_received(received, this);
                             }
+                        }
                         received.clear();
                     } else {
                         received.push_back(static_cast<char>(buffer[i]));
@@ -114,7 +127,7 @@ grbl::tcp_transport::~tcp_transport() {
     live_check_thread.join();
 }
 
-bool grbl::tcp_transport::is_empty_line(std::string line) {
+bool grbl::tcp_transport::is_empty_line(const std::string &line) {
     for (auto &c: line) {
         if (c != '\r' && c != '\n' && c != ' ') {
             return false;
@@ -122,3 +135,24 @@ bool grbl::tcp_transport::is_empty_line(std::string line) {
     }
     return true;
 }
+
+void grbl::tcp_transport::send_single_char_command(uint8_t data) const {
+    if (is_connected)
+        write(fd, &data, 1);
+}
+
+void grbl::tcp_transport::request_realtime_report() {
+    send_single_char_command(0x80);
+}
+
+void grbl::tcp_transport::request_cycle_start() {
+    send_single_char_command(0x81);
+}
+
+void grbl::tcp_transport::request_feed_hold() {
+    send_single_char_command(0x82);
+}
+
+void grbl::tcp_transport::parser_state_report() {
+    send_single_char_command(0x83);
+}

grbl_communication.h

@@ -12,6 +12,7 @@ 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;
+    virtual void on_banner(std::string version, transport* ) = 0;
 };
 
 struct transport {
@@ -28,6 +29,14 @@ struct tcp_transport : public transport {
     void close() override;
     void send(std::string line) override;
 
+    void request_realtime_report();
+
+    void request_cycle_start();
+
+    void request_feed_hold();
+
+    void parser_state_report();
+
 private:
 
     void worker();
@@ -40,7 +49,9 @@ private:
     std::thread live_check_thread;
     std::queue<std::string> send_queue;
     volatile bool should_quit = false;
-    bool is_empty_line(std::string line);
+    static bool is_empty_line(const std::string& line);
+
+    void send_single_char_command(uint8_t data) const;
 };
 
 }

main.cpp

@@ -616,7 +616,9 @@ private:
 struct grbl_listener : public grbl::transport_callbacks {
     void on_connected(grbl::transport *t) override {
         std::cout << "Listener: connected!" << std::endl;
-        t->send("$$");
+        // telnet handshake so that we get the banner. banner won't be coming otherwise
+//        t->send("\xff\xfd\x18\xff\xfd\x20\xff\xfd\x23\xff\xfd\x27");
+        t->send("\xff\xfd\x18");
     }
 
     void on_disconnected(grbl::transport *t) override {
@@ -626,6 +628,11 @@ struct grbl_listener : public grbl::transport_callbacks {
     void on_line_received(std::string line, grbl::transport *t) override {
         std::cout << "Listener: -> " << line << std::endl;
     }
+
+    void on_banner(std::string version, grbl::transport *t) override {
+        std::cout << "Banner: " << version << std::endl;
+        t->send("$$");
+    }
 };
 
 int main(int argc, char **argv) {
@@ -641,6 +648,11 @@ int main(int argc, char **argv) {
         exit(result);
     }
 
+    transport.request_realtime_report();
+    transport.request_cycle_start();
+    transport.request_feed_hold();
+    transport.parser_state_report();
+
     try {
 
 //        grbl::program pgm;