public static async Task <uint[]> GetEpromValuesAsync(this ISerial serial, int waitForMilliseconds)
{
var cmd = (await serial.SendCommandAsync("$?", waitForMilliseconds)).FirstOrDefault();
if (cmd != null && string.IsNullOrEmpty(cmd.ResultText) == false)
{
string[] separators = { "\n", "\r" };
string[] lines = cmd.ResultText.Split(separators, StringSplitOptions.RemoveEmptyEntries);
var intValues = new Dictionary <int, uint>();
int maxSlot = -1;
foreach (var line in lines)
{
// e.g. $1=65535(ffff)
string[] assign = line.Split('=');
int slot;
if (assign.Length == 2 && assign[0].StartsWith("$") && int.TryParse(assign[0].TrimStart('$'), out slot))
{
uint slotValue;
string valueStr = assign[1];
int idx1 = valueStr.IndexOf('(');
if (idx1 > 0)
{
valueStr = valueStr.Substring(0, idx1);
}
if (uint.TryParse(valueStr, out slotValue))
{
intValues[slot] = slotValue;
if (maxSlot < slot)
{
maxSlot = slot;
}
}
}
}
if (maxSlot > 0)
{
var ret = new uint[maxSlot + 1];
for (int i = 0; i <= maxSlot; i++)
{
if (intValues.ContainsKey(i))
{
ret[i] = intValues[i];
}
}
return(ret);
}
}
return(null);
}
public static async Task <bool> SendProbeCommandAsync(this ISerial serial, string axisName, decimal probeSize, decimal probeDist, decimal probeDistUp, decimal probeFeed)
{
var result = await serial.SendCommandAsync($"g91 g31 {axisName}-{probeDist.ToString(CultureInfo.InvariantCulture)} F{probeFeed.ToString(CultureInfo.InvariantCulture)} g90", GCodeSerial.DefaultProbeTimeout);
if (result?.LastOrDefault()?.ReplyType.HasFlag(EReplyType.ReplyError) == false)
{
serial.QueueCommand($"g92 {axisName}{(-probeSize).ToString(CultureInfo.InvariantCulture)}");
serial.QueueCommand($"g91 g0 {axisName}{probeDistUp.ToString(CultureInfo.InvariantCulture)} g90");
return(true);
}
return(false);
}
public static async Task SendMacroCommandAsync(this ISerial serial, Machine machine, string commandString)
{
string[] separators = { @"\n" };
string[] cmds = commandString.Split(separators, StringSplitOptions.RemoveEmptyEntries);
foreach (string s in cmds)
{
string[] infos = s.Split(':');
int axis;
if (infos.Length > 1 && string.Compare(infos[0], @";probe", true) == 0 && -1 != (axis = GCodeHelper.AxisNameToIndex(infos[1])))
{
if (false == await serial.SendProbeCommandAsync(machine, axis))
{
break;
}
}
else if (infos.Length == 1 && string.Compare(infos[0], @";beep", true) == 0)
{
SystemSounds.Beep.Play();
}
else
{
if (s.TrimEnd().EndsWith("?"))
{
var result = await serial.SendCommandAsync(s.TrimEnd().TrimEnd('?'), GCodeSerial.DefaultTimeout);
if (result?.LastOrDefault()?.ReplyType.HasFlag(EReplyType.ReplyError) == false)
{
return;
}
}
else
{
await serial.SendCommandAsync(s, GCodeSerial.DefaultTimeout);
}
}
}
}
/// <summary>
/// Send a command to the arduino and wait until a (OK) reply
/// Queue must be empty
/// </summary>
/// <param name="line">command line</param>
/// <param name="waitForMilliseconds"></param>
/// <returns>ok result from arduino or empty(if error)</returns>
public static async Task <string> SendCommandAndReadOKReplyAsync(this ISerial serial, string line, int waitForMilliseconds)
{
var ret = await serial.SendCommandAsync(line, waitForMilliseconds);
if (ret.Any())
{
var last = ret.Last();
if (last.ReplyType.HasFlag(EReplyType.ReplyOK))
{
return(last.ResultText);
}
}
return(null);
}
public static async Task <bool> SendProbeCommandAsync(this ISerial serial, Machine machine, int axisIndex)
{
string axisName = machine.GetAxisName(axisIndex);
decimal probeSize = machine.GetProbeSize(axisIndex);
string probDist = machine.ProbeDist.ToString(CultureInfo.InvariantCulture);
string probDistUp = machine.ProbeDistUp.ToString(CultureInfo.InvariantCulture);
string probFeed = machine.ProbeFeed.ToString(CultureInfo.InvariantCulture);
var result = await serial.SendCommandAsync("g91 g31 " + axisName + "-" + probDist + " F" + probFeed + " g90", DefaultProbeTimeout);
if (result?.LastOrDefault()?.ReplyType.HasFlag(EReplyType.ReplyError) == false)
{
serial.QueueCommand("g92 " + axisName + (-probeSize).ToString(CultureInfo.InvariantCulture));
serial.QueueCommand("g91 g0" + axisName + probDistUp + " g90");
return(true);
}
return(false);
}
public static async Task EraseEepromValuesAsync(this ISerial serial)
{
await serial.SendCommandAsync(@"$!", DefaultEpromTimeout);
await serial.SendCommandAsync(@"$0=0", DefaultEpromTimeout);
}
public static async Task WriteEepromValuesAsync(this ISerial serial, EepromV1 ee)
{
await serial.SendCommandAsync(@"$!", DefaultEpromTimeout);
await serial.SendCommandsAsync(ee.ToGCode(), DefaultEpromTimeout);
}
