/*
  jog.h - Jogging methods
  Part of Grbl

  Copyright (c) 2016 Sungeun K. Jeon for Gnea Research LLC

  Grbl 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, either version 3 of the License, or
  (at your option) any later version.

  Grbl 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 Grbl.  If not, see <http://www.gnu.org/licenses/>.
*/

#include "grbl.h"


// Sets up valid jog motion received from g-code parser, checks for soft-limits, and executes the jog.
uint8_t jog_execute(parser_block_t *gc_block)
{
  // Initialize planner data struct for motion blocks.
  // NOTE: Spindle and coolant are allowed to fully function with overrides during a jog.
  plan_line_data_t plan_data;
  plan_line_data_t *pl_data = &plan_data;
  memset(pl_data,0,sizeof(plan_line_data_t)); // Zero pl_data struct
  pl_data->feed_rate = gc_block->values.f;
  pl_data->spindle_speed = gc_block->values.s; // Continue current spindle and coolant condition.
  plan_data.condition = (PL_COND_FLAG_NO_FEED_OVERRIDE | gc_block->modal.spindle | gc_block->modal.coolant);
  #ifdef USE_LINE_NUMBERS
    pl_data->line_number = JOG_LINE_NUMBER;
  #endif

  if (bit_istrue(settings.flags,BITFLAG_SOFT_LIMIT_ENABLE)) {
    if (system_check_travel_limits(gc_block->values.xyz)) { return(STATUS_TRAVEL_EXCEEDED); }
  }

  // Valid jog command. Plan, set state, and execute.
  mc_line(gc_block->values.xyz,pl_data);
  if (sys.state == STATE_IDLE) {
    if (plan_get_current_block() != NULL) { // Check if there is a block to execute.
      sys.state = STATE_JOG;
      st_prep_buffer();
      st_wake_up();  // NOTE: Manual start. No state machine required.
    }
  }

  return(STATUS_OK);
}