--Create a new Module in Mach4 from the Script Editor and name it SerialDRO
--Then paste this code into the module

local SerialDRO = {}


	local inst = mc.mcGetInstance()
	local rs232 = require("luars232")
	local port_type = "COM" -- The Open port function will try all the com ports until it finds the right one
	local port_name = "COM1"
	local read_len = 1 -- read one byte
	local timeout = 5 -- in miliseconds
	local ResponseTimer = 5 --Time to delay for drive response in milliseconds
	local max_flush = 4096 --Maximum number of characters to flush from the buffer while reading
	local max_length = 18 --Longest Serial Packet
	local out = io.stderr
	local p = 0 --Serial Port handle
	
	
	function SerialDRO.SendSerialDRO()
	--Place a call to this inside a timer
	
	--You can use this to implement an external DRO by Serial
	--For example, if you wanted the axis coordinates shown on an external pendant
	--Simon Rafferty 2020 SimonSFX[at]Outlook.com

		
		
		local RV = 0 --Return value
		local XAxisPos = 0
		local YAxisPos = 0
		local ZAxisPos = 0
		local SpindleSpeed = 0
		local FRO = 0
		local len_written = 0
		
		
		
		if(bSerialDROActive) then
			
			
			
			XAxisPos,RV = mc.mcAxisGetPos(inst,0) 
			YAxisPos,RV = mc.mcAxisGetPos(inst,1) 
			ZAxisPos,RV = mc.mcAxisGetPos(inst,2) 
			--SpindleSpeed = mc.mcSpindleGetTrueRPM(inst)
			--FRO = mc.mcCntlGetFRO(inst)
			--mc.mcCntlSetFRO(inst, percent)
			
			--Only open Comms channel if we need to send something
			--if((XAxisPos~=LastX) or (YAxisPos~=LastY) or (ZAxisPos~=LastZ) or (SpindleSpeed~=LastSpin) or (FRO~=LastFRO)) then
				--mc.mcCntlSetLastError(inst, "Sending Serial DROs")
				
				--Send DRO Poitions and only send values that have changed

				--if(RV==0) then
					--If positions retrieved correctly, send by Serial
					if(XAxisPos~=LastX and mc.mcAxisIsStill(inst,0)) then
						RV, len_written = p:write(string.format("D X %.4f \n",XAxisPos), 5)
						mc.mcCntlSetLastError(inst, "Sent "..string.format("D X %.4f \n",XAxisPos))
						LastX = XAxisPos
					end
					if(YAxisPos~=LastY and mc.mcAxisIsStill(inst,1)) then
						RV, len_written = p:write(string.format("D Y %.4f \n",YAxisPos), 5)
						LastY = YAxisPos
					end
					if(ZAxisPos~=LastZ and mc.mcAxisIsStill(inst,2) ) then
						RV, len_written = p:write(string.format("D Z %.4f \n",ZAxisPos), 5)
						LastZ = ZAxisPos
					end
					
				--end
				--mc.mcCntlSetLastError(inst, "Sent Serial DRO Values")

				
				
				
				
				
				--LastSpin = SpindleSpeed
				--LastFRO = FRO
				
			--end
		end


	end


function SerialDRO.OpenPort()
	--mc.mcCntlSetLastError(inst, "Starting Serial Port Open Function")
	--This function uses the RS232 library to open a serial port using the global variable port_name
	--Port settings are assigned immediately
	local ES = ""
	local RS = ""
	local RV = 0
	local data_read = ""
	local temp_port_name = ""
	
	port_name = ""
	
