From 97b818630084dc1d0561b79ca97b08db21a5a747 Mon Sep 17 00:00:00 2001
From: Adrian Scripca <benishor@gmail.com>
Date: Fri, 5 May 2023 22:25:19 +0300
Subject: [PATCH] Keyboard jogging disabled by default.

---
 grbl_machine.cpp |  28 +++++
 grbl_machine.h   |  10 ++
 main.cpp         | 283 ++++++++++++++++++++++++++++++-----------------
 3 files changed, 222 insertions(+), 99 deletions(-)

diff --git a/grbl_machine.cpp b/grbl_machine.cpp
index d613260..a345376 100644
--- a/grbl_machine.cpp
+++ b/grbl_machine.cpp
@@ -617,6 +617,34 @@ std::array<float, 3> grbl::machine::get_work_pos() const {
     return result;
 }
 
+void grbl::machine::request_jog_fixed(grbl::jog_direction dir, float distance, float feed) {
+    std::string command = "$J=G21 G91";
+    switch (dir) {
+        case jog_direction::x_up:
+            command += "X";
+            break;
+        case jog_direction::x_down:
+            command += "X-";
+            break;
+        case jog_direction::y_up:
+            command += "Y";
+            break;
+        case jog_direction::y_down:
+            command += "Y-";
+            break;
+        case jog_direction::z_up:
+            command += "Z";
+            break;
+        case jog_direction::z_down:
+            command += "Z-";
+            break;
+    }
+    command += std::to_string(distance) + " F" + std::to_string(feed);
+    
+    pipe->send(command);
+    awaiting_responses++;
+}
+
 bool grbl::jog_state::no_jogging() const {
     return !(up_pressed || down_pressed || left_pressed || right_pressed || z_up_pressed || z_down_pressed);
 }
diff --git a/grbl_machine.h b/grbl_machine.h
index 6493830..e1648ef 100644
--- a/grbl_machine.h
+++ b/grbl_machine.h
@@ -222,6 +222,15 @@ struct parameters_cmp {
     }
 };
 
+enum class jog_direction {
+    x_up,
+    x_down,
+    y_up,
+    y_down,
+    z_up,
+    z_down,
+};
+
 struct machine : public transport_callbacks {
     machine();
     ~machine();
@@ -235,6 +244,7 @@ struct machine : public transport_callbacks {
     void run_program(const grbl::program& pgm, const std::string& work_offset);
     void check_program(const grbl::program& pgm);
     void request_jog(jog_state jog) const;
+    void request_jog_fixed(jog_direction dir, float distance, float feed);
     void cancel_jog() const;
 
     [[nodiscard]] realtime_status_report get_status() const { return last_report; };
diff --git a/main.cpp b/main.cpp
index 33d046e..da42eb6 100644
--- a/main.cpp
+++ b/main.cpp
@@ -51,7 +51,8 @@ public:
 
     Window *window;
     grbl::jog_state jog;
-    TextArea *lblStatus, *lblSubstatus;
+    TextBox *txtStatus;
+    TextBox *txtMessage;
     nanogui::Color colRed = nanogui::Color(255, 0, 0, 255);
     nanogui::Color colGreen = nanogui::Color(0, 255, 0, 255);
     nanogui::Color colBg;
@@ -59,6 +60,9 @@ public:
     grbl::program pgm;
     Button *btnLoadProgram, *btnCheckProgram, *btnRunProgram;
 
+    std::vector<std::string> jog_distances = {"0.01", "0.1", "1", "10"};
+    std::vector<std::string> jog_feed_rates = {"5", "100", "500", "1000"};
+
     grbl::program_renderer renderer;
 
     glm::vec3 cam_target = glm::vec3(0);
@@ -72,7 +76,8 @@ public:
     VScrollPanel *parameters_vscroll;
     Widget *parameters_layer;
     TextBox *mpos_x_text, *mpos_y_text, *mpos_z_text;
-    ComboBox *cboOffset, *cboTool;
+    ComboBox *cbo_work_offset, *cbo_tool, *cbo_jog_feed_rates, *cbo_jog_distance;
+    Button *btn_keyboard_jog;
 
