gsender

/*
 * Copyright (C) 2021 Sienci Labs Inc.
 *
 * This file is part of gSender.
 *
 * gSender is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, under version 3 of the License.
 *
 * gSender is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with gSender.  If not, see <https://www.gnu.org/licenses/>.
 *
 * Contact for information regarding this program and its license
 * can be sent through gSender@sienci.com or mailed to the main office
 * of Sienci Labs Inc. in Waterloo, Ontario, Canada.
 *
 */

/* eslint no-bitwise: ["error", { "allow": ["&", "<<"] }] */
import _ from "lodash";

//https://github.com/grbl/grbl/blob/master/grbl/report.c
class GrblHalLineParserResultStatus {
	// * Grbl v1.1
	//   <Idle|MPos:3.000,2.000,0.000|FS:0,0>
	//   <Hold:0|MPos:5.000,2.000,0.000|FS:0,0>
	//   <Idle|MPos:5.000,2.000,0.000|FS:0,0|Ov:100,100,100>
	//   <Idle|MPos:5.000,2.000,0.000|FS:0,0|WCO:0.000,0.000,0.000>
	//   <Run|MPos:23.036,1.620,0.000|FS:500,0>
	static parse(line) {
		const r = line.match(/^<(.+)>$/);
		if (!r) {
			return null;
		}

		const payload = {};
		//const pattern = /[a-zA-Z]+(:[0-9\.\-]+(,[0-9\.\-]+){0,5})?/g;
		//const pattern = /[a-zA-Z]+(:[a-zA-Z0-9\.\-]+(,[0-9\.\-[a]+){0,5})?/g;
		const pattern = /[a-zA-Z]+(:[a-zA-Z0-9.-]+(,[0-9.\-[a-zA-Z]+){0,5})?/g;
		const params = r[1].match(pattern);
		const result = {};

		{
			// Active State (v0.9, v1.1)
			// * Valid states types: Idle, Run, Hold, Jog, Alarm, Door, Check, Home, Sleep
			// * Sub-states may be included via : a colon delimiter and numeric code.
			// * Current sub-states are:
			//   - Hold:0 Hold complete. Ready to resume.
			//   - Hold:1 Hold in-progress. Reset will throw an alarm.
			//   - Door:0 Door closed. Ready to resume.
			//   - Door:1 Machine stopped. Door still ajar. Can't resume until closed.
			//   - Door:2 Door opened. Hold (or parking retract) in-progress. Reset will throw an alarm.
			//   - Door:3 Door closed and resuming. Restoring from park, if applicable. Reset will throw an alarm.
			const states = (params.shift() || "").split(":");
			payload.activeState = states[0] || "";
			payload.subState = Number(states[1] || "");
		}

		for (const param of params) {
			const nv = param.match(/^(.+):(.+)/);
			if (nv) {
				const type = nv[1];
				const value = nv[2].split(",");
				result[type] = value;
			}
		}
		// Machine Position (v0.9, v1.1)
		if (_.has(result, "MPos")) {
			const axes = ["x", "y", "z", "a", "b", "c"];
			const mPos = _.get(result, "MPos", ["0.000", "0.000", "0.000"]); // Defaults to [x, y, z]
			payload.mpos = {};
			for (let i = 0; i < mPos.length; ++i) {
				payload.mpos[axes[i]] = mPos[i];
			}
		}

		// Work Position (v0.9, v1.1)
		if (_.has(result, "WPos")) {
			const axes = ["x", "y", "z", "a", "b", "c"];
			const wPos = _.get(result, "WPos", ["0.000", "0.000", "0.000"]); // Defaults to [x, y, z]
			payload.wpos = {};
			for (let i = 0; i < wPos.length; ++i) {
				payload.wpos[axes[i]] = wPos[i];
			}
		}

		// Work Coordinate Offset (v1.1)
		if (_.has(result, "WCO")) {
			const axes = ["x", "y", "z", "a", "b", "c"];
			const wco = _.get(result, "WCO", ["0.000", "0.000", "0.000"]); // Defaults to [x, y, z]
			payload.wco = {};
			for (let i = 0; i < wco.length; ++i) {
				payload.wco[axes[i]] = wco[i];
			}
		}

		// Planner Buffer (v0.9)
		if (_.has(result, "Buf")) {
			payload.buf = payload.buf || {};
			payload.buf.planner = Number(_.get(result, "Buf[0]", 0));
		}

		// RX Buffer (v0.9)
		if (_.has(result, "RX")) {
			payload.buf = payload.buf || {};
			payload.buf.rx = Number(_.get(result, "RX[0]", 0));
		}