	--Open Serial port using the RS232 library and check for errors
	for PortNo=1,30,1 do --Traverse all the possible port numbers
		if(temp_port_name~="" and p~=nil) then
			p:close()
		end
		temp_port_name = port_type..tostring(PortNo) 
		mc.mcCntlSetLastError(inst, "Looking for Pendant on: "..temp_port_name)
		e, p = rs232.open(temp_port_name)
		if(p~=nil and e == rs232.RS232_ERR_NOERROR) then
			--Test port to see if Pendant connected
			mc.mcCntlSetLastError(inst, "Port Opened OK: "..temp_port_name)
			--Arduino resets on Serial Connect. Give it a couple of seconds
			wx.wxMilliSleep(3000) 
			assert(p:set_baud_rate(rs232.RS232_BAUD_115200) == rs232.RS232_ERR_NOERROR)
			assert(p:set_data_bits(rs232.RS232_DATA_8) == rs232.RS232_ERR_NOERROR)
			assert(p:set_parity(rs232.RS232_PARITY_NONE) == rs232.RS232_ERR_NOERROR)
			assert(p:set_stop_bits(rs232.RS232_STOP_1) == rs232.RS232_ERR_NOERROR)
			assert(p:set_flow_control(rs232.RS232_FLOW_OFF)  == rs232.RS232_ERR_NOERROR)
			SerialDRO.FlushBuffer()
			mc.mcCntlSetLastError(inst, "Sending O: "..temp_port_name)
			p:write("O \n",5) --If this is correct, Pendant will reply with "K"
			RV, data_read, size = p:read(1, 500) --Wait 500ms for response
			if(data_read~=nil) then
				mc.mcCntlSetLastError(inst, "Got a response: "..data_read)
			end
			if (RV == rs232.RS232_ERR_NOERROR) then
				if(data_read~=nil) then
					mc.mcCntlSetLastError(inst, "Got a response: "..data_read)
					rString = TrimString(data_read) --Get rid of white space at end
					if(rString=="K") then
						--This is the correct port
						port_name = temp_port_name
						mc.mcCntlSetLastError(inst, "Pendant found on "..port_name)
					end
				end
			end
		end
		if(port_name~="") then
			break --Terminate outer loop
		end							
	end
	
	if(port_name=="") then
		--Pendant not found
		mc.mcCntlSetLastError(inst, "Pendant not found!!")
		return "Not Found"
	end
	
	
	--Deselect Jog Axis for safety
	mc.mcMpgSetAxis(inst, 0, -1) --No Axis
	

	return ES
end

function SerialDRO.ClosePort()
	local ES = ""
	local RS = ""
	local RV = 0
	
	p:close()
	
	--WriteRegister("SerialOpen", 0)
	return ES
end

function SerialDRO.FlushBuffer()
	--Windows automatically fills a serial buffer with characters (up to 4096 I think)
	--This function reads the entire buffer to empty it out
	local ES = ""
	local RS = ""
	local RV = 0
	local data_read
	local size

	--RV, data_read, size = p:read(max_flush, timeout)
	RV = p:flush()
	if RV ~= rs232.RS232_ERR_NOERROR then; ES = "F0201"..string.format("%02X",RV)..":"; return ES; end
	return ES
end

function SerialDRO.ReadPendant()
--Place a call to this inside a timer
	local data_read = ""
	local size 
	local ES = ""
	local RS = ""
	local RV = 0
	rString = ""
	--mc.mcCntlSetLastError(inst, "ReadPendant Called")
		
	RV, data_read, size = p:read(1, timeout)
	if (RV ~= rs232.RS232_ERR_NOERROR) then
		--mc.mcCntlSetLastError(inst, "Read Serial Error"..string.format("%02X",RV)..":")
	end
	
	if(data_read~=nil) then
		
		rString = rString..data_read
		for i = 0,max_length,1 do --Flush the buffer until a linefeed is found
			RV, data_read, size = p:read(1, timeout)
			if (RV ~= rs232.RS232_ERR_NOERROR) then; ES = "Read Serial Error"..string.format("%02X",RV)..":"; return ES; end
			
			if (data_read == nil or i == max_length) then; ES = "Nothing Read:"; return ES; end
			
			if data_read == "\n" then break end
			
			rString = rString..data_read
			
		end
		--mc.mcCntlSetLastError(inst, "Read: "..rString)
		p:flush()
		rString = TrimString(rString) --Get rid of white space at end
		SerialDRO.CommandEnact(rString) --Enact whatever command was received
		
	end
end


function TrimString(s)
   return s:match'^%s*(.*%S)' or ''
end

function SerialDRO.UpdatePendant(bMPGActive)
--Send state of all the DROs and buttons
local nJogAxis = 0
local fJogInc = 0


