Futuro control desde PC de la CNC .....NO ACABADO !!!!

#include <iostream>
#include <string>

#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <string.h> // needed for memset

#include <fstream>  //  fstream::open / fstream::close

#include <sstream>

using namespace std;
#define BPS B9600 //velocidad puerto
#define PORTNAME "/dev/ttyACM0" //0 o 1
#define SPEED 0.001

#define LEFT '4'
#define RIGHT '6'
#define UP '8'
#define DOWN '2'
#define VK_PAGE_UP '7'
#define VK_PAGE_DOWN '1'


/***********************************************************************/
class control{
    public:
    control (string port);
    ~control ();
    void Run();

    private:

    unsigned char c;//Buffer lectura /escritura tty
    int tty_fd;

    string portname;//ttyACM0
    float speed;
    string gcode;
    bool streaming;//false
    size_t i;//posicion en gcode
    fstream fs;
    string fichero;

    void configurePort(string port);
    void draw();//Menu
    void keyPressed(char key);
    void portwrite(string gcode);
    void stream();

    char ReadTTY ();//Lee ttyACM0
    bool WriteTTY();//Escribe ttyACM0
    string trim(string s);//Elimina espacios delante y detras
    void serialEvent(string p);

};
/***********************************************************************/
    char control::ReadTTY (){//Lee ttyACM0
        if (read(tty_fd,&c,1)>0)
        write(STDOUT_FILENO,&c,1);
        return c;
    }
/***********************************************************************/
    bool control::WriteTTY(){//Escribe ttyACM0
        if (read(STDIN_FILENO,&c,1)>0) {write(tty_fd,&c,1);return true;}
        return false;
    }
/***********************************************************************/
/***********************************************************************/
    control::control(string port):portname(PORTNAME),speed(SPEED),streaming(false){}
/***********************************************************************/
    control::~control (){
        if (tty_fd!=0) {close(tty_fd);}
    }
/***********************************************************************/
    void control::configurePort(string port){
    //Para configurar puerto serie
        struct termios tio;
        struct termios stdio;

        memset(&stdio,0,sizeof(stdio));
        stdio.c_iflag=0;
        stdio.c_oflag=0;
        stdio.c_cflag=0;
        stdio.c_lflag=0;
        stdio.c_cc[VMIN]=1;
        stdio.c_cc[VTIME]=0;
        tcsetattr(STDOUT_FILENO,TCSANOW,&stdio);
        tcsetattr(STDOUT_FILENO,TCSAFLUSH,&stdio);
        fcntl(STDIN_FILENO, F_SETFL, O_NONBLOCK);   //READ non-blocking

        memset(&tio,0,sizeof(tio));
        tio.c_iflag=0;
        tio.c_oflag=0;
        tio.c_cflag=CS8|CREAD|CLOCAL;           // 8N1
        tio.c_lflag=0;
        tio.c_cc[VMIN]=1;
        tio.c_cc[VTIME]=5;

        tty_fd=open(port.c_str(), O_RDWR | O_NONBLOCK);        // O_NONBLOCK might override VMIN and VTIME, so read() may return immediately.
        cfsetospeed(&tio,BPS);            // 9600
        cfsetispeed(&tio,BPS);

        tcsetattr(tty_fd,TCSANOW,&tio);
    }

/***********************************************************************/
    void control::Run(){
        draw () ;//MENU
        configurePort (PORTNAME);//dev/ttyACM0 para empezar
        while (true){//bucle principal
            ReadTTY ();
            WriteTTY();
        }
    }
/***********************************************************************/
    void control::draw(){//MENU
        cout <<"INSTRUCTIONS"<<endl;
        cout <<"p: select serial port"<<endl;
        cout <<"1: set speed to 0.001 inches (1 mil) per jog"<<endl;
        cout <<"2: set speed to 0.010 inches (10 mil) per jog"<<endl;
        cout <<"3: set speed to 0.100 inches (100 mil) per jog"<<endl;
        cout <<"arrow keys: jog in x-y plane"<<endl;
        cout <<"page up & page down: jog in z axis"<<endl;
        cout <<"$: display grbl settings"<<endl;
        cout <<"h: go home"<<endl;
        cout <<"0: zero machine (set home to the current location)"<<endl;
        cout <<"g: stream a g-code file"<<endl;
        cout <<"x: stop streaming g-code (this is NOT immediate)"<<endl;
        cout <<"current jog speed: " << speed << " inches per step"<<endl;
        cout <<"current serial port: "<< portname<<endl;
}
/***********************************************************************/
    void control::portwrite(string gcode){
        write(tty_fd,&gcode,gcode.length());
    }
/***********************************************************************/
    void control::keyPressed(char key){
  if (key == '1') speed = 0.001;
  if (key == '2') speed = 0.01;
  if (key == '3') speed = 0.1;

