Enabling opening and running of programs. Added jogging.

2023-04-27 23:15:06 +03:00
parent 32bda9d55b
commit 796fd57ac3
7 changed files with 420 additions and 1441 deletions
@@ -0,0 +1,118 @@
+#include <iostream>
+#include <sstream>
+#include "machine.h"
+
+grbl::machine::machine() {
+    pipe = new tcp_transport("192.168.5.39", 23);
+}
+
+grbl::machine::~machine() {
+    delete pipe;
+}
+
+void grbl::machine::connect() {
+    pipe->open(*this);
+}
+
+void grbl::machine::run_program(grbl::program pgm) {
+    std::cout << "running program with " << pgm.number_of_instructions() << " instructions" << std::endl;
+    running_program = pgm;
+    state = grbl_machine_state::run_program;
+
+    executed_instructions = 0;
+    continue_program();
+}
+
+void grbl::machine::on_connected(grbl::transport *transport) {
+    std::cout << "grbl machine connected" << std::endl;
+    // 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");
+    pipe->send("\xff\xfd\x18");
+
+}
+
+void grbl::machine::on_disconnected(grbl::transport *transport) {
+    std::cout << "grbl machine disconnected" << std::endl;
+}
+
+void grbl::machine::on_line_received(std::string line, grbl::transport *transport) {
+    std::cout << ">> " << line << std::endl;
+
+    if (state == grbl_machine_state::run_program) {
+        if (line.rfind("ok", 0) == 0) {
+            continue_program();
+        } else if (line.rfind("error", 0) == 0) {
+            std::cerr << "Received error" << std::endl;
+        } else {
+        }
+    } else {
+        // evaluate responses when not running a program
+    }
+}
+
+void grbl::machine::on_banner(std::string version, grbl::transport *transport) {
+    std::cout << "grbl machine received banner" << std::endl;
+}
+
+void grbl::machine::continue_program() {
+    if (executed_instructions < running_program.number_of_instructions()) {
+        instruction to_send;
+        do {
+            to_send = running_program.instruction_at(executed_instructions++);
+        } while (to_send.type != instruction_type::gcode && executed_instructions < running_program.number_of_instructions());
+
+        if (to_send.type == instruction_type::gcode) {
+            pipe->send(to_send.command);
+        } else {
+            state = grbl_machine_state::idle;
+        }
+    } else {
+        state = grbl_machine_state::idle;
+    }
+}
+
+void grbl::machine::request_jog(jog_state jog) const {
+    cancel_jog();
+    if (jog.no_jogging()) {
+//        cancel_jog();
+        return;
+    }
+
+    std::stringstream ss;
+    ss << "$J=G91 G21 ";
+
+    if (jog.left_pressed)
+        ss << " X-1000";
+    else if (jog.right_pressed)
+        ss << " X1000";
+
+    if (jog.up_pressed)
+        ss << " Y1000";
+    else if (jog.down_pressed)
+        ss << " Y-1000";
+
+    if (jog.z_up_pressed)
+        ss << " Z1000";
+    else if (jog.z_down_pressed)
+        ss << " Z-1000";
+
+    if (jog.speed_fast_pressed) {
+        ss << " F10000";
+    } else if (jog.speed_slow_pressed) {
+        ss << " F100";
+    } else {
+        ss << " F1000";
+    }
+
+    pipe->send(ss.str());
+}
+
+void grbl::machine::cancel_jog() const {
+    pipe->send_single_char_command(0x85);
+
+
+}
+
+bool grbl::jog_state::no_jogging() const {
+    return !(up_pressed || down_pressed || left_pressed || right_pressed || z_up_pressed || z_down_pressed);
+}