--mc.mcCntlSetLastError(inst, "Active: "..tostring(bMPGActive))
	--Show Jog Axis
	p:write("J N \n", 5)
	--nJogAxis=mc.mcMpgGetAxis(inst, 0) 
	--if(nJogAxis==0) then 
	--	p:write("J X \n", 5)
	--end
	--if(nJogAxis==1) then 
	--	p:write("J Y \n", 5)
	--end
	--if(nJogAxis==2) then 
	--	p:write("J Z \n", 5)
	--end
	
	--Show Jog Increment
	fJogInc = mc.mcJogGetInc(inst, 0)
	if(fJogInc==0.001) then
		p:write("I 1\n", 5)
	end
	if(fJogInc==0.010) then
		p:write("I 2\n", 5)
	end
	if(fJogInc==0.100) then
		p:write("I 3\n", 5)
	end
	if(fJogInc==1.000) then
		p:write("I 4\n", 5)
	end
	
	--Show enabled state
	if(machEnabled==0 or bMPGActive==false) then
		p:write("B E 0 \n", 5)  
	else
		p:write("B E 1 \n", 5)
	end

	--Show Coolant state
	local OSigCool = mc.mcSignalGetHandle (inst,mc.OSIG_COOLANTON)
	if(mc.mcSignalGetState(OSigCool)==0) then
		p:write("B C 0\n", 5)
	else
		p:write("B C 1\n", 5)
	end
	
	--Show Axis DROs
	XAxisPos,RV = mc.mcAxisGetPos(inst,0) 
	YAxisPos,RV = mc.mcAxisGetPos(inst,1) 
	ZAxisPos,RV = mc.mcAxisGetPos(inst,2) 
	RV, len_written = p:write(string.format("D X %.4f \n",XAxisPos), 5)
	LastX = XAxisPos
	RV, len_written = p:write(string.format("D Y %.4f \n",YAxisPos), 5)
	LastY = YAxisPos
	RV, len_written = p:write(string.format("D Z %.4f \n",ZAxisPos), 5)

end


function SerialDRO.CommandEnact(Command)
-- Sent Commands:
-- I : MPG Increment    D : MPG Decrement
-- X : Jog X Axis      Y : Jog Y Axis      Z : Jog Z Axis      F : Feed Rate Override   Q : Spindle Override  N : Move No Axis (disable MPG)         
-- 1 : Jog Inc 0.001    2 : Jog Inc 0.010    3 : Jog Inc 0.100    4 : Jog Inc 1.000
-- E : E-Stop
-- C : Coolant (Lower case to turn off)
-- H : Feed Hold
-- S : Start Cycle

-- This takes a single character string as a parameter and uses it to enact
-- some of the buttons / features of Mach4
-- The command character is received from the pendant over serial

	--mc.mcCntlSetLastError(inst, "Process Command: '"..Command.."'")

    if Command == "X" then
        mc.mcMpgSetAxis(inst, 0, 0) --X Axis
		p:write("J X \n", 5)
        mc.mcCntlSetLastError(inst, "Jog X Selected")
        
    elseif Command == "Y" then
        mc.mcMpgSetAxis(inst, 0, 1) --Y Axis
		p:write("J Y \n", 5)
        mc.mcCntlSetLastError(inst, "Jog Y Selected")
        
    elseif Command == "Z" then
        mc.mcMpgSetAxis(inst, 0, 2) --Z Axis
	    p:write("J Z \n", 5)
        mc.mcCntlSetLastError(inst, "Jog Z Selected")
        
    elseif Command == "A" then
        mc.mcMpgSetAxis(inst, 0, 3) --A Axis
        mc.mcCntlSetLastError(inst, "Jog A Selected")
        
    elseif Command == "N" then
        mc.mcMpgSetAxis(inst, 0, -1) --No Axis
        mc.mcCntlSetLastError(inst, "Jog  No Axis Selected")
        
