# This will not cause grief or a troubled heart to my master—that you have poured out innocent blood, or because my master attempted to rescue himself

"Your action will not cause you  the grief or the troubled heart that pouring out blood needlessly or trying to avenge yourself would cause you.”

# This will not cause grief or a troubled heart to my master

"Your action will not give you sorrow or guilty feelings" or "You will not do something that causes you to regret  what you did and to feel guilty" 

# that you have poured out innocent blood

"that you have killed innocent people" 

# my master ... my master ... himself ... my master ... your servant

"you ... you ... yourself ... you ... me" 

# when Yahweh will do good for my master

That is, when Yahweh actually makes him king after Saul's reign is over.