Fixed program checking and executing report

grbl_machine.cpp

@@ -1,6 +1,6 @@
 #include <iostream>
 #include <sstream>
-#include "machine.h"
+#include "grbl_machine.h"
 #include "string_utils.h"
 
 static bool starts_with(const std::string& line, const std::string& prefix) {
@@ -19,15 +19,6 @@ void grbl::machine::connect() {
     pipe->open(*this);
 }
 
-void grbl::machine::run_program(const 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
@@ -40,7 +31,6 @@ void grbl::machine::on_disconnected(grbl::transport *transport) {
     std::cout << "grbl machine disconnected" << std::endl;
 }
 
-
 grbl::realtime_status_report grbl::parse_status_report(std::string line, grbl::realtime_status_report& result) {
 //    grbl::realtime_status_report result;
 
@@ -76,6 +66,7 @@ grbl::realtime_status_report grbl::parse_status_report(std::string line, grbl::r
     return result;
 }
 
+
 grbl::machine_status grbl::status_from_string(const std::string& status) {
     if (status == "Idle") return machine_status::idle;
     if (status == "Run") return machine_status::run;
@@ -90,6 +81,25 @@ grbl::machine_status grbl::status_from_string(const std::string& status) {
     return machine_status::unknown;
 }
 
+void grbl::machine::run_program(const grbl::program& pgm) {
+    std::cout << "running program (" << pgm.filename << ") 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::check_program(const grbl::program& pgm) {
+    std::cout << "checking program (" << pgm.filename << ") with " << pgm.number_of_instructions() << " instructions" << std::endl;
+
+    running_program = pgm;
+    entered_check_mode = false;
+    executed_instructions = 0;
+    state = grbl_machine_state::check_program;
+    pipe->send("$C");
+}
+
 std::string grbl::status_to_string(const grbl::machine_status& status) {
     switch (status) {
         case machine_status::idle:
@@ -150,18 +160,31 @@ void grbl::machine::on_line_received(std::string line, grbl::transport *transpor
         std::cout << ">> " << line << std::endl;
 
     if (starts_with(line, "ok")) {
-//        on_ok();
-        if (state == grbl_machine_state::run_program) {
+        if (state == grbl_machine_state::run_program || state == grbl_machine_state::check_program) {
+            if (!entered_check_mode) {
+                entered_check_mode = true;
+            }
             continue_program();
+        } else if (state == grbl_machine_state::idle && entered_check_mode) {
+            entered_check_mode = false;
         }
 
     } else if (starts_with(line, "error")) {
         size_t error = std::stoi(line.substr(6));
+        if (state == grbl_machine_state::run_program) {
+            listener->on_run_completed(false, executed_instructions - 1, error);
+            state = grbl_machine_state::idle;
+        } else if (state == grbl_machine_state::check_program) {
+            listener->on_check_completed(false, executed_instructions - 1, error);
+            state = grbl_machine_state::idle;
+            pipe->send("$C"); // exit check mode
+        }
 //        on_error(error);
     } else {
         // we have a push message
         if (starts_with(line, "Grbl")) {
             listener->on_banner(line);
+            reset_machine_state();
         } else if (starts_with(line, "<")) {
             last_report = parse_status_report(line, last_report);
             listener->on_realtime_status_report(last_report);
@@ -185,6 +208,7 @@ void grbl::machine::on_line_received(std::string line, grbl::transport *transpor
 }
 
 void grbl::machine::continue_program() {
+    bool program_ended = false;
     if (executed_instructions < running_program.number_of_instructions()) {
         instruction to_send;
         do {
@@ -194,9 +218,19 @@ void grbl::machine::continue_program() {
         if (to_send.type == instruction_type::gcode) {
             pipe->send(to_send.command);
         } else {
-            state = grbl_machine_state::idle;
+            program_ended = true;
         }
     } else {
+        program_ended = true;
+    }
+
+    if (program_ended) {
+        if (state == grbl_machine_state::check_program) {
+            pipe->send("$C");
+            listener->on_check_completed(true, 0, 0);
+        } else if (state == grbl_machine_state::run_program) {
+            listener->on_run_completed(true, 0, 0);
+        }
         state = grbl_machine_state::idle;
     }
 }
@@ -265,6 +299,11 @@ void grbl::machine::request_feed_hold() {
     pipe->send_single_char_command(0x82);
 }
 
+void grbl::machine::reset_machine_state() {
+    state = grbl_machine_state::idle;
+    executed_instructions = false;
+}
+
 bool grbl::jog_state::no_jogging() const {
     return !(up_pressed || down_pressed || left_pressed || right_pressed || z_up_pressed || z_down_pressed);
 }