		
    elseif Command == "1" then
		mc.mcJogSetInc(inst, 0, .001)
		mc.mcJogSetInc(inst, 1, .001)
		mc.mcJogSetInc(inst, 2, .001)
		p:write("I 1\n", 5)
		mc.mcCntlSetLastError(inst, "Jog Increment 0.001")
    elseif Command == "2" then
		mc.mcJogSetInc(inst, 0, .010)
		mc.mcJogSetInc(inst, 1, .010)
		mc.mcJogSetInc(inst, 2, .010)
		p:write("I 2\n", 5)
		mc.mcCntlSetLastError(inst, "Jog Increment 0.010")
    elseif Command == "3" then
		mc.mcJogSetInc(inst, 0, .100)
		mc.mcJogSetInc(inst, 1, .100)
		mc.mcJogSetInc(inst, 2, .100)
		p:write("I 3\n", 5)
		mc.mcCntlSetLastError(inst, "Jog Increment 0.100")
    elseif Command == "4" then
	local JogVel = mc.MC_JOG_TYPE_VEL;
	mc.JogGetVelocity(inst, 0)
	mc.JogGetVelocity(inst, 1)
	mc.JogGetVelocity(inst, 2)
		mc.mcCntlSetLastError(inst, "Jog Cont")
		
    elseif Command == "E" then
		if(machEnabled==0) then
			p:write("B E 0 \n", 5)
		else
			p:write("B E 1 \n", 5)
			mc.mcCntlEStop(inst)
			mc.mcCntlSetLastError(inst, "E STOP")
		end
			
    elseif Command == "C" then --Toggle Coolant
		local OSigCool = mc.mcSignalGetHandle (inst,mc.OSIG_COOLANTON)
		if(mc.mcSignalGetState(OSigCool)==0) then
			mc.mcSignalSetState(OSigCool,1)
			p:write("B C 1\n", 5)
			mc.mcCntlSetLastError(inst, "Coolant On")		
		else
			mc.mcSignalSetState(OSigCool,0)
			p:write("B C 0\n", 5)
			mc.mcCntlSetLastError(inst, "Coolant Off")		
		end
		
    elseif Command == "S" then --Cycle Start
		p:write("B S 1\n", 5)  --Turns off STOP and on START light
		p:write("B H 0\n", 5)  --Turns off HOLD light
		mc.mcCntlCycleStart(inst)
		
    elseif Command == "H" then --Cycle Start
		p:write("B H 1\n", 5)  --Turns on HOLD light
		mc.mcCntlFeedHold(inst)
		
    elseif Command == "T" then --Cycle Start
		p:write("B S 0\n", 5) --Turns off START and on STOP light
		p:write("B H 0\n", 5) --Turns off HOLD light
		mc.mcCntlCycleStop(inst)
		
	
    elseif Command == "I" then
		--mc.mcCntlSetLastError(inst, "Jog INC")
        JogInc=mc.mcJogGetInc(inst,0)
		MPGAxis = mc.mcMpgGetAxis(inst, 0)
		if(mc.mcAxisIsStill(inst,MPGAxis)) then
			mc.mcJogIncStart(inst, MPGAxis, JogInc)
		end
		
    elseif Command == "D" then
		--mc.mcCntlSetLastError(inst, "Jog DEC")
        JogInc=mc.mcJogGetInc(inst,0)
		MPGAxis = mc.mcMpgGetAxis(inst, 0)
		if(mc.mcAxisIsStill(inst,MPGAxis)) then
			mc.mcJogIncStart(inst, MPGAxis, -1 * JogInc)
		end
	--Add your own cases here	
		
		
    end


end

	if (mc.mcInEditor() == 1) then
		--If you get a 'not found' error here, change the path below to where load_modules.mcs lives
		--If, like me, you don't have a copy, you can download it here: 
		--https://www.machsupport.com/forum/index.php?action=dlattach;topic=34318.0;attach=45828
		
		--dofile (path .. "\\Profiles\\" .. profile .. "\\Macros\\load_modules.mcs")
		SendSerialDRO()
	end

return SerialDRO