public static string statusToText(grblState state)
{
switch (state)
{
case grblState.idle: return("Idle");
case grblState.run: return("Run");
case grblState.hold: return("Hold");
case grblState.jog: return("Jogging");
case grblState.alarm: return("Alarm");
case grblState.door: return("Door");
case grblState.check: return("Check code");
case grblState.home: return("Homing");
case grblState.sleep: return("Sleep");
case grblState.probe: return("Probing");
case grblState.unknown:
default:
return("Unknown");
}
}
private void handleStatusMessage(string text, bool probe = false)
{
string[] sections = text.Split(',');
if (probe) // [PRB:-155.000,-160.000,-28.208:1]
{
}
else
{ // <Idle,MPos:0.000,0.000,0.000,WPos:0.000,0.000,0.000>
string status = sections[0].Substring(1).Trim(' ');
Double.TryParse(sections[1].Substring(5), System.Globalization.NumberStyles.Any, System.Globalization.CultureInfo.InvariantCulture, out posMachine.X);
Double.TryParse(sections[2], System.Globalization.NumberStyles.Any, System.Globalization.CultureInfo.InvariantCulture, out posMachine.Y);
Double.TryParse(sections[3], System.Globalization.NumberStyles.Any, System.Globalization.CultureInfo.InvariantCulture, out posMachine.Z);
Double.TryParse(sections[4].Substring(5), System.Globalization.NumberStyles.Any, System.Globalization.CultureInfo.InvariantCulture, out posWorld.X);
Double.TryParse(sections[5], System.Globalization.NumberStyles.Any, System.Globalization.CultureInfo.InvariantCulture, out posWorld.Y);
Double.TryParse(sections[6].TrimEnd('>'), System.Globalization.NumberStyles.Any, System.Globalization.CultureInfo.InvariantCulture, out posWorld.Z);
grblStateNow = grbl.parseStatus(status);
lblStatus.BackColor = grbl.grblStateColor(grblStateNow);
lblStatus.Text = status;
lblPos.Text = string.Format("X={0:0.000} Y={1:0.000} Z={2:0.000}", posMachine.X, posMachine.Y, posMachine.Z);
}
if (grblStateNow != grblStateLast)
{
grblStateChanged();
}
if (grblStateNow == grblState.idle)
{
waitForIdle = false;
processSend();
}
grblStateLast = grblStateNow;
// OnRaisePosEvent(new PosEventArgs(posWorld, posMachine, grblStateNow));
}
public static Color grblStateColor(grblState state)
{
switch (state)
{
case grblState.run:
return(Color.Yellow);
case grblState.hold:
return(Color.YellowGreen);
case grblState.home:
return(Color.Magenta);
case grblState.check:
return(Color.Orange);
case grblState.idle:
return(Color.Lime);
case grblState.probe:
return(Color.LightBlue);
case grblState.unknown:
return(Color.Red);
case grblState.alarm:
case grblState.door:
default:
return(Color.Fuchsia);
}
}
public PosEventArgs(xyzPoint world, xyzPoint machine, grblState stat, string last)
{
posWorld = world;
posMachine = machine;
status = stat;
lastCmd = last;
}
public PosEventArgs(xyzPoint world, xyzPoint machine, grblState stat, mState msg, pState last)
{
posWorld = world;
posMachine = machine;
status = stat;
statMsg = msg;
lastCmd = last;
}
public static Color grblStateColor(grblState state)
{
for (int i = 0; i < statusConvert.Length; i++)
{
if (state == statusConvert[i].state)
return statusConvert[i].color;
}
return Color.Fuchsia;
}
public static string statusToText(grblState state)
{
for (int i = 0; i < statusConvert.Length; i++)
{
if (state == statusConvert[i].state)
return statusConvert[i].msg;
}
return "Unknown";
}
// handle position events from serial form
private void OnRaisePosEvent(object sender, PosEventArgs e)
{
posWorld = e.PosWorld;
posMachine = e.PosMachine;
machineStatus = e.Status;
label_mx.Text = string.Format("{0:0.000}", posMachine.X);