     SenderApp() : Screen(Vector2i(1024, 768), "GRBL Sender") {
         inc_ref();
@@ -82,36 +87,71 @@ public:
 
         // create main window
         window = new Window(this, "Machine status");
-        window->set_fixed_height((Screen::size().y() - 40) / 2);
+//        window->set_fixed_height((Screen::size().y() - 40) / 2);
         window->set_position(Vector2i(0, 0));
         window->set_layout(new BoxLayout(nanogui::Orientation::Vertical));
 
         tab_widget = window->add<TabWidget>();
         tab_widget->set_callback([&](int index) {
-            if (index == 1 || index == 2) {
-                perform_layout();
-            }
-
             tab_widget->set_selected_index(index);
         });
 
-        tab_widget->set_fixed_height((this->height() - 100) / 2);
+        tab_widget->set_fixed_height((this->height() - 80) / 2);
 
         Widget *layer = new Widget(tab_widget);
-        layer->set_layout(new GroupLayout());
+        layer->set_layout(new GroupLayout(10, 20, 30, 0));
         tab_widget->append_tab("Info", layer);
 
-        new Label(layer, "Status", "sans-bold");
-        Widget *status_holder = new Widget(layer);
-        status_holder->set_layout(new GridLayout());
+        layer->add<Label>("");
+        auto status_holder = layer->add<Widget>();
+        status_holder->set_layout(new BoxLayout(Orientation::Vertical, Alignment::Fill, 0, 0));
 
-        lblStatus = layer->add<TextArea>();
-        lblStatus->set_fixed_height(20);
-        lblStatus->set_font("sans");
+        auto status_text_holder = status_holder->add<Widget>();
+        status_text_holder->set_layout(new GridLayout(Orientation::Horizontal, 3, nanogui::Alignment::Fill, 0, 0));
 
-        lblSubstatus = layer->add<TextArea>();
-        lblSubstatus->set_font("sans");
-        lblSubstatus->set_fixed_height(50);
+        status_text_holder->add<Label>("Status", "sans-bold", 20);
+
+        txtStatus = status_text_holder->add<TextBox>();
+        txtStatus->set_editable(false);
+        txtStatus->set_fixed_width(300);
+
+        auto *btnReset = status_text_holder->add<Button>("Reset");
+        btnReset->set_background_color(colRed);
+        btnReset->set_callback([&] {
+            cnc.request_reset();
+        });
+
+        //
+        status_text_holder->add<Label>("");
+
+        txtMessage = status_text_holder->add<TextBox>("");
+        txtMessage->set_fixed_width(300);
+
+        status_text_holder->add<Label>("");
+
+        // buttons
+        auto status_btn_holder = status_holder->add<Widget>();
+        status_btn_holder->set_layout(new GridLayout(Orientation::Horizontal, 2, Alignment::Fill, 6, 6));
+
+        auto *btnHome = new Button(status_btn_holder, "Home", FA_HOME);
+        btnHome->set_callback([&] {
+            cnc.request_home();
+        });
+
+        auto *btnUnlock = new Button(status_btn_holder, "Unlock", FA_UNLOCK);
+        btnUnlock->set_callback([&] {
+            cnc.request_unlock();
+        });
+
+        // buttons to change state
+        auto *btnCycleStart = status_btn_holder->add<Button>("Cycle Start", FA_PLAY);
+        btnCycleStart->set_callback([&] {
+            cnc.request_cycle_start();
+        });
+        auto *btnFeedHold = status_btn_holder->add<Button>("Feed Hold", FA_PAUSE);
+        btnFeedHold->set_callback([&] {
+            cnc.request_feed_hold();
+        });
 
