private void AxisEnabled_PropertyChanged(object sender, PropertyChangedEventArgs e)
{
if (AxisEnabled.Value.ToString().Length == 1)
{
Comms.com.WriteString(string.Format("M122{0}S1\r", AxisEnabled.Value.ToString()));
SGValue = GrblSettings.GetInteger(grblHALSetting.StallGuardBase + GrblInfo.AxisLetterToIndex(AxisEnabled.Value.ToString()));
}
}
void cvOffset_Click(object sender, RoutedEventArgs e)
{
if (selectedTool != null)
{
string axisletter = (string)((CoordValueSetControl)sender).Tag;
int axis = GrblInfo.AxisLetterToIndex(axisletter);
selectedTool.Values[axis] = offset.Values[axis];
saveOffset(axisletter);
}
}
public DROControl()
{
InitializeComponent();
foreach (DROBaseControl axis in UIUtils.FindLogicalChildren <DROBaseControl>(this))
{
axis.Tag = GrblInfo.AxisLetterToIndex(axis.Label);
axis.txtReadout.GotFocus += TxtReadout_GotFocus;
axis.txtReadout.LostFocus += txtPos_LostFocus;
axis.txtReadout.PreviewKeyUp += txtPos_KeyPress;
axis.btnZero.Click += btnZero_Click;
}
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
System.Threading.Thread.Sleep(50);
Comms.com.PurgeQueue();
using (new UIUtils.WaitCursor())
{
GrblInfo.Get();
GrblSettings.Get();
}
configView.Activate(true, ViewType.Startup);
}
private void About_Load(object sender, System.EventArgs e)
{
GrblInfo.Get();
txtGrblVersion.Content = GrblInfo.Version;
txtGrblOptions.Content = GrblInfo.Options;
txtGrblNewOpts.Content = GrblInfo.NewOptions;
grpGrbl.Header = GrblSettings.IsGrblHAL ? "grblHAL" : "grbl";
if (GrblInfo.Identity != "")
{
grpGrbl.Header += ": " + GrblInfo.Identity;
}
}
// G10 L1 P- axes <R- I- J- Q-> Set Tool Table
// L10 - ref G5x + G92 - useful for probe (G38)
// L11 - ref g59.3 only
// Q: 1 - 8: 1: 135, 2: 45, 3: 315, 4: 225, 5: 180, 6: 90, 7: 0, 8: 270
void saveOffset(string axis)
{
string s, axes = string.Empty;
string[] soffset = new string[6];
if (axis == "All")
{
int i = 0, axisflags = GrblInfo.AxisFlags;
while (axisflags != 0)
{
if ((axisflags & 0x01) != 0)
{
axes += string.Format("{0}{{{1}}}", GrblInfo.AxisIndexToLetter(i), i + 1);
}
i++; axisflags >>= 1;
}
}
else
{
axes = axis + "{" + (GrblInfo.AxisLetterToIndex(axis) + 1).ToString() + "}";
}
for (int i = 0; i < selectedOffset.Values.Length; i++)
{
if (i == 0)
{
soffset[i] = GrblWorkParameters.ConvertX(GrblWorkParameters.LatheMode, GrblParserState.LatheMode, selectedOffset.X).ToInvariantString();
}
else
{
soffset[i] = selectedOffset.Values[i].ToInvariantString();
}
}
string xOffset = GrblWorkParameters.ConvertX(GrblWorkParameters.LatheMode, GrblParserState.LatheMode, selectedOffset.X).ToInvariantString();
if (selectedOffset.Id == 0)
{
string code = selectedOffset.Code == "G28" || selectedOffset.Code == "G30" ? selectedOffset.Code + ".1" : selectedOffset.Code;
s = string.Format("G90{0}" + axes, code, soffset[0], soffset[1], soffset[2], soffset[3], soffset[4], soffset[5]);
}
else
{
s = string.Format("G90G10L2P{0}" + axes, selectedOffset.Id, soffset[0], soffset[1], soffset[2], soffset[3], soffset[4], soffset[5]);
}
Comms.com.WriteCommand(s);
}
public UserUI()
{
string PortParams = "";
InitializeComponent();
try
{
XmlDocument config = new XmlDocument();
config.Load(Application.StartupPath + "\\App.config");
foreach (XmlNode N in config.SelectNodes("Config/*"))
{
switch (N.Name)
{
case "PortParams":
PortParams = N.InnerText;
break;
}
}
}
catch
{
MessageBox.Show("Config file not found or invalid.", this.Text);
System.Environment.Exit(1);
}
#if DEBUG
PortParams = "com29:115200,N,8,1,P";
#endif
new SerialComms(PortParams, Comms.ResetMode.None);
if (!Comms.com.IsOpen)
{
this.com = null;
MessageBox.Show("Unable to open serial port!", this.Text);
System.Environment.Exit(2);
}
GrblLanguage.language = "en_US";
GrblInfo.Get();
GrblSettings.Load();
this.Text += ", Grbl version " + GrblInfo.Version;
}
void AxisPositionChanged(string axis, double position)