label_my.Text = string.Format("{0:0.000}", posMachine.Y);
label_mz.Text = string.Format("{0:0.000}", posMachine.Z);
label_wx.Text = string.Format("{0:0.000}", posWorld.X);
label_wy.Text = string.Format("{0:0.000}", posWorld.Y);
label_wz.Text = string.Format("{0:0.000}", posWorld.Z);
label_status.Text = grbl.statusToText(machineStatus);
label_status.BackColor = grbl.grblStateColor(machineStatus);
}
public static string statusToText(grblState state)
{
for (int i = 0; i < statusConvert.Length; i++)
{
if (state == statusConvert[i].state)
{
if (Properties.Settings.Default.grblTranslateMessage)
{
return(statusConvert[i].text);
}
else
{
return(statusConvert[i].state.ToString());
}
}
}
return("Unknown");
}
/************************************************************
* handle status report and position event from serial form
* processStatus()
************************************************************/
private void OnRaisePosEvent(object sender, PosEventArgs e)
{
// if (logPosEvent) Logger.Trace("OnRaisePosEvent {0} connect {1} status {2}", e.Status.ToString(), _serial_form.serialPortOpen, e.Status.ToString());
machineStatus = e.Status;
machineStatusMessage = e.StatMsg;
machineParserState = e.parserState;
/***** Restore saved position after reset and set initial feed rate: *****/
if (flagResetOffset || (e.Status == grblState.reset))
{
processReset();
}
/***** process grblState {idle, run, hold, home, alarm, check, door} *****/
processStatus(e.Raw);
/***** check and submit override values, set labels, checkbox *****/
processStatusMessage(e.StatMsg);
/***** set DRO digital-read-out labels with machine and work coordinates *****/
if (!simuEnabled)
{
updateDRO();
}
/***** parser state Spinde/Coolant on/off, on other Forms: FeedRate, SpindleSpeed, G54-Coord *****/
processParserState(e.parserState);
/***** update 2D view *****/
if (grbl.posChanged)
{
VisuGCode.createMarkerPath();
VisuGCode.updatePathPositions();
checkMachineLimit();
pictureBox1.Invalidate();
if (Properties.Settings.Default.flowCheckRegistryChange && !isStreaming)
{
gui.writePositionToRegistry();
}
grbl.posChanged = false;
}
if (grbl.wcoChanged)
{
checkMachineLimit();
grbl.wcoChanged = false;
}
if (((isStreaming || isStreamingRequestStop)) && Properties.Settings.Default.guiProgressShow)
{
VisuGCode.ProcessedPath.processedPathDraw(grbl.posWork);
}
if (_diyControlPad != null)
{
if (oldRaw != e.Raw)
{
_diyControlPad.sendFeedback(e.Raw); //hand over original grbl text
oldRaw = e.Raw;
}
}
}
/***************************************************************
* handle status events from serial form
* {idle, run, hold, home, alarm, check, door}
* only action on status change
***************************************************************/
private void processStatus(string msg)
{
string lblInfo = "";
Color lblInfoColor = Color.Black;
if (logPosEvent)
{
Logger.Trace("processStatus Status:{0}", machineStatus.ToString());
}
if ((machineStatus != lastMachineStatus) || (grbl.lastMessage.Length > 5))
{
// label at DRO
if (label_status.InvokeRequired)
{
label_status.BeginInvoke((MethodInvoker) delegate() { label_status.Text = grbl.statusToText(machineStatus); });
}
else
{
label_status.Text = grbl.statusToText(machineStatus);
}
label_status.BackColor = grbl.grblStateColor(machineStatus);
switch (machineStatus)
{
case grblState.idle:
if ((lastMachineStatus == grblState.hold) || (lastMachineStatus == grblState.alarm))
{
statusStripClear(1, 2, "grblState.idle");
setInfoLabel(lastInfoText, SystemColors.Control);
if (!_serial_form.checkGRBLSettingsOk()) // check 30 kHz limit