         // DRO
         layer->add<Label>("DRO", "sans-bold", 20);
@@ -128,7 +168,7 @@ public:
         zero_btn->set_flags(Button::Flags::NormalButton);
         zero_btn->set_tooltip("Zero axis");
         zero_btn->set_callback([&]() {
-            cnc.zero_offset_axis(cboOffset->selected_index(), 0);
+            cnc.zero_offset_axis(cbo_work_offset->selected_index(), 0);
         });
 
         auto y_holder = mpos->add<Widget>();
@@ -141,7 +181,7 @@ public:
         zero_btn->set_flags(Button::Flags::NormalButton);
         zero_btn->set_tooltip("Zero axis");
         zero_btn->set_callback([&]() {
-            cnc.zero_offset_axis(cboOffset->selected_index(), 1);
+            cnc.zero_offset_axis(cbo_work_offset->selected_index(), 1);
         });
 
         auto z_holder = mpos->add<Widget>();
@@ -154,15 +194,18 @@ public:
         zero_btn->set_flags(Button::Flags::NormalButton);
         zero_btn->set_tooltip("Zero axis");
         zero_btn->set_callback([&]() {
-            cnc.zero_offset_axis(cboOffset->selected_index(), 2);
+            cnc.zero_offset_axis(cbo_work_offset->selected_index(), 2);
         });
 
-        auto zero_all_btn = mpos->add<Button>("Zero all");
+        auto axis_btns_holder = mpos->add<Widget>();
+        axis_btns_holder->set_layout(new BoxLayout(Orientation::Horizontal, Alignment::Middle, 0, 6));
+
+        auto zero_all_btn = axis_btns_holder->add<Button>("Zero all");
         zero_all_btn->set_callback([&]() {
-            cnc.zero_offset(cboOffset->selected_index());
+            cnc.zero_offset(cbo_work_offset->selected_index());
         });
 
-        auto goto_zero_btn = mpos->add<Button>("Goto 0");
+        auto goto_zero_btn = axis_btns_holder->add<Button>("Goto 0");
         goto_zero_btn->set_callback([&]() {
             cnc.go_to_zero(true, true, true);
         });
@@ -171,114 +214,155 @@ public:
         layer->add<Label>("Jogging", "sans-bold", 20);
         auto holder = new Widget(layer);
 
-        holder->set_layout(new GridLayout(Orientation::Horizontal, 2, Alignment::Middle, 0, 0));
+        holder->set_layout(new GridLayout(Orientation::Horizontal, 3, Alignment::Fill, 0, 0));
 
+        // feed and distance
+        auto jogParamsHolder = holder->add<Widget>();
+        jogParamsHolder->set_layout(new GridLayout(Orientation::Horizontal, 3, Alignment::Fill, 0, 4));
+
+        jogParamsHolder->add<Label>("Feed", "sans-bold");
+        cbo_jog_feed_rates = jogParamsHolder->add<ComboBox>(jog_feed_rates);
+        cbo_jog_feed_rates->set_selected_index(2);
+        jogParamsHolder->add<Label>("mm/min");
+
+        jogParamsHolder->add<Label>("Distance", "sans-bold");
+        cbo_jog_distance = jogParamsHolder->add<ComboBox>(jog_distances);
+        cbo_jog_distance->set_selected_index(2);
+        jogParamsHolder->add<Label>("mm");
+
+        jogParamsHolder->add<Label>("Keyboard Jog", "sans-bold");
+        btn_keyboard_jog = jogParamsHolder->add<Button>("", FA_KEYBOARD);
+        btn_keyboard_jog->set_flags(Button::Flags::ToggleButton);
+        jogParamsHolder->add<Label>("");
+
+        // X and Y
         auto jogBtnsHolder = holder->add<Widget>();
-        jogBtnsHolder->set_layout(new GridLayout(Orientation::Horizontal, 3, Alignment::Middle, 0, 6));
+        jogBtnsHolder->set_layout(new GridLayout(Orientation::Horizontal, 3, Alignment::Fill, 0, 6));
 
         jogBtnsHolder->add<Label>("");
-        jogBtnsHolder->add<ToolButton>(FA_ARROW_ALT_CIRCLE_UP);
+        auto jog_btn = jogBtnsHolder->add<Button>("", FA_ARROW_ALT_CIRCLE_UP);
+        jog_btn->set_callback([&]() {
+            // FIXME: get rid of std::stof
+            cnc.request_jog_fixed(grbl::jog_direction::y_up,
+                                  std::stof(jog_distances[cbo_jog_distance->selected_index()]),
+                                  std::stof(jog_feed_rates[cbo_jog_feed_rates->selected_index()]));
+        });
         jogBtnsHolder->add<Label>("");
 