{
if (axis == "ALL")
{
string s = "G90G10L20P0";
foreach (int i in GrblInfo.AxisFlags.ToIndices())
{
s += GrblInfo.AxisIndexToLetter(i) + "{0}";
}
(DataContext as GrblViewModel).ExecuteCommand(string.Format(s, position.ToInvariantString("F3")));
}
else
{
(DataContext as GrblViewModel).ExecuteCommand(string.Format("G10L20P0{0}{1}", axis, position.ToInvariantString("F3")));
}
}
private void txtPos_KeyPress(object sender, KeyEventArgs e)
{
if (e.Key == Key.Enter)
{
NumericTextBox axis = (NumericTextBox)sender;
if (axis.Value != orgpos)
{
AxisPositionChanged(GrblInfo.AxisIndexToLetter((int)axis.Tag), axis.Value);
}
axis.IsReadOnly = true;
DROEnabledChanged?.Invoke(false);
}
}
public void SetNumAxes(int numAxes)
{
if (numAxes <= 3 || numAxes > 6)
{
return;
}
string axes = "XYZ";
for (int axis = 3; axis < numAxes; axis++)
{
axes += GrblInfo.AxisIndexToLetter(axis);
}
Config(axes + baseSignals);
}
void AxisPositionChanged(string axis, double position)
{
if (axis == "ALL")
{
string s = "G90G10L20P0";
for (int i = 0; i < GrblInfo.NumAxes; i++)
{
s += GrblInfo.AxisIndexToLetter(i) + "{0}";
}
Grbl.MDICommand(DataContext, string.Format(s, position.ToInvariantString("F3")));
}
else
{
Grbl.MDICommand(DataContext, string.Format("G10L20P0{0}{1}", axis, position.ToInvariantString("F3")));
}
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
System.Threading.Thread.Sleep(50);
Comms.com.PurgeQueue();
using (new UIUtils.WaitCursor())
{
GrblInfo.Get();
GrblSettings.Load();
}
halsettings.IsEnabled = grblsettings.IsEnabled = GrblInfo.IsGrblHAL && GrblInfo.Build >= 20210819;
grblalarms.IsEnabled = grblerrors.IsEnabled = GrblInfo.IsGrblHAL && GrblInfo.Build >= 20210823;
configView.Activate(true, ViewType.Startup);
}
// G10 L1 P- axes <R- I- J- Q-> Set Tool Table
// L10 - ref G5x + G92 - useful for probe (G38)
// L11 - ref g59.3 only
// Q: 1 - 8: 1: 135, 2: 45, 3: 315, 4: 225, 5: 180, 6: 90, 7: 0, 8: 270
void saveOffset(string axis)
{
string s;
string axes = axis == "All" ? "X{1}Y{2}Z{3}" : (axis + "{" + (GrblInfo.AxisLetterToIndex(axis) + 1).ToString() + "}");
string xOffset = GrblWorkParameters.ConvertX(GrblWorkParameters.LatheMode, GrblParserState.LatheMode, selectedOffset.X).ToInvariantString();
if (selectedOffset.Id == 0)
{
string code = selectedOffset.Code == "G28" || selectedOffset.Code == "G30" ? selectedOffset.Code + ".1" : selectedOffset.Code;
s = string.Format("G90{0}" + axes, code, xOffset, selectedOffset.Y.ToInvariantString(), selectedOffset.Z.ToInvariantString());
}
else
{
s = string.Format("G90G10L2P{0}" + axes, selectedOffset.Id, xOffset, selectedOffset.Y.ToInvariantString(), selectedOffset.Z.ToInvariantString());
}
Comms.com.WriteCommand(s);
}
public void Activate(bool activate, ViewType chgMode)
{
Comms.com.WriteString(string.Format("M122S{0}H{1}\r", activate ? 1 : 0, SFiltEnabled == true ? 1 : 0));
if (activate)
{
DataContext = model;
model.OnResponseReceived += ProcessSGValue;
model.PropertyChanged += OnDataContextPropertyChanged;
SGValue = GrblSettings.GetInteger(GrblSetting.StallGuardBase + GrblInfo.AxisLetterToIndex(AxisEnabled.Value.ToString()));
}
else
{
model.OnResponseReceived -= ProcessSGValue;
model.PropertyChanged -= OnDataContextPropertyChanged;
DataContext = null;
}
model.Poller.SetState(activate ? AppConfig.Settings.Base.PollInterval : 0);
}
private void About_Load(object sender, System.EventArgs e)
{
Title = version;
if (CNC.Core.Resources.IsLegacyController)
{
Title += " (legacy mode)";
}
GrblInfo.Get();
txtGrblVersion.Content = GrblInfo.Version;
txtGrblOptions.Content = GrblInfo.Options;
txtGrblNewOpts.Content = GrblInfo.NewOptions;
txtGrblConnection.Content = AppConfig.Settings.Base.PortParams;
grpGrbl.Header = GrblInfo.Firmware;
if (GrblInfo.Identity != "")
{
grpGrbl.Header += ": " + GrblInfo.Identity;
}
}
