GrblPlatformData.hpp

/*
** Copyright (C) 2021 CERN
**
** This software is provided 'as-is', without any express or implied
** warranty.  In no event will the authors be held liable for any damages
** arising from the use of this software.
**
** Permission is granted to anyone to use this software for any purpose,
** including commercial applications, and to alter it and redistribute it
** freely, subject to the following restrictions:
**
** 1. The origin of this software must not be misrepresented; you must not
**    claim that you wrote the original software. If you use this software
**    in a product, an acknowledgment in the product documentation would be
**    appreciated but is not required.
** 2. Altered source versions must be plainly marked as such, and must not be
**    misrepresented as being the original software.
** 3. This notice may not be removed or altered from any source distribution.
**
** Created on: 2022-05-04T09:55:45+02:00
**     Author: Sylvain Fargier <sfargier> <sylvain.fargier@cern.ch>
**
*/
 
#ifndef GRBL_PLATFORM_DATA_HPP__
#define GRBL_PLATFORM_DATA_HPP__
 
#if !defined(GCC_LINT)
#pragma once
#endif
 
#include <functional>
#include <future>
#include <set>
 
#include <ccut/Signal.hpp>
 
#include "GrblPlatform.hpp"
#include "util/Promise.hpp"
#include "util/grbl/GrblParser.hpp"
#include "util/grbl/GrblTypes.hpp"
 
namespace smc {
namespace internal {
struct GrblPlatform::MotionCmd
{
    MotionCmd(std::function<void(MotionCmd &, GrblPlatform::Context &)> run,
              std::set<grbl::Axis> &&axis,
              std::string &&message) :
        run(run),
        axis(axis),
        message(message),
        line(0)
    {}
    MotionCmd(MotionCmd &&) = default;
    MotionCmd(const MotionCmd &) = delete;
    MotionCmd &operator=(const MotionCmd &) = delete;
    MotionCmd &operator=(MotionCmd &&) = default;
 
    std::function<void(MotionCmd &, GrblPlatform::Context &)> run;
    std::set<grbl::Axis> axis;
    std::string message;
    std::promise<void> prom;
    GrblPlatform::Line line;
};
 
struct GrblPlatform::ImmediateCmd
{
    typedef std::function<void(ImmediateCmd &, Context &)> Function;
 
    explicit ImmediateCmd(Function run, PromiseBase *prom) :
        run(run),
        prom(prom)
    {}
    Function run;
    std::unique_ptr<PromiseBase> prom;
};
 
struct GrblPlatform::Context
{
    Context(const std::string &prefix, const std::string &id);
 
    const std::string prefix; 
    const std::string id;     
    std::string getErrorMessage(grbl::ErrorCode code) const;
    std::string getAlarmMessage(grbl::AlarmCode alarm) const;
    AxisData &_getAxisData(const std::string &uid);
    void checkReply(grbl::ErrorCode code);
 
    std::set<std::string> listConfig();
 
    std::set<std::string> listConfig(grbl::Axis);
 
    const grbl::GrblParser::SettingDesc &findSetting(const std::string &name,
                                                     grbl::Axis axis) const;
 
    const grbl::GrblParser::SettingDesc &findSetting(
        const std::string &name) const;
 
    const std::string findLocalSetting(const std::string &name) const;
 
    std::string _sendGetSetting(grbl::SettingId settingId);
 
    void _sendSetSetting(grbl::SettingId settingId, const std::string &value);
 
    void setSetting(const std::string &name, const std::string &value);
 
    void sendHold();
 
    void sendReset();
 
    static bool isStepperMessage(const std::string &line);
 
    /* local settings */
    bool triggeredMotion = false;
 
    /* processing thread only */
    std::unique_ptr<grbl::GrblDeviceBase> device;
    std::map<int, std::string> errors;
    std::map<int, std::string> alarms;
    std::map<std::string, int> settingGroup;
    SettingMap setting;
    grbl::GrblParser::State state;
    grbl::GrblParser::BuildInfo binfo;
    GrblPlatform::Line line = 0;
    std::chrono::steady_clock::time_point nextPoll;
    LocalSettingMap localSetting;
};
 
struct GrblPlatform::LocalSettingHandler
{
    std::function<void(Context &, const std::string &)> set;
    std::function<std::string(Context &)> get;
};
struct GrblPlatform::AxisData
{
    grbl::Axis grblAxis;
    units::Value position;
 
    grbl::SettingId resolutionSettingId;
    units::Value resolution; 
};
 
} // namespace internal
} // namespace smc
 
#endif