Fixed program checking and executing report

grbl_machine.h

@@ -0,0 +1,149 @@
+#pragma once
+
+#include "grbl_communication.h"
+#include "grbl.h"
+
+namespace grbl {
+
+enum class machine_status {
+    idle,
+    run,
+    hold,
+    jog,
+    alarm,
+    door,
+    check,
+    home,
+    sleep,
+    tool,
+    unknown
+};
+
+machine_status status_from_string(const std::string& status);
+std::string status_to_string(const machine_status& status);
+std::string alarm_to_string(int alarm);
+
+struct realtime_status_report {
+    machine_status status;
+    std::string sub_status;
+    float work_pos[3] = {0};
+    float machine_pos[3] = {0};
+    size_t buffers_free = 0;
+    size_t rx_chars_free = 0;
+    size_t line_number = 0;
+    float feed_rate = 0;
+    float programmed_rpm = 0;
+    float actual_rpm = 0;
+    std::string signals;
+    float axis_offsets[3] = {0};
+    std::string coordinate_system;
+    std::string overrides;
+    std::string accessory_status;
+    bool mpg = false;
+    bool homing_complete = false;
+    std::string scaled_axis;
+    bool tool_length_reference_offset_set = false;
+    std::string firmware;
+};
+
+inline bool operator==(const realtime_status_report& a, const realtime_status_report& b) {
+    return a.status == b.status &&
+           a.sub_status == b.sub_status &&
+           a.machine_pos[0] == b.machine_pos[0] &&
+           a.machine_pos[1] == b.machine_pos[1] &&
+           a.machine_pos[2] == b.machine_pos[2] &&
+           a.work_pos[0] == b.work_pos[0] &&
+           a.work_pos[1] == b.work_pos[1] &&
+           a.work_pos[2] == b.work_pos[2];
+}
+
+realtime_status_report parse_status_report(std::string line, grbl::realtime_status_report& result);
+
+enum class grbl_machine_state {
+    init,
+    run_program,
+    check_program,
+    idle,
+};
+
+struct jog_state {
+    bool left_pressed = false;
+    bool right_pressed = false;
+    bool up_pressed = false;
+    bool down_pressed = false;
+    bool z_up_pressed = false;
+    bool z_down_pressed = false;
+    bool speed_fast_pressed = false;
+    bool speed_slow_pressed = false;
+
+    [[nodiscard]] bool no_jogging() const;
+};
+
+static bool operator==(const jog_state& a, const jog_state& b) {
+    if (a.left_pressed != b.left_pressed ||
+        a.right_pressed != b.right_pressed ||
+        a.up_pressed != b.up_pressed ||
+        a.down_pressed != b.down_pressed ||
+        a.z_up_pressed != b.z_up_pressed ||
+        a.z_down_pressed != b.z_down_pressed ||
+        a.speed_fast_pressed != b.speed_fast_pressed ||
+        a.speed_slow_pressed != b.speed_slow_pressed) {
+        return false;
+    }
+    return true;
+}
+
+static bool operator!=(const jog_state& a, const jog_state& b) {
+    return !(a == b);
+}
+
+struct machine_listener {
+    virtual void on_connected() = 0;
+    virtual void on_disconnected() = 0;
+    virtual void on_realtime_status_report(realtime_status_report) = 0;
+    virtual void on_banner(std::string line) = 0;
+    virtual void on_message(std::string message) = 0;
+    virtual void on_alarm(int alarm) = 0;
+    virtual void on_run_completed(bool success, size_t failed_index, int error) = 0;
+    virtual void on_check_completed(bool success, size_t failed_index, int error) = 0;
+};
+
+struct machine : public transport_callbacks {
+    machine();
+    ~machine();
+
+    void set_listener(grbl::machine_listener *listener);
+    void connect();
+    void run_program(const grbl::program& pgm);
+    void check_program(const grbl::program& pgm);
+    void request_jog(jog_state jog) const;
+    void cancel_jog() const;
+
+    realtime_status_report get_status() const { return last_report; };
+
+    void request_unlock();
+    void request_home();
+    void request_reset();
+
+    void request_cycle_start();
+    void request_feed_hold();
+
+protected:
+    void on_connected(transport *transport) override;
+    void on_disconnected(transport *transport) override;
+    void on_line_received(std::string line, transport *transport) override;
+
+    realtime_status_report last_report{};
+    machine_listener *listener = nullptr;
+    transport *pipe = nullptr;
+    grbl_machine_state state = grbl_machine_state::init;
+    program running_program;
+    size_t executed_instructions = 0;
+    bool entered_check_mode = false;
+    void continue_program();
+    void reset_machine_state();
+};
+
+
+}
+