public void NcFile_multiLine_countOK()
{
var ncfile = new NcFile();
var mp1 = new MachinePosition()
{
X = 1, Adeg = 0
};
var mp2 = new MachinePosition()
{
X = 1, Adeg = 360
};
var f1 = new Feedrate(FeedrateUnits.InPerMin)
{
Value = 20
};
var f2 = new Feedrate(FeedrateUnits.InverseMins)
{
Value = 2
};
var ncp1 = new NcPositionCommand(10, mp1, f1, BlockType.LINEAR);
var ncp2 = new NcPositionCommand(20, mp2, f2, BlockType.LINEAR);
var ncMachine = new NcMachine(ControllerType.FAGOR8055, MachineGeometry.XA);
ncfile.Add(ncp1);
ncfile.Add(ncp2);
var file = ncfile.AsNcTextFile(ncMachine);
Assert.AreEqual(2, ncfile.Count);
Assert.AreEqual(5, file.Count);
}
public void Clear()
{
_fileName = _mdiCommand = string.Empty;
_streamingState = StreamingState.NoFile;
_isMPos = _reset = _isJobRunning = false;
_mpg = "";
_grblState.Error = 0;
_grblState.State = GrblStates.Unknown;
_grblState.Substate = 0;
_grblState.MPG = false;
GrblState = _grblState;
IsMPGActive = null; //??
_MPos = _WPos = _wco = string.Empty;
Position.Clear();
MachinePosition.Clear();
WorkPosition.Clear();
WorkPositionOffset.Clear();
ProgramLimits.Clear();
Set("Pn", string.Empty);
Set("A", string.Empty);
Set("FS", string.Empty);
Set("Sc", string.Empty);
Set("T", "0");
Set("Ov", string.Empty);
Set("Ex", string.Empty);
SDCardStatus = string.Empty;
HomedState = HomedState.Unknown;
if (_latheMode != LatheMode.Disabled)
{
LatheMode = LatheMode.Radius;
}
}
public void MachinePosition_disttoSelf_distisZero()
{
MachinePosition mp1 = new MachinePosition();
double dist = mp1.DistanceTo(mp1);
Assert.AreEqual(0, dist);
}
public void MachPos_BuildfromStr()
{
var mp = new MachinePosition();
mp.BuildFromString("X=4,Y=0,Z=0,A=21600,B=0,C=0");
Assert.AreEqual(4.0, mp.X, .001);
Assert.AreEqual(21600.0, mp.Adeg, .001);
}
public void MachinePosition_distToPt_distisOK()
{
MachinePosition mp1 = new MachinePosition(0, 0, 0);
MachinePosition mp2 = new MachinePosition(1, 1, 1);
double dist = mp1.DistanceTo(mp2);
Assert.AreEqual(Math.Sqrt(3), dist);
}
public void MachinePosition_distTo5axisOnlyPt_distisOK()
{
MachinePosition mp1 = new MachinePosition(0, 0, 0, 45, 45);
MachinePosition mp2 = new MachinePosition(0, 0, 0, 0, 0);
double dist = mp1.DistanceTo(mp2);
Assert.AreEqual(0, dist);
}
public void MachPosition_distance()
{
var mp1 = new MachinePosition();
var mp2 = new MachinePosition()
{
X = 3, Y = 4
};
var d = mp1.DistanceTo(mp2);
Assert.AreEqual(5, d);
}
public void MP_ctorSet_valuesok()
{
var mp = new MachinePosition(1, 2, 3, 4, 5);
Assert.AreEqual(1.0, mp.X);
Assert.AreEqual(2.0, mp.Y);
Assert.AreEqual(3.0, mp.Z);
Assert.AreEqual(4.0, mp.Bdeg);
Assert.AreEqual(5.0, mp.Cdeg);
Assert.AreEqual(0, mp.Adeg);
}
public void ParseStatus(string data)
{
bool pos_changed = false;
string[] elements = data.TrimEnd('>').Split('|');
if (elements.Length > 1)