{
statusStripSet(1, grbl.lastMessage, Color.Fuchsia);
statusStripSet(2, Localization.getString("statusStripeCheckCOM"), Color.Yellow);
}
}
signalResume = 0;
btnResume.BackColor = SystemColors.Control;
cBTool.Checked = _serial_form.toolInSpindle;
if (signalLock > 0)
{
btnKillAlarm.BackColor = SystemColors.Control; signalLock = 0;
}
if (!isStreaming) // update drawing if G91 is used
{
updateDrawingPath = true;
}
statusStripClear(1, 2, "grblState.idle2");
grbl.lastMessage = "";
break;
case grblState.run:
if (lastMachineStatus == grblState.hold)
{
// statusStripClear();
setInfoLabel(lastInfoText, SystemColors.Control);
}
signalResume = 0;
btnResume.BackColor = SystemColors.Control;
break;
case grblState.hold:
btnResume.BackColor = Color.Yellow;
lastInfoText = lbInfo.Text;
lblInfo = Localization.getString("mainInfoResume"); //"Press 'Resume' to proceed";
if (grbl.lastErrorNr > 0)
{
lblInfoColor = Color.Fuchsia;
}
else
{
lblInfoColor = Color.Yellow;
}
setInfoLabel(lblInfo, lblInfoColor);
// statusStripClear();
statusStripSet(1, grbl.statusToText(machineStatus), grbl.grblStateColor(machineStatus));
statusStripSet(2, lblInfo, lblInfoColor);
if (signalResume == 0)
{
signalResume = 1;
}
break;
case grblState.home:
break;
case grblState.alarm:
signalLock = 1;
btnKillAlarm.BackColor = Color.Yellow;
lblInfo = Localization.getString("mainInfoKill"); //"Press 'Kill Alarm' to proceed";
setInfoLabel(lblInfo, Color.Yellow);
statusStripSet(1, grbl.statusToText(machineStatus) + " " + grbl.lastMessage, grbl.grblStateColor(machineStatus));
statusStripSet(2, lblInfo, Color.Yellow);
grbl.lastMessage = "";
if (_heightmap_form != null)
{
_heightmap_form.stopScan();
}
break;
case grblState.check:
break;
case grblState.door:
btnResume.BackColor = Color.Yellow;
lastInfoText = lbInfo.Text;
lblInfo = Localization.getString("mainInfoResume"); //"Press 'Resume' to proceed";
setInfoLabel(lblInfo, Color.Yellow);
statusStripSet(1, grbl.statusToText(machineStatus), grbl.grblStateColor(machineStatus));
statusStripSet(2, lblInfo, Color.Yellow);
if (signalResume == 0)
{
signalResume = 1;
}
break;
case grblState.probe:
posProbe = _serial_form.posProbe;
if (_diyControlPad != null)
{
if (alternateZ != null)
{
posProbe.Z = (double)alternateZ;
}
//_diyControlPad.sendFeedback("Probe: "+posProbe.Z.ToString());
}
if (_heightmap_form != null)
{
_heightmap_form.setPosProbe = posProbe;
}
if (_probing_form != null)
{
Logger.Info("Update Probing {0}", grbl.displayCoord("PRB"));
_probing_form.setPosProbe = grbl.getCoord("PRB");
}
lastInfoText = lbInfo.Text;
setInfoLabel(string.Format("{0}: X:{1:0.00} Y:{2:0.00} Z:{3:0.00}", Localization.getString("mainInfoProbing"), posProbe.X, posProbe.Y, posProbe.Z), Color.Yellow);
break;
case grblState.unknown:
// timerUpdateControlSource = "grblState.unknown";
// updateControls();
break;
case grblState.notConnected:
setInfoLabel("No connection", Color.Fuchsia);
statusStripSet(1, "No connection", Color.Fuchsia);
statusStripSet(2, msg, Color.Fuchsia);
break;
default:
break;
}
if (_probing_form != null)
{
_probing_form.setGrblSaState = machineStatus;
}
}
lastMachineStatus = machineStatus;
}
/***************************************************************
* handle status events from serial form
* {idle, run, hold, home, alarm, check, door}
* only action on status change
***************************************************************/
private void processStatus()
{
if (logPosEvent)
{
Logger.Trace("processStatus Status:{0}", machineStatus.ToString());
}