private void AddEdge(ProbingViewModel probing, char axisletter, bool negative, double XYClearance)
{
int axis = GrblInfo.AxisLetterToIndex(axisletter);
af[axis] = negative ? -1d : 1d;
axisflags = GrblInfo.AxisLetterToFlag(axisletter);
var rapidto = new Position(probing.StartPosition);
rapidto.Values[axis] -= XYClearance * af[axis];
rapidto.Z -= probing.Depth;
probing.Program.AddRapidToMPos(rapidto, axisflags);
probing.Program.AddRapidToMPos(rapidto, AxisFlags.Z);
probing.Program.AddProbingAction(axisflags, negative);
rapidto.Values[axis] = probing.StartPosition.Values[axis] - XYClearance * af[axis];
probing.Program.AddRapidToMPos(rapidto, axisflags);
probing.Program.AddRapidToMPos(probing.StartPosition, AxisFlags.Z);
}
private void AddEdge(ProbingViewModel probing, int offsetAxis, int clearanceAxis, double XYClearance)
{
AxisFlags probeAxis = GrblInfo.AxisIndexToFlag(clearanceAxis);
Position rapidto = new Position(probing.StartPosition);
rapidto.Values[clearanceAxis] -= XYClearance * af[clearanceAxis];
rapidto.Z -= probing.Depth;
probing.Program.AddRapidToMPos(rapidto, probeAxis);
probing.Program.AddRapidToMPos(rapidto, AxisFlags.Z);
probing.Program.AddProbingAction(probeAxis, af[clearanceAxis] == -1.0d);
probing.Program.AddRapidToMPos(rapidto, probeAxis);
rapidto.Values[offsetAxis] = probing.StartPosition.Values[offsetAxis] + probing.Offset * af[offsetAxis];
probing.Program.AddRapidToMPos(rapidto, GrblInfo.AxisIndexToFlag(offsetAxis));
probing.Program.AddProbingAction(probeAxis, af[clearanceAxis] == -1.0d);
probing.Program.AddRapidToMPos(rapidto, probeAxis);
probing.Program.AddRapidToMPos(probing.StartPosition, AxisFlags.Z);
probing.Program.AddRapidToMPos(probing.StartPosition, AxisFlags.XY);
}
public void Activate(bool activate, ViewType chgMode)
{
Comms.com.WriteString(string.Format("M122S{0}H{1}\r", activate ? 1 : 0, SFiltEnabled == true ? 1 : 0));
if (activate)
{
DataContext = model;
model.OnResponseReceived += ProcessSGValue;
model.PropertyChanged += OnDataContextPropertyChanged;
var sgdetails = GrblSettings.Get(grblHALSetting.StallGuardBase + GrblInfo.AxisLetterToIndex(AxisEnabled.Value.ToString()));
SGValue = int.Parse(sgdetails.Value);
SGValueMin = (int)sgdetails.Min;
SGValueMax = (int)sgdetails.Max;
grbl_reset = false;
}
else
{
model.OnResponseReceived -= ProcessSGValue;
model.PropertyChanged -= OnDataContextPropertyChanged;
DataContext = null;
}
model.Poller.SetState(activate ? AppConfig.Settings.Base.PollInterval : 0);
}
// G10 L1 P- axes <R- I- J- Q-> Set Tool Table
// L10 - ref G5x + G92 - useful for probe (G38)
// L11 - ref g59.3 only
// Q: 1 - 8: 1: 135, 2: 45, 3: 315, 4: 225, 5: 180, 6: 90, 7: 0, 8: 270
void saveOffset(string axis)
{
string axes;
Position newpos = new Position(offset);
newpos.X = GrblWorkParameters.ConvertX(GrblWorkParameters.LatheMode, GrblParserState.LatheMode, selectedTool.X);
switch (axis)
{
case "R":
axes = "R{4}";
break;
case "All":
axes = newpos.ToString(GrblInfo.AxisFlags);
break;
default:
axes = newpos.ToString(GrblInfo.AxisLetterToFlag(axis));
break;
}
Comms.com.WriteCommand(string.Format("G10L1P{0}{1}", selectedTool.Code, axes));
}
// G10 L1 P- axes <R- I- J- Q-> Set Tool Table
// L10 - ref G5x + G92 - useful for probe (G38)
// L11 - ref g59.3 only
// Q: 1 - 8: 1: 135, 2: 45, 3: 315, 4: 225, 5: 180, 6: 90, 7: 0, 8: 270
void saveOffset(string axis)
{
string s, axes;
string xOffset = GrblWorkParameters.ConvertX(GrblWorkParameters.LatheMode, GrblParserState.LatheMode, selectedTool.X).ToInvariantString();
switch (axis)
{
case "R":
axes = "R{4}";
break;
case "All":
axes = "X{1}Y{2}Z{3}R{4}";
break;
default:
axes = (axis + "{" + (GrblInfo.AxisLetterToIndex(axis) + 1).ToString() + "}");
break;
}
s = string.Format("G10L1P{0}" + axes, selectedTool.Code, xOffset, selectedTool.Y.ToInvariantString(), selectedTool.Z.ToInvariantString(), selectedTool.R.ToInvariantString());