{
string[] pair = elements[0].Split(':');
SetGRBLState(pair[0].Substring(1), pair.Count() == 1 ? -1 : int.Parse(pair[1]), false);
for (int i = elements.Length - 1; i > 0; i--)
{
pair = elements[i].Split(':');
if (pair.Length == 2)
{
if (Set(pair[0], pair[1]))
{
pos_changed = true;
}
}
}
if (!data.Contains("|Pn:"))
{
Set("Pn", "");
}
if (pos_changed)
{
if (_isMPos)
{
if (has_wco)
{
Position.Set(MachinePosition - WorkPositionOffset);
}
else
{
Position.Set(MachinePosition);
}
}
else
{
if (has_wco)
{
MachinePosition.Set(WorkPosition + WorkPositionOffset);
}
Position.Set(WorkPosition);
}
}
}
}
public void MachinePosition_defConst_builtOK()
{
MachinePosition mp = new MachinePosition();
Assert.IsNotNull(mp);
Assert.AreEqual(0, mp.X);
Assert.AreEqual(0, mp.Y);
Assert.AreEqual(0, mp.Z);
Assert.AreEqual(0, mp.Adeg);
Assert.AreEqual(0, mp.Bdeg);
Assert.AreEqual(0, mp.Cdeg);
}
public void MP_ctorCopy_valuesok()
{
var mp1 = new MachinePosition(1, 2, 3, 4, 5);
var mp = new MachinePosition(mp1);
Assert.AreEqual(1.0, mp.X);
Assert.AreEqual(2.0, mp.Y);
Assert.AreEqual(3.0, mp.Z);
Assert.AreEqual(4.0, mp.Bdeg);
Assert.AreEqual(5.0, mp.Cdeg);
Assert.AreEqual(0, mp.Adeg);
Assert.AreNotSame(mp, mp1);
}
public void MachinePosition_setPosition_PosIsOK()
{
MachinePosition mp1 = new MachinePosition();
mp1.Bdeg = 45;
double btest = mp1.Bdeg;
Assert.AreEqual(45, btest);
mp1.Cdeg = 45;
double ctest = mp1.Cdeg;
Assert.AreEqual(45, ctest);
}
public void NCp_1ptctor_Valueok()
{
var mp1 = new MachinePosition();
var f = new Feedrate(FeedrateUnits.InPerMin);
int line = 1;
var ncp = new NcPositionCommand(line, mp1, f, BlockType.LINEAR);
Assert.IsNotNull(ncp);
Assert.IsNotNull(ncp.Feedrate);
Assert.IsNotNull(ncp.MachinePosition);
Assert.AreEqual(1, ncp.LineNumber);
}
public void NCp_2ptCtor_ValueOK()
{
var mp1 = new MachinePosition(1, 1, 1, 1, 1);
var mp2 = new MachinePosition(5, 6, 7, 8, 9);
var f = new Feedrate(FeedrateUnits.InPerMin);
f.Value = 10;
var ncp = new NcPositionCommand(1, mp1, f, BlockType.LINEAR);
var ncMachine = new NcMachine(ControllerType.FAGOR8055, MachineGeometry.XYZBC);
string ncStr = ncp.AsNcString(ncMachine);
Assert.IsNotNull(ncp);
Assert.IsNotNull(ncp.Feedrate);
Assert.IsNotNull(ncp.MachinePosition);
Assert.AreEqual(1, ncp.LineNumber);
StringAssert.Contains("N1 G90 G01 X1.0000 Y1.0000 Z1.0000 B1.000 C1.000 F10.00", ncStr);
}
public void Clear()
{
_fileName = _mdiCommand = string.Empty;
_streamingState = StreamingState.NoFile;
_isMPos = _reset = _isJobRunning = _isProbeSuccess = _pgmEnd = _isTloRefSet = false;
_canReset = true;
_pb_avail = _rxb_avail = string.Empty;
_mpg = null;
_line = _pwm = _scrollpos = 0;
_grblState.Error = 0;
_grblState.State = GrblStates.Unknown;
_grblState.Substate = 0;
_grblState.MPG = false;
GrblState = _grblState;
IsMPGActive = null; //??