if ((machineStatus != lastMachineStatus) || (grbl.lastMessage.Length > 5))
{
// label at DRO
label_status.Text = grbl.statusToText(machineStatus);
label_status.BackColor = grbl.grblStateColor(machineStatus);
switch (machineStatus)
{
case grblState.idle:
if ((lastMachineStatus == grblState.hold) || (lastMachineStatus == grblState.alarm))
{
statusStripClear(1, 2);
lbInfo.Text = lastInfoText;
lbInfo.BackColor = SystemColors.Control;
if (!_serial_form.checkGRBLSettingsOk()) // check 30 kHz limit
{
statusStripSet(1, grbl.lastMessage, Color.Fuchsia);
statusStripSet(2, Localization.getString("statusStripeCheckCOM"), Color.Yellow);
}
}
signalResume = 0;
btnResume.BackColor = SystemColors.Control;
cBTool.Checked = _serial_form.toolInSpindle;
if (signalLock > 0)
{
btnKillAlarm.BackColor = SystemColors.Control; signalLock = 0;
}
if (!isStreaming) // update drawing if G91 is used
{
updateDrawingPath = true;
}
// statusStripClear(1,2);
grbl.lastMessage = "";
break;
case grblState.run:
if (lastMachineStatus == grblState.hold)
{
statusStripClear();
lbInfo.Text = lastInfoText;
lbInfo.BackColor = SystemColors.Control;
}
signalResume = 0;
btnResume.BackColor = SystemColors.Control;
break;
case grblState.hold:
btnResume.BackColor = Color.Yellow;
lastInfoText = lbInfo.Text;
lbInfo.Text = Localization.getString("mainInfoResume"); //"Press 'Resume' to proceed";
lbInfo.BackColor = Color.Yellow;
statusStripClear();
statusStripSet(1, grbl.statusToText(machineStatus), grbl.grblStateColor(machineStatus));
statusStripSet(2, lbInfo.Text, lbInfo.BackColor);
if (signalResume == 0)
{
signalResume = 1;
}
break;
case grblState.home:
break;
case grblState.alarm:
signalLock = 1;
btnKillAlarm.BackColor = Color.Yellow;
lbInfo.Text = Localization.getString("mainInfoKill"); //"Press 'Kill Alarm' to proceed";
lbInfo.BackColor = Color.Yellow;
// statusStripClear(1,2);
statusStripSet(1, grbl.statusToText(machineStatus) + " " + grbl.lastMessage, grbl.grblStateColor(machineStatus));
statusStripSet(2, lbInfo.Text, lbInfo.BackColor);
grbl.lastMessage = "";
if (_heightmap_form != null)
{
_heightmap_form.stopScan();
}
break;
case grblState.check:
break;
case grblState.door:
btnResume.BackColor = Color.Yellow;
lastInfoText = lbInfo.Text;
lbInfo.Text = Localization.getString("mainInfoResume"); //"Press 'Resume' to proceed";
lbInfo.BackColor = Color.Yellow;
// statusStripClear(1,2);
statusStripSet(1, grbl.statusToText(machineStatus), grbl.grblStateColor(machineStatus));
statusStripSet(2, lbInfo.Text, lbInfo.BackColor);
if (signalResume == 0)
{
signalResume = 1;
}
break;
case grblState.probe:
posProbe = _serial_form.posProbe;
if (_diyControlPad != null)
{
if (alternateZ != null)
{
posProbe.Z = (double)alternateZ;
}
//_diyControlPad.sendFeedback("Probe: "+posProbe.Z.ToString());
}
if (_heightmap_form != null)
{
_heightmap_form.setPosProbe = posProbe;
}
if (_probing_form != null)
{
Logger.Info("Update Probing {0}", grbl.displayCoord("PRB"));
_probing_form.setPosProbe = grbl.getCoord("PRB");
}
lastInfoText = lbInfo.Text;
lbInfo.Text = string.Format("{0}: X:{1:0.00} Y:{2:0.00} Z:{3:0.00}", Localization.getString("mainInfoProbing"), posProbe.X, posProbe.Y, posProbe.Z);
lbInfo.BackColor = Color.Yellow;
break;
case grblState.unknown:
timerUpdateControlSource = "grblState.unknown";
updateControls();
// if (Properties.Settings.Default.serialMinimize && _serial_form.serialPortOpen)
// _serial_form.WindowState = FormWindowState.Minimized;
break;
default:
break;
}
if (_probing_form != null)
{
_probing_form.setGrblSaState = machineStatus;
}
}
lastMachineStatus = machineStatus;
}