Comms.com.WriteCommand(s);
}
public RestartResult Restart()
{
Message = model.Message;
model.Message = string.Format(LibStrings.FindResource("MsgWaiting"), AppConfig.Settings.Base.PortParams);
string response = GrblInfo.Startup(model);
if (response.StartsWith("<"))
{
if (model.GrblState.State != GrblStates.Unknown)
{
switch (model.GrblState.State)
{
case GrblStates.Alarm:
model.Poller.SetState(AppConfig.Settings.Base.PollInterval);
switch (model.GrblState.Substate)
{
case 1: // Hard limits
if (!GrblInfo.IsLoaded)
{
if (model.LimitTriggered)
{
MessageBox.Show(string.Format(LibStrings.FindResource("MsgNoCommAlarm"), model.GrblState.Substate.ToString()), "ioSender");
if (AttemptReset())
{
model.ExecuteCommand(GrblConstants.CMD_UNLOCK);
}
else
{
MessageBox.Show(LibStrings.FindResource("MsgResetFailed"), "ioSender");
return(RestartResult.Close);
}
}
else if (AttemptReset())
{
model.ExecuteCommand(GrblConstants.CMD_UNLOCK);
}
}
else
{
response = string.Empty;
}
break;
case 2: // Soft limits
if (!GrblInfo.IsLoaded)
{
MessageBox.Show(string.Format(LibStrings.FindResource("MsgNoCommAlarm"), model.GrblState.Substate.ToString()), "ioSender");
if (AttemptReset())
{
model.ExecuteCommand(GrblConstants.CMD_UNLOCK);
}
else
{
MessageBox.Show(LibStrings.FindResource("MsgResetFailed"), "ioSender");
return(RestartResult.Close);
}
}
else
{
response = string.Empty;
}
break;
case 10: // EStop
if (GrblInfo.IsGrblHAL && model.Signals.Value.HasFlag(Signals.EStop))
{
MessageBox.Show(LibStrings.FindResource("MsgEStop"), "ioSender", MessageBoxButton.OK, MessageBoxImage.Warning);
while (!AttemptReset() && model.GrblState.State == GrblStates.Alarm)
{
if (MessageBox.Show(LibStrings.FindResource("MsgEStopExit"), "ioSender", MessageBoxButton.YesNo, MessageBoxImage.Question) == MessageBoxResult.Yes)
{
return(RestartResult.Close);
}
}
;
}
else
{
AttemptReset();
}
if (!GrblInfo.IsLoaded)
{
model.ExecuteCommand(GrblConstants.CMD_UNLOCK);
}
break;
case 11: // Homing required
if (GrblInfo.IsLoaded)
{
response = string.Empty;
}
else
{
Message = LibStrings.FindResource("MsgHome");
}
break;
}
break;
case GrblStates.Tool:
Comms.com.WriteByte(GrblConstants.CMD_STOP);
break;
case GrblStates.Door:
if (!GrblInfo.IsLoaded)
{
if (MessageBox.Show(LibStrings.FindResource("MsgDoorOpen"), "ioSender", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
{
return(RestartResult.Close);
}
else
{
bool exit = false;
do
{
Comms.com.PurgeQueue();
bool?res = null;
CancellationToken cancellationToken = new CancellationToken();
new Thread(() =>
{
res = WaitFor.SingleEvent <string>(
cancellationToken,
s => TrapReset(s),
a => model.OnGrblReset += a,
a => model.OnGrblReset -= a,
200, () => Comms.com.WriteByte(GrblConstants.CMD_STATUS_REPORT));
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
if (!(exit = !model.Signals.Value.HasFlag(Signals.SafetyDoor)))
{
if (MessageBox.Show(LibStrings.FindResource("MsgDoorExit"), "ioSender", MessageBoxButton.YesNo, MessageBoxImage.Question) == MessageBoxResult.Yes)
{
exit = true;
return(RestartResult.Close);
}
}
} while (!exit);
}
}
else
{
MessageBox.Show(LibStrings.FindResource("MsgDoorPersist"), "ioSender", MessageBoxButton.YesNo, MessageBoxImage.Exclamation);
response = string.Empty;
}
break;
case GrblStates.Hold:
case GrblStates.Sleep:
if (MessageBox.Show(string.Format(LibStrings.FindResource("MsgNoComm"), model.GrblState.State.ToString()),
"ioSender", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
{
return(RestartResult.Close);
}
else if (!AttemptReset())
{
MessageBox.Show(LibStrings.FindResource("MsgResetExit"), "ioSender");
return(RestartResult.Close);
}
break;
case GrblStates.Idle:
if (response.Contains("|SD:Pending"))
{
AttemptReset();
}
break;
}
}
}
else
{
MessageBox.Show(response == string.Empty
? "No respone received from controller, exiting."