has_wco = false;
_MPos = _WPos = _wco = _h = string.Empty;
Position.Clear();
MachinePosition.Clear();
WorkPosition.Clear();
WorkPositionOffset.Clear();
ProgramLimits.Clear();
Set("Pn", string.Empty);
Set("A", string.Empty);
Set("FS", string.Empty);
Set("Sc", string.Empty);
Set("T", "0");
Set("Ov", string.Empty);
Set("Ex", string.Empty);
SDCardStatus = string.Empty;
HomedState = HomedState.Unknown;
if (_latheMode != LatheMode.Disabled)
{
LatheMode = LatheMode.Radius;
}
_thcv = _thcs = string.Empty;
}
public void NCp_1ptctorXaMachine_Valueok()
{
var f = new Feedrate(FeedrateUnits.InPerMin);
f.Value = 10;
var mp1 = new MachinePosition();
mp1.X = -4;
mp1.Adeg = 20;
int line = 1;
var ncp = new NcPositionCommand(line, mp1, f, BlockType.LINEAR);
Assert.IsNotNull(ncp);
Assert.IsNotNull(ncp.Feedrate);
Assert.IsNotNull(ncp.MachinePosition);
Assert.AreEqual(1, ncp.LineNumber);
var ncMachine = new NcMachine(ControllerType.FAGOR8055, MachineGeometry.XA);
string ncStr = ncp.AsNcString(ncMachine);
StringAssert.Contains("N1 G90 G01 X-4.0000 A20.000 F10.00", ncStr);
}
public void NcFile_multiLine_valuesOK()
{
var ncfile = new NcFile();
var mp1 = new MachinePosition()
{
X = 1, Adeg = 0
};
var mp2 = new MachinePosition()
{
X = 1, Adeg = 360
};
var f1 = new Feedrate(FeedrateUnits.InPerMin)
{
Value = 20
};
var f2 = new Feedrate(FeedrateUnits.InverseMins)
{
Value = 2
};
var ncp1 = new NcPositionCommand(10, mp1, f1, BlockType.LINEAR);
var ncp2 = new NcPositionCommand(20, mp2, f2, BlockType.LINEAR);
var ncMachine = new NcMachine(ControllerType.FAGOR8055, MachineGeometry.XA);
ncfile.Add(ncp1);
ncfile.Add(ncp2);
var ncText = ncfile.AsNcTextFile(ncMachine);
var ncfileLine0 = ncText[0];
var ncfileLine1 = ncText[1];
var ncfileLine2 = ncText[2];
var line0 = ";Title";
var line1 = "N10 G90 G01 X1.0000 A0.000 F20.00";
var line2 = "N20 G32 G90 G01 X1.0000 A360.000 F2.00";
StringAssert.Contains(ncfileLine0, line0);
StringAssert.Contains(ncfileLine1, line1);
StringAssert.Contains(ncfileLine2, line2);
}
private bool Set(string parameter, string value)
{
bool pos_changed = false;
switch (parameter)
{
case "MPos":
if ((pos_changed = _MPos != value))
{
if (!_isMPos)
{
IsMachinePosition = true;
}
_MPos = value;
MachinePosition.Parse(_MPos);
}
break;
case "WPos":
if ((pos_changed = _WPos != value))
{
if (_isMPos)
{
IsMachinePosition = false;
}
_WPos = value;
WorkPosition.Parse(_WPos);
}
break;
case "WCO":
if ((pos_changed = _wco != value))
{
_wco = value;
has_wco = true;
WorkPositionOffset.Parse(value);
}
break;
case "A":
if (_a != value)
{
_a = value;
if (_a == "")
{
Mist = Flood = IsToolChanging = false;
SpindleState.Value = GCode.SpindleState.Off;
}
else
{
Mist = value.Contains("M");
Flood = value.Contains("F");
IsToolChanging = value.Contains("T");
SpindleState.Value = value.Contains("S") ? GCode.SpindleState.CW : (value.Contains("C") ? GCode.SpindleState.CCW : GCode.SpindleState.Off);
}
}
break;
case "WCS":
if (_wcs != value)
{
WorkCoordinateSystem = GrblParserState.WorkOffset = value;