-        jogBtnsHolder->add<ToolButton>(FA_ARROW_ALT_CIRCLE_LEFT);
-        jogBtnsHolder->add<ToolButton>(FA_HOME);
-        jogBtnsHolder->add<ToolButton>(FA_ARROW_ALT_CIRCLE_RIGHT);
+        jog_btn = jogBtnsHolder->add<Button>("", FA_ARROW_ALT_CIRCLE_LEFT);
+        jog_btn->set_callback([&]() {
+            // FIXME: get rid of std::stof
+            cnc.request_jog_fixed(grbl::jog_direction::x_down,
+                                  std::stof(jog_distances[cbo_jog_distance->selected_index()]),
+                                  std::stof(jog_feed_rates[cbo_jog_feed_rates->selected_index()]));
+        });
+
+        jog_btn = jogBtnsHolder->add<Button>("", FA_HOME);
+        jog_btn->set_callback([&]() {
+            cnc.go_to_zero(true, true, false);
+        });
+
+
+        jog_btn = jogBtnsHolder->add<Button>("", FA_ARROW_ALT_CIRCLE_RIGHT);
+        jog_btn->set_callback([&]() {
+            // FIXME: get rid of std::stof
+            cnc.request_jog_fixed(grbl::jog_direction::x_up,
+                                  std::stof(jog_distances[cbo_jog_distance->selected_index()]),
+                                  std::stof(jog_feed_rates[cbo_jog_feed_rates->selected_index()]));
+        });
 
         jogBtnsHolder->add<Label>("");
-        jogBtnsHolder->add<ToolButton>(FA_ARROW_ALT_CIRCLE_DOWN);
+        jog_btn = jogBtnsHolder->add<Button>("", FA_ARROW_ALT_CIRCLE_DOWN);
+        jog_btn->set_callback([&]() {
+            // FIXME: get rid of std::stof
+            cnc.request_jog_fixed(grbl::jog_direction::y_down,
+                                  std::stof(jog_distances[cbo_jog_distance->selected_index()]),
+                                  std::stof(jog_feed_rates[cbo_jog_feed_rates->selected_index()]));
+        });
         jogBtnsHolder->add<Label>("");
 
+
+        // z up/down
         auto jogZBtnsHolder = holder->add<Widget>();
-        jogZBtnsHolder->set_layout(new BoxLayout(Orientation::Vertical, Alignment::Minimum, 0, 6));
+        jogZBtnsHolder->set_layout(new BoxLayout(Orientation::Vertical, Alignment::Fill, 0, 6));
 
-        jogZBtnsHolder->add<ToolButton>(FA_ANGLE_UP);
-        jogZBtnsHolder->add<ToolButton>(FA_HOME);
-        jogZBtnsHolder->add<ToolButton>(FA_ANGLE_DOWN);
+        jog_btn = jogZBtnsHolder->add<Button>("", FA_CHEVRON_UP);
+        jog_btn->set_callback([&]() {
+            // FIXME: get rid of std::stof
+            cnc.request_jog_fixed(grbl::jog_direction::z_up,
+                                  std::stof(jog_distances[cbo_jog_distance->selected_index()]),
+                                  std::stof(jog_feed_rates[cbo_jog_feed_rates->selected_index()]));
+        });
+
+        jog_btn = jogZBtnsHolder->add<Button>("", FA_HOME);
+        jog_btn->set_callback([&]() {
+            cnc.go_to_zero(0, 0, true);
+        });
+
+        jog_btn = jogZBtnsHolder->add<Button>("", FA_CHEVRON_DOWN);
+        jog_btn->set_callback([&]() {
+            // FIXME: get rid of std::stof
+            cnc.request_jog_fixed(grbl::jog_direction::z_down,
+                                  std::stof(jog_distances[cbo_jog_distance->selected_index()]),
+                                  std::stof(jog_feed_rates[cbo_jog_feed_rates->selected_index()]));
+        });
 