  if (!streaming) {//Lectura comandos directos
    if (key == LEFT) portwrite("G91\nG20\nG00 X-"+to_string(speed)+" Y0.000 Z0.000\n");


    if (key == RIGHT) portwrite("G91\nG20\nG00 X" + to_string(speed) + " Y0.000 Z0.000\n");
    if (key == UP) portwrite("G91\nG20\nG00 X0.000 Y" + to_string(speed) + " Z0.000\n");
    if (key == DOWN) portwrite("G91\nG20\nG00 X0.000 Y-" + to_string(speed )+ " Z0.000\n");
    if (key == VK_PAGE_UP) portwrite("G91\nG20\nG00 X0.000 Y0.000 Z" + to_string(speed) + "\n");
    if (key== VK_PAGE_DOWN) portwrite("G91\nG20\nG00 X0.000 Y0.000 Z-" + to_string(speed )+ "\n");
    if (key == 'h') portwrite("G90\nG20\nG00 X0.000 Y0.000 Z0.000\n");
    if (key == 'v') portwrite("$0=75\n$1=74\n$2=75\n");
    if (key == 'v') portwrite("$0=100\n$1=74\n$2=75\n");
    if (key == 's') portwrite("$3=10\n");
    if (key == 'e') portwrite("$16=1\n");
    if (key == 'd') portwrite("$16=0\n");
    //if (key == '0') openSerialPort();
    //if (key == 'p') selectSerialPort();
    if (key == '$') portwrite("$$\n");
  }

  if (!streaming && key == 'g') {
    gcode.clear(); i = 0;
    //file = NULL;
    cout <<"Loading file..."<<endl<<"Select a file to process:";
    cin >>fichero;
    fs.open (fichero, std::fstream::in);// | std::fstream::out | std::fstream::app


//Procesar fichero .......

    fs.close();

  }

  if (key == 'x') streaming = false;
}

/***********************************************************************/
    void control::stream(){
        stringstream ss;
        string s;

        ss >> s;

        if (!streaming) return;

        while (true) {
            if (i == gcode.length()) {
                streaming = false;
                return;
            }

            //if (gcode[i].trim().length() == 0) i++;//salta espacios en blanco ?????
            if (gcode[i]==' '){i++;}
            else break;
        }

        //println(gcode[i]);
        cout <<gcode[i];//Muestra el gcode

        //port.write(gcode[i] + '\n');//envia al terminal ttyACM0 el caracter
        ss<<gcode[i]+'\n';
        ss>>s;
        portwrite (s);
        i++;
}
/***********************************************************************/
    string control::trim(string s){//Elimina espacios delante y detras
        string::iterator it;
        for (it=s.begin() ;*it== ' ' && it!=s.end();it++){}
        s.erase(s.begin(),it);

        it =s.end();it--;
        while (*it--==' '){s.pop_back();}
        return s;
    }
/***********************************************************************/
    void control::serialEvent(string p){
        string s;
        size_t found(0);
        char c;

        while ( ( c=ReadTTY() )!='\n' ){//Lee ttyACM0 hasta salto de linea
            s+=ReadTTY();//Crea string s con caracteres ...
        }

        s=trim(s); //procesa el string elimina espacios
        cout <<s<<endl;

        found=s.find("ok");

        if (found==0 && found!=string::npos ){ stream() ;}

        found=s.find("error");
        if (found==0 && found!=string::npos ){ stream() ;}


        /*
        string s = p.readStringUntil('\n');
        println(s.trim());
        if (s.trim().startsWith("ok")) stream();
        if (s.trim().startsWith("error")) stream(); // XXX: really?
        */

    }
/***********************************************************************/
/***********************************************************************/
/***********************************************************************/
int main (){
    control miniCNC(PORTNAME);
    miniCNC.Run();
}