/*
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(plan_line_data_t *pl_data, parser_block_t *gc_block)
{
  // Initialize planner data struct for jogging motions.
  // NOTE: Spindle and coolant are allowed to fully function with overrides during a jog.
  pl_data->feed_rate = gc_block->values.f;
  pl_data->condition |= PL_COND_FLAG_NO_FEED_OVERRIDE;
#ifdef USE_LINE_NUMBERS
  pl_data->line_number = gc_block->values.n;
#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);
}