: string.Format("Unexpected response received from controller: \"{0}\", exiting.", response),
"ioSender", MessageBoxButton.OK, MessageBoxImage.Stop);
return(RestartResult.Exit);
}
return(response == string.Empty ? RestartResult.NoResponse : RestartResult.Ok);
}
bool InitSystem()
{
initOK = true;
int timeout = 5;
using (new UIUtils.WaitCursor())
{
GCodeSender.EnablePolling(false);
while (!GrblInfo.Get())
{
if (--timeout == 0)
{
model.Message = (string)FindResource("MsgNoResponse");
return(false);
}
Thread.Sleep(500);
}
GrblAlarms.Get();
GrblErrors.Get();
GrblSettings.Load();
if (GrblInfo.IsGrblHAL)
{
GrblParserState.Get();
GrblWorkParameters.Get();
}
else
{
GrblParserState.Get(true);
}
GCodeSender.EnablePolling(true);
}
GrblCommand.ToolChange = GrblInfo.ManualToolChange ? "M61Q{0}" : "T{0}";
showProgramLimits();
if (!AppConfig.Settings.GCodeViewer.IsEnabled)
{
tabGCode.Items.Remove(tab3D);
}
if (GrblInfo.NumAxes > 3)
{
limitsControl.Visibility = Visibility.Collapsed;
}
if (GrblInfo.LatheModeEnabled)
{
MainWindow.EnableView(true, ViewType.Turning);
// MainWindow.EnableView(true, ViewType.Parting);
// MainWindow.EnableView(true, ViewType.Facing);
MainWindow.EnableView(true, ViewType.G76Threading);
}
else
{
MainWindow.ShowView(false, ViewType.Turning);
MainWindow.ShowView(false, ViewType.Parting);
MainWindow.ShowView(false, ViewType.Facing);
MainWindow.ShowView(false, ViewType.G76Threading);
}
if (GrblInfo.HasSDCard)
{
MainWindow.EnableView(true, ViewType.SDCard);
}
else
{
MainWindow.ShowView(false, ViewType.SDCard);
}
if (GrblInfo.HasPIDLog)
{
MainWindow.EnableView(true, ViewType.PIDTuner);
}
else
{
MainWindow.ShowView(false, ViewType.PIDTuner);
}
if (GrblInfo.NumTools > 0)
{
MainWindow.EnableView(true, ViewType.Tools);
}
else
{
MainWindow.ShowView(false, ViewType.Tools);
}
if (GrblInfo.HasProbe && GrblSettings.ReportProbeCoordinates)
{
MainWindow.EnableView(true, ViewType.Probing);
}
MainWindow.EnableView(true, ViewType.Offsets);
MainWindow.EnableView(true, ViewType.GRBLConfig);
if (!string.IsNullOrEmpty(GrblInfo.TrinamicDrivers))
{
MainWindow.EnableView(true, ViewType.TrinamicTuner);
}
else
{
MainWindow.ShowView(false, ViewType.TrinamicTuner);
}
return(true);
}
private void InitSystem()
{
initOK = true;
// TODO: check if grbl is in a state that allows replies
using (new UIUtils.WaitCursor())
{
GCodeSender.EnablePolling(false);
GrblInfo.Get();
GrblSettings.Get();
GrblParserState.Get();
GrblWorkParameters.Get();
GCodeSender.EnablePolling(true);
}
model.Message = "";
GrblCommand.ToolChange = GrblInfo.ManualToolChange ? "M61Q{0}" : "T{0}";
GCodeSender.Config(MainWindow.UIViewModel.Profile.Config);
if (GrblInfo.NumAxes > 3)
{
limitsControl.Visibility = Visibility.Collapsed;
}
if (GrblInfo.LatheModeEnabled)
{
MainWindow.EnableView(true, ViewType.Turning);
MainWindow.EnableView(true, ViewType.Facing);
MainWindow.EnableView(true, ViewType.G76Threading);
}
else
{
MainWindow.ShowView(false, ViewType.Turning);
MainWindow.ShowView(false, ViewType.Facing);
MainWindow.ShowView(false, ViewType.G76Threading);
}
if (GrblInfo.HasSDCard)
{
MainWindow.EnableView(true, ViewType.SDCard);
}
else
{
MainWindow.ShowView(false, ViewType.SDCard);
}
if (GrblInfo.HasPIDLog)
{
MainWindow.EnableView(true, ViewType.PIDTuner);
}
else
{
MainWindow.ShowView(false, ViewType.PIDTuner);
}
if (GrblInfo.NumTools > 0)
{
MainWindow.EnableView(true, ViewType.Tools);
}
else
{
MainWindow.ShowView(false, ViewType.Tools);
}
MainWindow.EnableView(true, ViewType.Offsets);
MainWindow.EnableView(true, ViewType.GRBLConfig);
if (!string.IsNullOrEmpty(GrblInfo.TrinamicDrivers))
{
MainWindow.EnableView(true, ViewType.TrinamicTuner);
}
else
{
MainWindow.ShowView(false, ViewType.TrinamicTuner);
}
MainWindow.GCodePush += GCode.File.AddBlock;
}
// G10 L1 P- axes <R- I- J- Q-> Set Tool Table
// L10 - ref G5x + G92 - useful for probe (G38)
// L11 - ref g59.3 only
