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