         // work parameters
         layer->add<Label>("Work parameters", "sans-bold", 20);
-        auto x = new Widget(layer);
-        x->set_layout(new GridLayout(Orientation::Horizontal, 4, Alignment::Middle, 0, 6));
+        auto work_holder = layer->add<Widget>();
+        work_holder->set_layout(new BoxLayout(nanogui::Orientation::Horizontal, Alignment::Fill, 6, 6));
 
-        x->add<Label>("Offset:");
+        auto work_data_holder = work_holder->add<Widget>();
+        work_data_holder->set_layout(new GridLayout(Orientation::Horizontal, 2, Alignment::Fill, 6, 6));
+
+        work_data_holder->add<Label>("Offset", "sans-bold");
         std::vector<std::string> offset_items = {"G54", "G55", "G56", "G57", "G58", "G59"};
-        cboOffset = x->add<ComboBox>(offset_items);
-        cboOffset->set_callback([&](int idx) {
+        cbo_work_offset = work_data_holder->add<ComboBox>(offset_items);
+        cbo_work_offset->set_callback([&](int idx) {
             refresh_offset();
             update_dro();
         });
 
-        x->add<Label>("Tool:");
+        work_data_holder->add<Label>("Tool", "sans-bold");
         std::vector<std::string> tool_items = {"None"};
-        cboTool = x->add<ComboBox>(tool_items);
+        cbo_tool = work_data_holder->add<ComboBox>(tool_items);
 
-        // buttons to change state
-        new Label(layer, "Actions", "sans-bold");
-        auto *actions = new Widget(layer);
-        actions->set_layout(new BoxLayout(Orientation::Horizontal));
-
-        auto *btnUnlock = new Button(actions, "Unlock");
-        btnUnlock->set_callback([&] {
-            cnc.request_unlock();
-        });
-        auto *btnHome = new Button(actions, "Home");
-        btnHome->set_callback([&] {
-            cnc.request_home();
-        });
-        auto *btnReset = new Button(actions, "Reset");
-        btnReset->set_background_color(colRed);
-        btnReset->set_callback([&] {
-            cnc.request_reset();
-        });
-        auto *btnCycleStart = new Button(actions, "Cycle Start");
-        btnCycleStart->set_callback([&] {
-            cnc.request_cycle_start();
-        });
-        auto *btnFeedHold = new Button(actions, "Feed Hold");
-        btnFeedHold->set_callback([&] {
-            cnc.request_feed_hold();
-        });
-
-        // No need to store a pointer, the data structure will be automatically
-        // freed when the parent window is deleted
-        new Label(layer, "Program", "sans-bold");
-
-        Widget *pgm_actions = new Widget(layer);
-        pgm_actions->set_layout(new BoxLayout(Orientation::Horizontal));
+        auto work_btns_holder = work_holder->add<Widget>();
+        work_btns_holder->set_layout(new GridLayout(Orientation::Horizontal, 3, Alignment::Fill, 0, 6));
 
 
-        btnLoadProgram = new Button(pgm_actions, "Load");
+        btnLoadProgram = work_btns_holder->add<Button>("Load");
         btnLoadProgram->set_callback([&] {
             auto path = file_dialog(
                     {{"gcode", "G-Code files"},
                      {"nc",    "G-Code files"},
                      {"ngc",   "G-Code files"}}, true);
 
