public bool GotoMachinePosition(Position pos, AxisFlags axisflags)
{
bool?res = null;
bool wait = true;
string command = "G53G0" + pos.ToString(axisflags);
Comms.com.PurgeQueue();
new Thread(() =>
{
res = WaitFor.AckResponse <string>(
cancellationToken,
null,
a => Grbl.OnResponseReceived += a,
a => Grbl.OnResponseReceived -= a,
100, () => Grbl.ExecuteCommand(command));
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
if (res == true)
{
while (wait && !isCancelled)
{
res = null;
new Thread(() =>
{
res = WaitFor.SingleEvent <string>(
cancellationToken,
null,
a => Grbl.OnRealtimeStatusProcessed += a,
a => Grbl.OnRealtimeStatusProcessed -= a,
200, () => Comms.com.WriteByte(GrblLegacy.ConvertRTCommand(GrblConstants.CMD_STATUS_REPORT)));
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
wait = res != true;
int i = 0, axes = (int)axisflags;
while (axes != 0 && !wait)
{
if ((axes & 0x01) != 0)
{
wait = Math.Abs(pos.Values[i] - Grbl.MachinePosition.Values[i]) >= 0.003d; // use step resolution plus some?
}
i++; axes >>= 1;
}
if (wait)
{
Thread.Sleep(200); // needed?
}
}
}
return(isCancelled ? false : !wait);
}
public bool GotoMachinePosition(Position pos, AxisFlags axisflags)
{
bool? res = null;
bool wait = true, running = false;
double delta, delta_max = 0d;
string command = "G53" + RapidCommand + pos.ToString(axisflags);
Comms.com.PurgeQueue();
Grbl.Poller.SetState(0);
new Thread(() =>
{
res = WaitFor.AckResponse <string>(
cancellationToken,
null,
a => Grbl.OnResponseReceived += a,
a => Grbl.OnResponseReceived -= a,
1000, () => Grbl.ExecuteCommand(command));
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
if (res == true)
{
while (wait && !isCancelled)
{
res = null;
new Thread(() =>
{
res = WaitFor.SingleEvent <string>(
cancellationToken,
null,
a => Grbl.OnRealtimeStatusProcessed += a,
a => Grbl.OnRealtimeStatusProcessed -= a,
400, () => Comms.com.WriteByte(GrblLegacy.ConvertRTCommand(GrblConstants.CMD_STATUS_REPORT)));
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
wait = res != true;
running |= Grbl.GrblState.State == GrblStates.Run;
int i = 0, axes = (int)axisflags;
while (axes != 0 && !wait)
{
if ((axes & 0x01) != 0)
{
delta = Math.Abs(pos.Values[i] - Grbl.MachinePosition.Values[i]);
wait = delta > Math.Max(0.003d, GrblInfo.TravelResolution.Values[i] * 2d);
delta_max = Math.Max(delta, delta_max);
if (wait && Grbl.GrblState.State == GrblStates.Idle && (running || delta_max < 0.01d))
{
wait = false;
isCancelled = true;
}
}
i++; axes >>= 1;
}
if (wait)
{
Thread.Sleep(AppConfig.Settings.Base.PollInterval); // needed?
}
}
}
Grbl.Poller.SetState(AppConfig.Settings.Base.PollInterval);
return(isCancelled ? false : !wait);
}
public bool Init()
{
bool?res = null;
Message = String.Empty;
Grbl.Poller.SetState(0); // Disable status polling during probing
// Clear error status if set
if (Grbl.GrblError != 0)
{
new Thread(() =>
{
res = WaitFor.AckResponse <string>(
cancellationToken,
null,
a => Grbl.OnResponseReceived += a,
a => Grbl.OnResponseReceived -= a,
1000, () => Grbl.ExecuteCommand(""));
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
res = null;
}
// Get a status report in order to establish current machine position
new Thread(() =>
{
res = WaitFor.SingleEvent <string>(
cancellationToken,
null,
a => Grbl.OnResponseReceived += a,
a => Grbl.OnResponseReceived -= a,
1000, () => Comms.com.WriteByte(GrblLegacy.ConvertRTCommand(GrblConstants.CMD_STATUS_REPORT)));
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
Grbl.Poller.SetState(AppConfig.Settings.Base.PollInterval);
if (Grbl.GrblState.State == GrblStates.Alarm)
{
Message = GrblAlarms.GetMessage(Grbl.GrblState.Substate.ToString());
res = false;
}
if (res == true && Grbl.Signals.Value.HasFlag(Signals.Probe))
{
Message = "Probing failed, probe signal is asserted";
res = false;
}
if (res == true && Grbl.GrblState.State != GrblStates.Idle)
{
Message = "Probing failed, Grbl is not in idle state";
res = false;
}
Program.Clear();
if (res != true) // Reenable status polling if int fails
{
Grbl.Poller.SetState(AppConfig.Settings.Base.PollInterval);
}
return(res == true);
}
