Enabling opening and running of programs. Added jogging.

main.cpp

@@ -51,15 +51,20 @@
 #include "grbl.h"
 #include <gtest/gtest.h>
 #include "grbl_communication.h"
+#include "machine.h"
 
 using namespace nanogui;
 
+grbl::machine cnc{};
+
+
 class SenderApp : public Screen {
 public:
 
     Window *window;
     Window *left_window;
     Window *right_window;
+    grbl::jog_state jog;
 
     SenderApp() : Screen(Vector2i(1024, 768), "GRBL Sender") {
         inc_ref();
@@ -82,7 +87,15 @@ public:
         new Label(left_window, "Push buttons", "sans-bold");
 
         Button *b = new Button(left_window, "Plain button");
-        b->set_callback([] { std::cout << "pushed!" << std::endl; });
+        b->set_callback([&] {
+            auto path = file_dialog(
+                    {{"nc",  "G-Code files"},
+                     {"ngc", "G-Code files"}}, false);
+            grbl::program pgm{path};
+            if (pgm.is_loaded) {
+                cnc.run_program(pgm);
+            }
+        });
         b->set_tooltip("short tooltip");
 
         /* Alternative construction notation using variadic template */
@@ -553,12 +566,13 @@ public:
         m_shader->set_uniform("intensity", 0.5f);
     }
 
-    bool resize_event(const Vector2i &size) override {
+    bool resize_event(const Vector2i& size) override {
         window->set_size(size);
         Screen::resize_event(size);
         return true;
     }
 
+
     virtual bool keyboard_event(int key, int scancode, int action, int modifiers) {
         if (Screen::keyboard_event(key, scancode, action, modifiers))
             return true;
@@ -567,13 +581,77 @@ public:
             return true;
         }
 
-        if (key == GLFW_KEY_UP) {
+        auto new_jog = jog;
+
+        if (key == GLFW_KEY_LEFT_SHIFT) {
             if (action == GLFW_PRESS) {
-                set_caption("Jogging");
+                new_jog.speed_fast_pressed = true;
             } else if (action == GLFW_RELEASE) {
-                set_caption("Idle");
+                new_jog.speed_fast_pressed = false;
             }
         }
+
+        if (key == GLFW_KEY_LEFT_CONTROL) {
+            if (action == GLFW_PRESS) {
+                new_jog.speed_slow_pressed = true;
+            } else if (action == GLFW_RELEASE) {
+                new_jog.speed_slow_pressed = false;
+            }
+        }
+
+        if (key == GLFW_KEY_UP) {
+            if (action == GLFW_PRESS) {
+                new_jog.up_pressed = true;
+            } else if (action == GLFW_RELEASE) {
+                new_jog.up_pressed = false;
+            }
+        }
+
+        if (key == GLFW_KEY_DOWN) {
+            if (action == GLFW_PRESS) {
+                new_jog.down_pressed = true;
+            } else if (action == GLFW_RELEASE) {
+                new_jog.down_pressed = false;
+            }
+        }
+
+        if (key == GLFW_KEY_LEFT) {
+            if (action == GLFW_PRESS) {
+                new_jog.left_pressed = true;
+            } else if (action == GLFW_RELEASE) {
+                new_jog.left_pressed = false;
+            }
+        }
+
+        if (key == GLFW_KEY_RIGHT) {
+            if (action == GLFW_PRESS) {
+                new_jog.right_pressed = true;
+            } else if (action == GLFW_RELEASE) {
+                new_jog.right_pressed = false;
+            }
+        }
+
+        if (key == GLFW_KEY_PAGE_UP) {
+            if (action == GLFW_PRESS) {
+                new_jog.z_up_pressed = true;
+            } else if (action == GLFW_RELEASE) {
+                new_jog.z_up_pressed = false;
+            }
+        }
+
+        if (key == GLFW_KEY_PAGE_DOWN) {
+            if (action == GLFW_PRESS) {
+                new_jog.z_down_pressed = true;
+            } else if (action == GLFW_RELEASE) {
+                new_jog.z_down_pressed = false;
+            }
+        }
+
+        if (jog != new_jog) {
+            cnc.request_jog(new_jog);
+            jog = new_jog;
+        }
+
         return false;
     }
 
@@ -625,22 +703,22 @@ struct grbl_listener : public grbl::transport_callbacks {
         std::cout << "Listener: disconnected!" << std::endl;
     }
 
-    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("$$");
     }
+
+    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);
+//    grbl_listener listener;
+//
+//    grbl::tcp_transport transport("192.168.5.39", 23);
+//    transport.open(listener);
 
     testing::InitGoogleTest(&argc, argv);
     auto result = RUN_ALL_TESTS();
@@ -648,10 +726,17 @@ int main(int argc, char **argv) {
         exit(result);
     }
 
-    transport.request_realtime_report();
-    transport.request_cycle_start();
-    transport.request_feed_hold();
-    transport.parser_state_report();
+    cnc.connect();
+
+//    grbl::program pgm{"./program.nc"};
+////    pgm.dump(std::cout);
+//
+//    cnc.run_program(pgm);
+
+//    transport.request_realtime_report();
+//    transport.request_cycle_start();
+//    transport.request_feed_hold();
+//    transport.parser_state_report();
 
     try {
 
@@ -671,7 +756,7 @@ int main(int argc, char **argv) {
         }
 
         nanogui::shutdown();
-    } catch (const std::exception &e) {
+    } catch (const std::exception& e) {
         std::string error_msg = std::string("Caught a fatal error: ") + std::string(e.what());
         std::cerr << error_msg << std::endl;
         return -1;