// Q: 1 - 8: 1: 135, 2: 45, 3: 315, 4: 225, 5: 180, 6: 90, 7: 0, 8: 270
void saveOffset(string axis)
{
string cmd;
Position newpos = new Position(Offset);
newpos.X = GrblWorkParameters.ConvertX(GrblWorkParameters.LatheMode, GrblParserState.LatheMode, selectedOffset.X);
if (selectedOffset.Id == 0)
{
string code = selectedOffset.Code == "G28" || selectedOffset.Code == "G30" ? selectedOffset.Code + ".1" : selectedOffset.Code;
if (axis == "ClearAll" || IsPredefined)
{
cmd = selectedOffset.Code + ".1";
}
else
{
cmd = string.Format("G90{0}{1}", code, newpos.ToString(axis == "All" ? GrblInfo.AxisFlags : GrblInfo.AxisLetterToFlag(axis)));
}
}
else
{
cmd = string.Format("G90G10L2P{0}{1}", selectedOffset.Id, newpos.ToString(axis == "All" || axis == "ClearAll" ? GrblInfo.AxisFlags : GrblInfo.AxisLetterToFlag(axis)));
}
Comms.com.WriteCommand(cmd);
}
public void Activate(bool activate, ViewType chgMode)
{
if (activate)
{
GCodeSender.RewindFile();
GCodeSender.CallHandler(GCode.File.IsLoaded ? StreamingState.Idle : (sdStream ? StreamingState.Start : StreamingState.NoFile), false);
sdStream = false;
model.ResponseLogFilterOk = AppConfig.Settings.Base.FilterOkResponse;
if (initOK != true)
{
focusedControl = this;
var message = model.Message;
model.Message = string.Format("Waiting for controller ({0})...", AppConfig.Settings.Base.PortParams);
string response = GrblInfo.Startup(model);
if (response.StartsWith("<"))
{
if (model.GrblState.State != GrblStates.Unknown)
{
switch (model.GrblState.State)
{
case GrblStates.Alarm:
model.Poller.SetState(AppConfig.Settings.Base.PollInterval);
switch (model.GrblState.Substate)
{
case 1: // Hard limits
if (!GrblInfo.IsLoaded)
{
if (model.LimitTriggered)
{
MessageBox.Show(string.Format("Controller is not able to communicate due to alarm {0}, attempting a soft reset.", model.GrblState.Substate.ToString()), "ioSender");
if (AttemptReset())
{
model.ExecuteCommand(GrblConstants.CMD_UNLOCK);
}
else
{
MessageBox.Show("Controller soft reset failed, exiting.", "ioSender");
MainWindow.ui.Close();
}
}
else if (AttemptReset())
{
model.ExecuteCommand(GrblConstants.CMD_UNLOCK);
}
}
else
{
response = string.Empty;
}
break;
case 2: // Soft limits
if (!GrblInfo.IsLoaded)
{
MessageBox.Show(string.Format("Controller is not able to communicate due to alarm {0}, attempting a soft reset.", model.GrblState.Substate.ToString()), "ioSender");
if (AttemptReset())
{
model.ExecuteCommand(GrblConstants.CMD_UNLOCK);
}
else
{
MessageBox.Show("Controller soft reset failed, exiting.", "ioSender");
MainWindow.ui.Close();
}
}
else
{
response = string.Empty;
}
break;
case 10: // EStop
if (GrblInfo.IsGrblHAL && model.Signals.Value.HasFlag(Signals.EStop))
{
MessageBox.Show("E-Stop active! - clear before continuing.", "ioSender", MessageBoxButton.OK, MessageBoxImage.Warning);
while (!AttemptReset() && model.GrblState.State == GrblStates.Alarm)
{
if (MessageBox.Show("E-Stop still active, exit?", "ioSender", MessageBoxButton.YesNo, MessageBoxImage.Question) == MessageBoxResult.Yes)
{
MainWindow.ui.Close();
}
}
;
}
else
{
AttemptReset();
}
if (!GrblInfo.IsLoaded)
{
model.ExecuteCommand(GrblConstants.CMD_UNLOCK);
}
break;
case 11: // Homing required
if (GrblInfo.IsLoaded)
{
response = string.Empty;
}
else
{
message = "Homing cycle required, <Home> to continue";
}
break;
}
break;
case GrblStates.Tool:
Comms.com.WriteByte(GrblConstants.CMD_STOP);
break;
case GrblStates.Door:
if (!GrblInfo.IsLoaded)
{
if (MessageBox.Show("Door is open, close door and continue?", "ioSender", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
{
MainWindow.ui.Close();
}
else
{
bool exit = false;
do
{
Comms.com.PurgeQueue();
bool?res = null;
CancellationToken cancellationToken = new CancellationToken();
new Thread(() =>
{
res = WaitFor.SingleEvent <string>(
cancellationToken,
s => TrapReset(s),
a => model.OnGrblReset += a,