-            btnCheckProgram->set_background_color(colBg);
-            btnRunProgram->set_background_color(colBg);
+//            btnCheckProgram->set_background_color(colBg);
+//            btnRunProgram->set_background_color(colBg);
 
             if (pgm.load_from_file(path)) {
-                btnCheckProgram->set_enabled(true);
+//                btnCheckProgram->set_enabled(true);
 //                btnRunProgram->set_enabled(true);
                 this->init_program_geometry();
             } else {
-                btnCheckProgram->set_enabled(false);
-                btnRunProgram->set_enabled(false);
+//                btnCheckProgram->set_enabled(false);
+//                btnRunProgram->set_enabled(false);
             }
         });
         btnLoadProgram->set_tooltip("Load program");
 
-        btnCheckProgram = new Button(pgm_actions, "Check");
-        btnCheckProgram->set_enabled(false);
+        btnCheckProgram = work_btns_holder->add<Button>("Check");
+//        btnCheckProgram->set_enabled(false);
         btnCheckProgram->set_callback([&] {
             cnc.check_program(pgm);
         });
         btnCheckProgram->set_tooltip("Check program");
 
-        btnRunProgram = new Button(pgm_actions, "Run");
-        btnRunProgram->set_enabled(false);
+        btnRunProgram = work_btns_holder->add<Button>("Run");
+//        btnRunProgram->set_enabled(false);
         btnRunProgram->set_callback([&] {
-            cnc.run_program(pgm, "G" + std::to_string(cboOffset->selected_index() + 54));
+            cnc.run_program(pgm, "G" + std::to_string(cbo_work_offset->selected_index() + 54));
         });
         btnRunProgram->set_tooltip("Execute program");
 
@@ -290,8 +374,8 @@ public:
         m_render_pass->set_cull_mode(RenderPass::CullMode::Disabled);
     }
 
-    void refresh_offset() {
-        auto offset_name = "G" + std::to_string(cboOffset->selected_index() + 54);
+    void refresh_offset() const {
+        auto offset_name = "G" + std::to_string(cbo_work_offset->selected_index() + 54);
         cnc.set_work_offset(offset_name);
     }
 
@@ -341,7 +425,7 @@ public:
             auto y = w->add<TextBox>(s.second);
             y->set_editable(true);
             y->set_tooltip(desc);
-            y->set_fixed_width(200);
+            y->set_fixed_width(150);
 
             auto z = w->add<ToolButton>(FA_SAVE);
             z->set_flags(Button::Flags::NormalButton); // no toggle, please
@@ -397,17 +481,15 @@ public:
     void on_realtime_status_report(grbl::realtime_status_report report) override {
 //        if (report == last_report) return;
 
-        if (last_report.status != report.status) {
-            lblStatus->clear();
-            lblStatus->append(grbl::status_to_string(cnc.get_status().status));
+//        if (last_report.status != report.status) {
+        txtStatus->set_value(grbl::status_to_string(cnc.get_status().status));
 
-            lblSubstatus->clear();
-            if (cnc.get_status().status == grbl::machine_status::alarm) {
-                lblSubstatus->append(grbl::alarm_to_string(last_alarm));
-            } else {
-                lblSubstatus->append(cnc.get_status().sub_status);
-            }
+        if (cnc.get_status().status == grbl::machine_status::alarm) {
+            txtStatus->set_tooltip(grbl::alarm_to_string(last_alarm));
+        } else {
+            txtStatus->set_tooltip(cnc.get_status().sub_status);
         }
+//        }
 
         update_dro();
         last_report = report;
@@ -424,6 +506,7 @@ public:
     }
 
     void on_message(std::string message) override {
+        txtMessage->set_value(message);
         set_caption(message);
     }
 
@@ -540,7 +623,7 @@ public:
             }
         }
 
-        if (jog != new_jog) {
+        if (btn_keyboard_jog->pushed() && jog != new_jog) {
             cnc.request_jog(new_jog);
             jog = new_jog;
         }
@@ -589,6 +672,8 @@ public:
             fill_in_settings();
             fill_in_parameters();
 
+            perform_layout();
+
             refresh_offset();
             update_dro();
             machine_initialized = false;