		// Buffer State (v1.1)
		// Bf:15,128. The first value is the number of available blocks in the planner buffer and the second is number of available bytes in the serial RX buffer.
		if (_.has(result, "Bf")) {
			payload.buf = payload.buf || {};
			payload.buf.planner = Number(_.get(result, "Bf[0]", 0));
			payload.buf.rx = Number(_.get(result, "Bf[1]", 0));
		}

		// Line Number (v0.9, v1.1)
		// Ln:99999 indicates line 99999 is currently being executed.
		if (_.has(result, "Ln")) {
			payload.ln = Number(_.get(result, "Ln[0]", 0));
		}

		// Feed Rate (v0.9, v1.1)
		// F:500 contains real-time feed rate data as the value.
		// This appears only when VARIABLE_SPINDLE is disabled.
		if (_.has(result, "F")) {
			payload.feedrate = Number(_.get(result, "F[0]", 0));
		}

		// Current Feed and Speed (v1.1)
		// FS:500,8000 contains real-time feed rate, followed by spindle speed, data as the values.
		if (_.has(result, "FS")) {
			payload.feedrate = Number(_.get(result, "FS[0]", 0));
			payload.spindle = Number(_.get(result, "FS[1]", 0));
		}

		// Limit Pins (v0.9)
		// X_AXIS is (1<<0) or bit 0
		// Y_AXIS is (1<<1) or bit 1
		// Z_AXIS is (1<<2) or bit 2
		if (_.has(result, "Lim")) {
			const value = Number(_.get(result, "Lim[0]", 0));
			payload.pinState = [
				value & (1 << 0) ? "X" : "",
				value & (1 << 1) ? "Y" : "",
				value & (1 << 2) ? "Z" : "",
				value & (1 << 2) ? "A" : "",
			].join("");
		}

		// Input Pin State (v1.1)
		// * Pn:XYZPDHRS indicates which input pins Grbl has detected as 'triggered'.
		// * Each letter of XYZPDHRS denotes a particular 'triggered' input pin.
		//   - X Y Z XYZ limit pins, respectively
		//   - P the probe pin.
		//   - D H R S the door, hold, soft-reset, and cycle-start pins, respectively.
		//   - Example: Pn:PZ indicates the probe and z-limit pins are 'triggered'.
		//   - Note: A may be added in later versions for an A-axis limit pin.
		payload.pinState = {};
		if (_.has(result, "Pn")) {
			const pins = _.get(result, "Pn[0]", "");
			payload.pinState = {};
			pins.split("").forEach((pin) => {
				payload.pinState[pin] = true;
			});
		}

		// Override Values (v1.1)
		// Ov:100,100,100 indicates current override values in percent of programmed values for feed, rapids, and spindle speed, respectively.
		if (_.has(result, "Ov")) {
			payload.ov = _.get(result, "Ov", []).map((v) => Number(v));
			payload.ovTimestamp = Date.now();
		}

		// Accessory State (v1.1)
		// * A:SFM indicates the current state of accessory machine components, such as the spindle and coolant.
		// * Each letter after A: denotes a particular state. When it appears, the state is enabled. When it does not appear, the state is disabled.
		//   - S indicates spindle is enabled in the CW direction. This does not appear with C.
		//   - C indicates spindle is enabled in the CCW direction. This does not appear with S.
		//   - F indicates flood coolant is enabled.
		//   - M indicates mist coolant is enabled.
		if (_.has(result, "A")) {
			payload.accessoryState = _.get(result, "A[0]", "");
		}

		// Homing status
		if (_.has(result, "H")) {
			payload.hasHomed = Boolean(Number(result.H[0]));
		}
		// Current tool (if persisted)
		if (_.has(result, "T")) {
			payload.currentTool = Number(result.T[0]);
		}

		// Sko Keepout area
		if (_.has(result, "ATCI")) {
			const values = result.ATCI;
			const flags = values[0] || "";
			payload.keepout = {
				flags: flags.split(""),
			};
		}

		// Probe protection status
		// P:0 -> default probe selected, no protection
		// P:0,P -> default probe selected, protection enabled
		if (_.has(result, "P")) {
			payload.probe = {
				type: Number(result.P[0]),
				protected: result.P[1] === "P",
			};
		}

		if (_.has(result, "SD")) {
			payload.SD = {
				name: result.SD[1],
				percentage: Number(result.SD[0]),
			};
		} else {
			payload.SD = {
				name: null,
				percentage: 0,
			};
		}

		return {
			type: GrblHalLineParserResultStatus,
			payload: payload,
		};
	}
}

export default GrblHalLineParserResultStatus;