a => model.OnGrblReset -= a,
200, () => Comms.com.WriteByte(GrblConstants.CMD_STATUS_REPORT));
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
if (!(exit = !model.Signals.Value.HasFlag(Signals.SafetyDoor)))
{
if (MessageBox.Show("Door is still open, exit?", "ioSender", MessageBoxButton.YesNo, MessageBoxImage.Question) == MessageBoxResult.Yes)
{
exit = true;
MainWindow.ui.Close();
}
}
} while (!exit);
}
}
else
{
MessageBox.Show("Door state cannot be cleared with <Reset>", "ioSender", MessageBoxButton.YesNo, MessageBoxImage.Exclamation);
response = string.Empty;
}
break;
case GrblStates.Hold:
case GrblStates.Sleep:
if (MessageBox.Show(string.Format("Controller is in {0} state and cannot respond, try a soft reset?", model.GrblState.State.ToString()),
"ioSender", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
{
MainWindow.ui.Close();
}
else if (!AttemptReset())
{
MessageBox.Show("Controller soft reset failed, exiting.", "ioSender");
MainWindow.ui.Close();
}
break;
}
}
}
if (response != string.Empty)
{
InitSystem();
}
model.Message = message;
}
if (initOK == null)
{
initOK = false;
}
#if ADD_CAMERA
if (MainWindow.UIViewModel.Camera != null)
{
MainWindow.UIViewModel.Camera.MoveOffset += Camera_MoveOffset;
MainWindow.UIViewModel.Camera.Opened += Camera_Opened;
}
#endif
//if (viewer == null)
// viewer = new Viewer();
if (GCode.File.IsLoaded)
{
MainWindow.ui.WindowTitle = ((GrblViewModel)DataContext).FileName;
}
}
else if (ViewType != ViewType.Shutdown)
{
DRO.IsFocusable = false;
#if ADD_CAMERA
if (MainWindow.UIViewModel.Camera != null)
{
MainWindow.UIViewModel.Camera.MoveOffset -= Camera_MoveOffset;
}
#endif
focusedControl = AppConfig.Settings.Base.KeepMdiFocus && Keyboard.FocusedElement is TextBox && (string)(Keyboard.FocusedElement as TextBox).Tag == "MDI"
? Keyboard.FocusedElement
: this;
}
if (GCodeSender.Activate(activate))
{
Task.Delay(500).ContinueWith(t => DRO.EnableFocus());
Application.Current.Dispatcher.BeginInvoke(new System.Action(() =>
{
focusedControl.Focus();
}), DispatcherPriority.Render);
}
}
private void JogCommand(string cmd)
{
GrblViewModel model = DataContext as GrblViewModel;
if (cmd == "stop")
{
cmd = ((char)GrblConstants.CMD_JOG_CANCEL).ToString();
}
else
{
var distance = cmd[1] == '-' ? -JogData.Distance : JogData.Distance;
if (softLimits)
{
int axis = GrblInfo.AxisLetterToIndex(cmd[0]);
if (jogAxis != -1 && axis != jogAxis)
{
return;
}
if (axis != jogAxis)
{
position = distance + model.MachinePosition.Values[axis];
}
else
{
position += distance;
}
if (GrblInfo.ForceSetOrigin)
{
if (!GrblInfo.HomingDirection.HasFlag(GrblInfo.AxisIndexToFlag(axis)))
{
if (position > 0d)
{
position = 0d;
}
else if (position < (-GrblInfo.MaxTravel.Values[axis] + limitSwitchesClearance))
{
position = (-GrblInfo.MaxTravel.Values[axis] + limitSwitchesClearance);
}
}
else
{
if (position < 0d)
{
position = 0d;
}
else if (position > (GrblInfo.MaxTravel.Values[axis] - limitSwitchesClearance))
{
position = GrblInfo.MaxTravel.Values[axis] - limitSwitchesClearance;
}
}
}
else
{
if (position > -limitSwitchesClearance)
{
position = -limitSwitchesClearance;
}
else if (position < -(GrblInfo.MaxTravel.Values[axis] - limitSwitchesClearance))
{
position = -(GrblInfo.MaxTravel.Values[axis] - limitSwitchesClearance);
}
}
if (position == 0d)
{
return;
}
jogAxis = axis;
cmd = string.Format("$J=G53{0}{1}{2}F{3}", mode, cmd.Substring(0, 1), position.ToInvariantString(), Math.Ceiling(JogData.FeedRate).ToInvariantString());
}
else
{
cmd = string.Format("$J=G91{0}{1}{2}F{3}", mode, cmd.Substring(0, 1), distance.ToInvariantString(), Math.Ceiling(JogData.FeedRate).ToInvariantString());
}
}
model.ExecuteCommand(cmd);
}
private void InitSystem()
{
initOK = true;
int timeout = 5;
using (new UIUtils.WaitCursor())
{
GCodeSender.EnablePolling(false);
while (!GrblInfo.Get())
{
if (--timeout == 0)
{
model.Message = "Controller is not responding!";
