MGrblMainTrigger.cpp

/*
** Copyright (C) 2025 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: 2025-04-17T11:19:38
** Author: Sylvain Fargier <sylvain.fargier@cern.ch>
*/
 
#include "MGrblMainTrigger.hpp"
 
#include <ccut/async.hpp>
 
#include "MGrblPlatform.hpp"
 
using namespace logger;
using namespace smc;
using namespace smc::internal;
using namespace smc::units;
using ImmediateCmd = MGrblPlatform::ImmediateCmd;
 
MGrblMainTrigger::MGrblMainTrigger(const std::string &uid,
                                   const std::shared_ptr<MGrblPlatform> &mgrbl) :
    Trigger{uid},
    m_mgrbl(mgrbl)
{}
 
std::future<void> MGrblMainTrigger::arm() const
{
    try
    {
        std::shared_ptr<MGrblPlatform> mgrbl(m_mgrbl.lock());
        if (!mgrbl)
            throw Exception(ErrorCode::Canceled, "platform stopped (deleted)");
 
        return mgrbl->run<void>(
            [](ImmediateCmd &cmd, MGrblPlatform::Context &ctx) {
                grbl::ErrorCode rc = ctx.device->send(
                    mgrbl::ControlSymbol + mgrbl::gen::Control::TrigArm + "=1");
                ctx.checkReply(rc);
                cmd.prom->get<void>().set_value();
            });
    }
    catch (const Exception &ex)
    {
        return ccut::make_future_error(ex);
    }
}
 
std::future<void> MGrblMainTrigger::disarm() const
{
    try
    {
        std::shared_ptr<MGrblPlatform> mgrbl(m_mgrbl.lock());
        if (!mgrbl)
            throw Exception(ErrorCode::Canceled, "platform stopped (deleted)");
 
        return mgrbl->run<void>(
            [](ImmediateCmd &cmd, MGrblPlatform::Context &ctx) {
                grbl::ErrorCode rc = ctx.device->send(
                    mgrbl::ControlSymbol + mgrbl::gen::Control::TrigArm + "=0");
                ctx.checkReply(rc);
                cmd.prom->get<void>().set_value();
            });
    }
    catch (const Exception &ex)
    {
        return ccut::make_future_error(ex);
    }
}
 
std::future<bool> MGrblMainTrigger::isArmed() const
{
    try
    {
        std::shared_ptr<MGrblPlatform> mgrbl(m_mgrbl.lock());
        if (!mgrbl)
            throw Exception(ErrorCode::Canceled, "platform stopped (deleted)");
 
        return mgrbl->run<bool>([](ImmediateCmd &cmd,
                                   MGrblPlatform::Context &ctx) {
            bool ret{false};
            grbl::ErrorCode rc = ctx.device->send(
                (mgrbl::ControlSymbol + mgrbl::gen::Control::TrigArm),
                [&ret](const std::string &line) {
                    return mgrbl::MGrblParser::parseIsArmed(line.substr(1), ret);
                });
            ctx.checkReply(rc);
            cmd.prom->get<bool>().set_value(ret);
        });
    }
    catch (const Exception &ex)
    {
        return ccut::make_future_error<bool>(ex);
    }
}
 
std::future<void> MGrblMainTrigger::trig() const
{
    try
    {
        std::shared_ptr<MGrblPlatform> mgrbl(m_mgrbl.lock());
        if (!mgrbl)
            throw Exception(ErrorCode::Canceled, "platform stopped (deleted)");
 
        return mgrbl->run<void>(
            [](ImmediateCmd &cmd, MGrblPlatform::Context &ctx) {
                grbl::ErrorCode rc = ctx.device->send(
                    mgrbl::ControlSymbol + mgrbl::gen::Control::TrigSoft);
                ctx.checkReply(rc);
                cmd.prom->get<void>().set_value();
            });
    }
    catch (const Exception &ex)
    {
        return ccut::make_future_error(ex);
    }
}