private void listenReturnCommunication()
{
Stream stm = tcpclnt.GetStream();
byte[] bc = new byte[1000];
int k = stm.Read(bc, 0, 1000);
stmElement se = new stmElement();
se.bc = bc;
se.k = k;
semaphore.Wait();
stmQueue.Enqueue(se);
semaphore.Release();
}
private void displayPos()
{
while (true)
{
while (stmQueue.Count == 0)
{
Thread.Sleep(5);
}
stmElement se = null;
semaphore.Wait();
se = stmQueue.Dequeue();
semaphore.Release();
byte[] bc = se.bc;
int k = se.k;
string str = "";
for (int i = 0; i < k; i++)
{
str += Convert.ToChar(bc[i]);
}
/*
* MethodInvoker mi = delegate
* {
* returnBox.Text += k + ": " + str + "\r\n";
* };
* if (InvokeRequired)
* this.Invoke(mi);
*/
if (k == 8)
{
if (bc[0] == 0x0a && bc[1] == 0x08)
{
string feedPercent = "";
if (bc[6] == 0xb0 && bc[7] == 0x04)
{
feedPercent = "120%";
}
else if (bc[6] == 0x4c && bc[7] == 0x04)
{
feedPercent = "110%";
}
else if (bc[6] == 0xe8 && bc[7] == 0x03)
{
feedPercent = "100%";
}
else if (bc[6] == 0x84 && bc[7] == 0x03)
{
feedPercent = "90%";
}
else if (bc[6] == 0x20 && bc[7] == 0x03)
{
feedPercent = "80%";
}
else if (bc[6] == 0xbc && bc[7] == 0x02)
{
feedPercent = "70%";
}
else if (bc[6] == 0x58 && bc[7] == 0x02)
{
feedPercent = "60%";
}
else if (bc[6] == 0xf4 && bc[7] == 0x01)
{
feedPercent = "50%";
}
else if (bc[6] == 0x90 && bc[7] == 0x01)
{
feedPercent = "40%";
}
else if (bc[6] == 0x2c && bc[7] == 0x01)
{
feedPercent = "30%";
}
else if (bc[6] == 0xc8 && bc[7] == 0x00)
{
feedPercent = "20%";
}
else if (bc[6] == 0x64 && bc[7] == 0x00)
{
feedPercent = "10%";
}
else if (bc[6] == 0x32 && bc[7] == 0x00)
{
feedPercent = "5%";
}
else if (bc[6] == 0x14 && bc[7] == 0x00)
{
feedPercent = "2%";
}
else if (bc[6] == 0x08 && bc[7] == 0x00)
{
feedPercent = "1%";
}
else if (bc[6] == 0x00 && bc[7] == 0x00)
{
feedPercent = "0%";
}
MethodInvoker mi2 = delegate
{
feedRatePercentTxtbox.Text = feedPercent;
};
if (InvokeRequired)
{
this.Invoke(mi2);
}
}
}
if (k == 12)
{
if (bc[0] == 0x0f)
{
if (bc[1] == 0x08 && bc[2] == 0x04)
{
if (lineNum != -1)
{
lineNum++;
}
sendLimit += 1.00;
if (lineNum == GCodeParser.commandStringArr.Length)
{
lineNum = -1;
runGCode.Enabled = true;
}
MethodInvoker mi2 = delegate
{
//line ended
//lineComplete.Text = (int.Parse(lineComplete.Text) + 1).ToString();
if (lineNum != -1)
{
lineNumberBox.Text = lineNum.ToString();
currentLineBox.Text = GCodeParser.commandStringArr[lineNum - 1];
}
};
if (InvokeRequired)
{
this.Invoke(mi2);
}
}
}
}
if (k == 26)
{
if (bc[0] == 2 && bc[1] == 8)
{
//directions
if (bc[6] == 1)// x direction
{
int[] point = new int[8];
string txt = Converter.binaryToString(bc, 10);
MethodInvoker mi2 = delegate
{
xBox.Text = txt;
xOffseted.Text = String.Format("{0:0.0000}", (double.Parse(txt) + xOffset));
};
if (InvokeRequired)
{
this.Invoke(mi2);
}
currentX0 = double.Parse(txt);
currentX = currentX0 + xOffset;
//dist to go
txt = Converter.binaryToString(bc, 18);
}
if (bc[6] == 2)// y direction
{
int[] point = new int[8];
string txt = Converter.binaryToString(bc, 10);
MethodInvoker mi2 = delegate
{
yBox.Text = txt;
yOffseted.Text = String.Format("{0:0.0000}", (double.Parse(txt) + yOffset));
};
if (InvokeRequired)
{
this.Invoke(mi2);
}
currentY0 = double.Parse(txt);
currentY = currentY0 + yOffset;
//dist to go
txt = Converter.binaryToString(bc, 18);
}
if (bc[6] == 4)// z direction
{
int[] point = new int[8];
string txt = Converter.binaryToString(bc, 10);
MethodInvoker mi2 = delegate
{
zBox.Text = txt;
zOffseted.Text = String.Format("{0:0.0000}", (double.Parse(txt) + zOffset + toolHeightOffset));
};
if (InvokeRequired)
{
this.Invoke(mi2);
}
currentZ0 = double.Parse(txt);
currentZ = currentZ0 + zOffset + toolHeightOffset;
//dist to go
txt = Converter.binaryToString(bc, 18);
}
}
else if (bc[0] == 3 && bc[1] == 8) //spindlespeed
{
if (bc[6] == 1) //spindle speed
{
int[] point = new int[8];
for (int i = 0; i < 8; i++)
{
point[i] = bc[8 + i];
}
string txt = Converter.binaryToSpindle(point);
