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Fixed program checking and executing report

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This commit is contained in:
Adrian Scripca
2023-04-28 18:42:18 +03:00
parent 0b8f5a6950
commit b361b6b2fe
7 changed files with 159 additions and 48 deletions
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CMakeLists.txt
+1 -1
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@@ -23,5 +23,5 @@ set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_VISIBILITY_PRESET hidden)
add_executable(sender main.cpp grbl.h grbl.cpp grbl_test.cpp grbl_communication.h grbl_communication.cpp machine.h grbl_machine.cpp string_utils.h)
add_executable(sender main.cpp grbl.h grbl.cpp grbl_test.cpp grbl_communication.h grbl_communication.cpp grbl_machine.h grbl_machine.cpp string_utils.h)
target_link_libraries(sender nanogui gtest gtest_main)
grbl.cpp
+19 -7
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@@ -1,4 +1,5 @@
#include "grbl.h"
#include "string_utils.h"
#include <utility>
#include <fstream>
@@ -31,13 +32,15 @@ grbl::instruction grbl::instruction::new_comment(size_t line, std::string commen
}
grbl::program::program(std::string filename) {
load(std::move(filename));
load_from_file(std::move(filename));
}
static auto comment_re = std::regex(R"(\(([^)]*)\))");
static auto gcode_re = std::regex(R"(([a-zA-Z0-9\s.]+).*(\(([^)]*)\))?)");
bool grbl::program::load(std::istream& in) {
bool grbl::program::load_from_stream(std::istream& in) {
instructions.clear();
is_loaded = true;
size_t line_number = 0;
for (std::string line; std::getline(in, line);) {
@@ -49,8 +52,17 @@ bool grbl::program::load(std::istream& in) {
auto comment = sm.str(1);
instructions.emplace_back(instruction::new_comment(line_number, comment));
} else if (std::regex_match(line, sm, gcode_re)) {
auto command = sm.str(1);
auto comment = sm.str(3);
auto command = trim(sm.str(1));
auto comment = trim(sm.str(3));
// // grblHAL does not support feed rates with decimal points,
// // so we remove them if possible (only one feed command in this line)
// static auto decimal_feed_re = std::regex(R"(^(F\d+)\.\d+$)");
// std::smatch feed_matches{};
// if (std::regex_match(command, feed_matches, decimal_feed_re)) {
// command = feed_matches.str(1);
// }
instructions.emplace_back(instruction::new_gcode(line_number, command, comment));
} else {
std::cerr << "Failed to parse line " << line << std::endl;
@@ -67,11 +79,11 @@ bool grbl::program::load_from_string(const std::string& content) {
in_stream << content;
filename = "";
is_loaded = load(in_stream);
is_loaded = load_from_stream(in_stream);
return is_loaded;
}
bool grbl::program::load(std::string path) {
bool grbl::program::load_from_file(std::string path) {
filename = std::move(path);
is_loaded = false;
@@ -79,7 +91,7 @@ bool grbl::program::load(std::string path) {
if (!in_file) {
return false;
}
is_loaded = load(in_file);
is_loaded = load_from_stream(in_file);
return is_loaded;
}
grbl.h
+2 -2
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@@ -29,8 +29,8 @@ struct program {
program() = default;
explicit program(std::string filename);
bool load(std::string filename);
bool load(std::istream& in);
bool load_from_file(std::string filename);
bool load_from_stream(std::istream& in);
bool load_from_string(const std::string& content);
void dump(std::ostream& out);
grbl_machine.cpp
+53 -14
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@@ -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);
}
machine.h → grbl_machine.h
+14 -10
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@@ -47,16 +47,14 @@ struct realtime_status_report {
};
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] &&
true
);
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);
@@ -64,6 +62,7 @@ realtime_status_report parse_status_report(std::string line, grbl::realtime_stat
enum class grbl_machine_state {
init,
run_program,
check_program,
idle,
};
@@ -105,6 +104,8 @@ struct machine_listener {
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 {
@@ -114,6 +115,7 @@ struct machine : public transport_callbacks {
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;
@@ -137,7 +139,9 @@ protected:
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();
};
grbl_test.cpp
+1 -1
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@@ -1,7 +1,7 @@
