159 lines
4.3 KiB
C++
159 lines
4.3 KiB
C++
#include "grbl_communication.h"
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#include <sys/socket.h>
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#include <arpa/inet.h>
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#include <unistd.h>
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#include <iostream>
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#include <fcntl.h>
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#include <chrono>
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grbl::tcp_transport::tcp_transport(std::string address, uint16_t p)
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: ip{std::move(address)}, port{p} {
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live_check_thread = std::thread(&grbl::tcp_transport::worker, this);
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}
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void grbl::tcp_transport::open(grbl::transport_callbacks &cb) {
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if (is_connected) {
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close();
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}
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listener = &cb;
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fd = socket(AF_INET, SOCK_STREAM, 0);
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if (fd == -1) {
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std::cerr << "Error creating socket" << std::endl;
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}
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struct sockaddr_in serv_addr{};
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serv_addr.sin_family = AF_INET;
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serv_addr.sin_port = htons(port);
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if (inet_pton(AF_INET, ip.c_str(), &serv_addr.sin_addr) <= 0) {
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std::cerr << "Invalid address/ Address not supported" << std::endl;
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return;
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}
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auto status = connect(fd, (struct sockaddr *) &serv_addr, sizeof(serv_addr));
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if (status < 0) {
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std::cerr << "Connection failed";
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return;
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}
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is_connected = true;
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listener->on_connected(this);
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// set non-blocking please, after we connected
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fcntl(fd, F_SETFL, O_NONBLOCK);
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}
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void grbl::tcp_transport::close() {
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if (fd >= 0) {
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::close(fd);
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is_connected = false;
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send_queue = std::queue<std::string>{};
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if (listener != nullptr) {
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listener->on_disconnected(this);
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listener = nullptr;
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}
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fd = -1;
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}
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}
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void grbl::tcp_transport::send(std::string line) {
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if (is_connected) {
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if (line.at(0) == (char) 0xff)
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send_queue.push(line);
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else
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send_queue.push(line + "\r");
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}
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}
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void grbl::tcp_transport::worker() {
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std::string received;
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uint8_t buffer[200];
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while (!should_quit) {
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if (is_connected) {
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// anything to write?
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if (!send_queue.empty()) {
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auto line = send_queue.front();
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auto result = write(fd, line.c_str(), line.size());
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if (result == -1) {
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std::cerr << "Failed while writing." << std::endl;
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close();
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}
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send_queue.pop();
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}
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// anything to read?
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auto read_bytes = read(fd, buffer, 200);
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if (read_bytes == -1 && (errno == EWOULDBLOCK || errno == EAGAIN)) {
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// do nothing
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} else if (read_bytes == -1) {
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std::cerr << "Failed while reading." << std::endl;
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close();
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} else {
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for (int i = 0; i < read_bytes; i++) {
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auto is_eol = buffer[i] == '\r' || buffer[i] == '\n';
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if (is_eol) {
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if (!is_empty_line(received)) {
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// starts with? https://stackoverflow.com/questions/1878001/how-do-i-check-if-a-c-stdstring-starts-with-a-certain-string-and-convert-a
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if (received.rfind("Grbl", 0) == 0) {
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listener->on_banner(received, this);
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} else {
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listener->on_line_received(received, this);
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}
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}
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received.clear();
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} else {
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received.push_back(static_cast<char>(buffer[i]));
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}
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}
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}
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// give some time to others
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std::this_thread::sleep_for(std::chrono::milliseconds(1));
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}
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}
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}
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grbl::tcp_transport::~tcp_transport() {
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close();
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should_quit = true;
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live_check_thread.join();
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}
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bool grbl::tcp_transport::is_empty_line(const std::string &line) {
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for (auto &c: line) {
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if (c != '\r' && c != '\n' && c != ' ') {
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return false;
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}
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}
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return true;
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}
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void grbl::tcp_transport::send_single_char_command(uint8_t data) const {
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if (is_connected)
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write(fd, &data, 1);
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}
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void grbl::tcp_transport::request_realtime_report() {
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send_single_char_command(0x80);
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}
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void grbl::tcp_transport::request_cycle_start() {
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send_single_char_command(0x81);
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}
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void grbl::tcp_transport::request_feed_hold() {
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send_single_char_command(0x82);
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}
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void grbl::tcp_transport::parser_state_report() {
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send_single_char_command(0x83);
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}
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