initOK = false;
}
Thread.Sleep(500);
}
GrblAlarms.Get();
GrblErrors.Get();
GrblSettings.Get();
GrblParserState.Get();
GrblWorkParameters.Get();
GCodeSender.EnablePolling(true);
}
GrblCommand.ToolChange = GrblInfo.ManualToolChange ? "M61Q{0}" : "T{0}";
if (keyboard == null)
{
keyboard = new KeypressHandler(model);
GCodeSender.Configure(keyboard);
gcodeRenderer.Configure();
}
showProgramLimits();
if (!AppConfig.Settings.GCodeViewer.IsEnabled)
{
tabGCode.Items.Remove(tab3D);
}
if (GrblInfo.NumAxes > 3)
{
limitsControl.Visibility = Visibility.Collapsed;
}
if (GrblInfo.LatheModeEnabled)
{
MainWindow.EnableView(true, ViewType.Turning);
// MainWindow.EnableView(true, ViewType.Parting);
// MainWindow.EnableView(true, ViewType.Facing);
MainWindow.EnableView(true, ViewType.G76Threading);
}
else
{
MainWindow.ShowView(false, ViewType.Turning);
MainWindow.ShowView(false, ViewType.Parting);
MainWindow.ShowView(false, ViewType.Facing);
MainWindow.ShowView(false, ViewType.G76Threading);
}
if (GrblInfo.HasSDCard)
{
MainWindow.EnableView(true, ViewType.SDCard);
}
else
{
MainWindow.ShowView(false, ViewType.SDCard);
}
if (GrblInfo.HasPIDLog)
{
MainWindow.EnableView(true, ViewType.PIDTuner);
}
else
{
MainWindow.ShowView(false, ViewType.PIDTuner);
}
if (GrblInfo.NumTools > 0)
{
MainWindow.EnableView(true, ViewType.Tools);
}
else
{
MainWindow.ShowView(false, ViewType.Tools);
}
if (GrblInfo.HasProbe && GrblSettings.ReportProbeCoordinates)
{
MainWindow.EnableView(true, ViewType.Probing);
}
MainWindow.EnableView(true, ViewType.Offsets);
MainWindow.EnableView(true, ViewType.GRBLConfig);
if (!string.IsNullOrEmpty(GrblInfo.TrinamicDrivers))
{
MainWindow.EnableView(true, ViewType.TrinamicTuner);
}
else
{
MainWindow.ShowView(false, ViewType.TrinamicTuner);
}
}
void btnConfigureSGVal_Click(object sender, EventArgs e)
{
Comms.com.WriteString(string.Format("${0}={1}\r", (int)(grblHALSetting.StallGuardBase + GrblInfo.AxisLetterToIndex(AxisEnabled.Value.ToString())), SGValue));
}
void btnZero_Click(object sender, EventArgs e)
{
AxisPositionChanged(GrblInfo.AxisIndexToLetter((int)(sender as Button).Tag), 0.0d);
}
private void InitSystem()
{
initOK = true;
// TODO: check if grbl is in a state that allows replies
using (new UIUtils.WaitCursor())
{
GCodeSender.EnablePolling(false);
GrblInfo.Get();
GrblSettings.Get();
GrblParserState.Get();
GrblWorkParameters.Get();
GCodeSender.EnablePolling(true);
}
model.Message = string.Empty;
GrblCommand.ToolChange = GrblInfo.ManualToolChange ? "M61Q{0}" : "T{0}";
if (keyboard == null)
{
keyboard = new KeypressHandler(model);
GCodeSender.Configure(keyboard);
gcodeRenderer.Configure();
}
showProgramLimits();
if (!AppConfig.Settings.GCodeViewer.IsEnabled)
{
tabGCode.Items.Remove(tab3D);
}
if (GrblInfo.NumAxes > 3)
{
limitsControl.Visibility = Visibility.Collapsed;
}
if (GrblInfo.LatheModeEnabled)
{
MainWindow.EnableView(true, ViewType.Turning);
MainWindow.EnableView(true, ViewType.Facing);
MainWindow.EnableView(true, ViewType.G76Threading);
}
else
{
MainWindow.ShowView(false, ViewType.Turning);
MainWindow.ShowView(false, ViewType.Facing);
MainWindow.ShowView(false, ViewType.G76Threading);
}
if (GrblInfo.HasSDCard)
{
MainWindow.EnableView(true, ViewType.SDCard);
}
else
{
MainWindow.ShowView(false, ViewType.SDCard);
}
if (GrblInfo.HasPIDLog)
{
MainWindow.EnableView(true, ViewType.PIDTuner);
}
else
{
MainWindow.ShowView(false, ViewType.PIDTuner);
}
if (GrblInfo.NumTools > 0)
{
MainWindow.EnableView(true, ViewType.Tools);
}
else
{
MainWindow.ShowView(false, ViewType.Tools);
}
MainWindow.EnableView(true, ViewType.Probing);
MainWindow.EnableView(true, ViewType.Offsets);
MainWindow.EnableView(true, ViewType.GRBLConfig);
if (!string.IsNullOrEmpty(GrblInfo.TrinamicDrivers))
{
MainWindow.EnableView(true, ViewType.TrinamicTuner);
}
else
{
MainWindow.ShowView(false, ViewType.TrinamicTuner);
}
}