MethodInvoker mi2 = delegate
{
sBox.Text = txt;
};
if (InvokeRequired)
{
this.Invoke(mi2);
}
}
}
}
else if (k == 44)
{
if (bc[6] == 3)// x + y direction
{
int[] point = new int[8];
string txt = Converter.binaryToString(bc, 10);
MethodInvoker mi2 = delegate
{
xBox.Text = txt;
xOffseted.Text = String.Format("{0:0.0000}", (double.Parse(txt) + xOffset));
};
if (InvokeRequired)
{
this.Invoke(mi2);
}
currentX0 = double.Parse(txt);
currentX = currentX0 + xOffset;
//dist to go
txt = Converter.binaryToString(bc, 18);
for (int i = 0; i < 8; i++)
{
point[i] = bc[28 + i];
}
txt = Converter.binaryToString(bc, 28);
mi2 = delegate
{
yBox.Text = txt;
yOffseted.Text = String.Format("{0:0.0000}", (double.Parse(txt) + yOffset));
};
if (InvokeRequired)
{
this.Invoke(mi2);
}
currentY0 = double.Parse(txt);
currentY = currentY0 + xOffset;
//dist to go
txt = Converter.binaryToString(bc, 36);
}
if (bc[6] == 5)// z + x direction
{
int[] point = new int[8];
string txt = Converter.binaryToString(bc, 10);
MethodInvoker mi2 = delegate
{
xBox.Text = txt;
xOffseted.Text = String.Format("{0:0.0000}", (double.Parse(txt) + xOffset));
};
if (InvokeRequired)
{
this.Invoke(mi2);
}
currentX0 = double.Parse(txt);
currentX = currentX0 + xOffset;
//dist to go
txt = Converter.binaryToString(bc, 18);
txt = Converter.binaryToString(bc, 28);
mi2 = delegate
{
zBox.Text = txt;
zOffseted.Text = String.Format("{0:0.0000}", (double.Parse(txt) + zOffset + toolHeightOffset));
};
if (InvokeRequired)
{
this.Invoke(mi2);
}
currentZ0 = double.Parse(txt);
currentZ = currentZ0 + zOffset + toolHeightOffset;
//dist to go
txt = Converter.binaryToString(bc, 36);
}
if (bc[6] == 6)// z + y direction
{
int[] point = new int[8];
string txt = Converter.binaryToString(bc, 10);
MethodInvoker mi2 = delegate
{
yBox.Text = txt;
yOffseted.Text = String.Format("{0:0.0000}", (double.Parse(txt) + yOffset));
};
if (InvokeRequired)
{
this.Invoke(mi2);
}
currentY0 = double.Parse(txt);
currentY = currentY0 + xOffset;
//dist to go
txt = Converter.binaryToString(bc, 18);
txt = Converter.binaryToString(bc, 28);
mi2 = delegate
{
zBox.Text = txt;
zOffseted.Text = String.Format("{0:0.0000}", (double.Parse(txt) + zOffset + toolHeightOffset));
};
if (InvokeRequired)
{
this.Invoke(mi2);
}
currentZ0 = double.Parse(txt);
currentZ = currentZ0 + zOffset + toolHeightOffset;
//dist to go
txt = Converter.binaryToString(bc, 36);
}
}
else if (k == 62)
{
if (bc[6] == 7)// x + y + z direction
{
string txt = Converter.binaryToString(bc, 10);
MethodInvoker mi2 = delegate
{
xBox.Text = txt;
xOffseted.Text = String.Format("{0:0.0000}", (double.Parse(txt) + xOffset));
};
if (InvokeRequired)
{
this.Invoke(mi2);
}
currentX0 = double.Parse(txt);
currentX = currentX0 + xOffset;
//dist to go
txt = Converter.binaryToString(bc, 18);
txt = Converter.binaryToString(bc, 28);
mi2 = delegate
{
yBox.Text = txt;
yOffseted.Text = String.Format("{0:0.0000}", (double.Parse(txt) + yOffset));
};
if (InvokeRequired)
{
this.Invoke(mi2);
}
currentY0 = double.Parse(txt);
currentY = currentY0 + xOffset;
//dist to go
txt = Converter.binaryToString(bc, 36);
txt = Converter.binaryToString(bc, 46);
mi2 = delegate
{
zBox.Text = txt;
zOffseted.Text = String.Format("{0:0.0000}", (double.Parse(txt) + zOffset + toolHeightOffset));
};
if (InvokeRequired)
{
this.Invoke(mi2);
}
currentZ0 = double.Parse(txt);
currentZ = currentZ0 + zOffset + toolHeightOffset;
//dist to go
txt = Converter.binaryToString(bc, 54);
}
}
if (double.IsInfinity(currentX.GetValueOrDefault()))
{
currentX = null;
}
if (double.IsInfinity(currentY.GetValueOrDefault()))
{
currentY = null;
}
if (double.IsInfinity(currentZ.GetValueOrDefault()))
{
currentZ = null;
}
if (double.IsInfinity(currentX0.GetValueOrDefault()))
{
currentX0 = null;
}
if (double.IsInfinity(currentY0.GetValueOrDefault()))
{
currentY0 = null;
}
if (double.IsInfinity(currentZ0.GetValueOrDefault()))
{
currentZ0 = null;
}
}
}