#include <gtest/gtest.h>
#include "grbl.h"
#include "machine.h"
#include "grbl_machine.h"
TEST(grbl_program, default_state) {
grbl::program pgm;
main.cpp
+69 -13
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@@ -52,7 +52,7 @@
#include "grbl.h"
#include <gtest/gtest.h>
#include "grbl_communication.h"
#include "machine.h"
#include "grbl_machine.h"
#include "string_utils.h"
using namespace nanogui;
@@ -67,8 +67,12 @@ public:
grbl::jog_state jog;
Label *m_pos_x, *m_pos_y, *m_pos_z;
TextArea *lblStatus, *lblSubstatus;
nanogui::Color red = nanogui::Color(255, 0, 0, 255);
nanogui::Color colRed = nanogui::Color(255, 0, 0, 255);
nanogui::Color colGreen = nanogui::Color(0, 255, 0, 255);
nanogui::Color colBg;
int last_alarm = 0;
grbl::program pgm;
Button *btnLoadProgram, *btnCheckProgram, *btnRunProgram;
SenderApp() : Screen(Vector2i(1024, 768), "GRBL Sender") {
inc_ref();
@@ -78,6 +82,12 @@ public:
window->set_layout(new GroupLayout());
// window->set_size(Screen::size());
// save regular button color
auto b = new Button(this);
colBg = b->background_color();
b->set_visible(false);
new Label(window, "Status", "sans-bold");
Widget *status_holder = new Widget(window);
status_holder->set_layout(new GridLayout());
@@ -116,7 +126,7 @@ public:
cnc.request_home();
});
Button *btnReset = new Button(actions, "Reset");
btnReset->set_background_color(red);
btnReset->set_background_color(colRed);
btnReset->set_callback([&] {
cnc.request_reset();
});
@@ -133,17 +143,42 @@ public:
// freed when the parent window is deleted
new Label(window, "Program", "sans-bold");
Button *btnLoadProgram = new Button(window, "Load");
Widget *pgm_actions = new Widget(window);
pgm_actions->set_layout(new BoxLayout(Orientation::Horizontal));
btnLoadProgram = new Button(pgm_actions, "Load");
btnLoadProgram->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);
btnCheckProgram->set_background_color(colBg);
btnRunProgram->set_background_color(colBg);
if (pgm.load_from_file(path)) {
btnCheckProgram->set_enabled(true);
// btnRunProgram->set_enabled(true);
} else {
btnCheckProgram->set_enabled(false);
btnRunProgram->set_enabled(false);
}
});
btnLoadProgram->set_tooltip("short tooltip");
btnLoadProgram->set_tooltip("Load program");
btnCheckProgram = new Button(pgm_actions, "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->set_callback([&] {
cnc.run_program(pgm);
});
btnRunProgram->set_tooltip("Execute program");
// Alternative construction notation using variadic template
btnLoadProgram = window->add<Button>("Styled", FA_ROCKET);
@@ -302,14 +337,9 @@ public:
lblSubstatus->clear();
if (cnc.get_status().status == grbl::machine_status::alarm) {
lblSubstatus->append(grbl::alarm_to_string(last_alarm));
// auto lines = split_string(grbl::alarm_to_string(last_alarm), "\n");
// for (auto& l: lines) {
// lblSubstatus->append_line(trim(l));
// }
} else {
lblSubstatus->append(cnc.get_status().sub_status);
}
}
m_pos_x->set_caption(std::to_string(cnc.get_status().machine_pos[0]));
@@ -330,6 +360,32 @@ public:
last_alarm = alarm;
}
void on_check_completed(bool success, size_t failed_index, int error) override {
btnCheckProgram->set_background_color(success ? colGreen : colRed);
if (success) {
btnRunProgram->set_enabled(true);
new MessageDialog(this, MessageDialog::Type::Information, "Check result", "Program checked successfully");
} else {
btnRunProgram->set_enabled(false);
std::stringstream ss;
auto i = pgm.instruction_at(failed_index);
ss << "Program check failed at line " << i.line << " (" << i.command << "). Error: " << error;
new MessageDialog(this, MessageDialog::Type::Warning, "Check result", ss.str());
}
}
void on_run_completed(bool success, size_t failed_index, int error) override {
btnRunProgram->set_background_color(success ? colGreen : colRed);
if (success) {
new MessageDialog(this, MessageDialog::Type::Information, "Run result", "Program executed successfully");
} else {
std::stringstream ss;
auto i = pgm.instruction_at(failed_index);
ss << "Program execution failed at line " << i.line << " (" << i.command << "). Error: " << error;
new MessageDialog(this, MessageDialog::Type::Warning, "Run result", ss.str());
}
}
bool keyboard_event(int key, int scancode, int action, int modifiers) override {
if (Screen::keyboard_event(key, scancode, action, modifiers))