}
break;
case "Bf":
string[] buffers = value.Split(',');
if (buffers[0] != _pb_avail)
{
_pb_avail = buffers[0];
OnPropertyChanged(nameof(PlanBufferAvailable));
}
if (buffers[1] != _rxb_avail)
{
_rxb_avail = buffers[1];
OnPropertyChanged(nameof(RxBufferAvailable));
}
break;
case "Ln":
LineNumber = int.Parse(value);
break;
case "FS":
if (_fs != value)
{
_fs = value;
if (_fs == "")
{
FeedRate = ProgrammedRPM = 0d;
if (!double.IsNaN(ActualRPM))
{
ActualRPM = 0d;
}
}
else
{
double[] values = dbl.ParseList(_fs);
if (_feedrate != values[0])
{
FeedRate = values[0];
}
if (_rpm != values[1])
{
ProgrammedRPM = values[1];
}
if (values.Length > 2 && _rpmActual != values[2])
{
ActualRPM = values[2];
}
}
}
break;
case "F":
if (_fs != value)
{
_fs = value;
if (_fs == "")
{
FeedRate = ProgrammedRPM = 0d;
if (!double.IsNaN(ActualRPM))
{
ActualRPM = 0d;
}
}
else
{
FeedRate = dbl.Parse(_fs);
}
}
break;
case "PWM":
PWM = int.Parse(value);
break;
case "Pn":
if (_pn != value)
{
_pn = value;
int s = 0;
foreach (char c in _pn)
{
int i = GrblConstants.SIGNALS.IndexOf(c);
if (i >= 0)
{
s |= (1 << i);
}
}
Signals.Value = (Signals)s;
}
break;
case "Ov":
if (_ov != value)
{
_ov = value;
if (_ov == string.Empty)
{
FeedOverride = RapidsOverride = RPMOverride = 100d;
}
else
{
double[] values = dbl.ParseList(_ov);
if (_feedOverride != values[0])
{
FeedOverride = values[0];
}
if (_rapidsOverride != values[1])
{
RapidsOverride = values[1];
}
if (_rpmOverride != values[2])
{
RPMOverride = values[2];
}
}
}
break;
case "Sc":
if (_sc != value)
{
int s = 0;
foreach (char c in value)
{
int i = GrblInfo.AxisLetterToIndex(c);
if (i >= 0)
{
s |= (1 << i);
}
}
AxisScaled.Value = (AxisFlags)s;
Scaling = value;
}
break;
case "Ex":
if (_ex != value)
{
TubeCoolant = value == "C";
}
break;
case "SD":
value = string.Format("SD Card streaming {0}% complete", value.Split(',')[0]);
if (SDCardStatus != value)
{
Message = SDCardStatus = value;
}
break;
case "T":
if (_tool != value)
{
Tool = value == "0" ? GrblConstants.NO_TOOL : value;
}
break;
case "TLR":
IsTloReferenceSet = value != "0";
break;
case "MPG":
GrblInfo.MPGMode = _grblState.MPG = value == "1";
IsMPGActive = _grblState.MPG;
break;
case "H":
if (_h != value)
{
_h = value;
var hs = _h.Split(',');
HomedState = hs[0] == "1" ? HomedState.Homed : (GrblState.State == GrblStates.Alarm && GrblState.Substate == 11 ? HomedState.NotHomed : HomedState.Unknown);
}
break;
case "D":
_d = value;
LatheMode = GrblParserState.LatheMode = value == "0" ? LatheMode.Radius : LatheMode.Diameter;
break;
case "THC":
{
var values = value.Split(',');
if (_thcv != values[0])
{
_thcv = values[0];
THCVoltage = dbl.Parse(_thcv);
}
value = values.Length > 1 ? values[1] : "";
if (_thcs != value)
{
_thcs = value;
int s = 0;
foreach (char c in _thcs)
{
int i = GrblConstants.THCSIGNALS.IndexOf(c);
if (i >= 0)
{
s |= (1 << i);
}
}
THCSignals.Value = (THCSignals)s;
}
}
break;
case "Enc":
{
var enc = value.Split(',');
OverrideEncoderMode = (GrblEncoderMode)int.Parse(enc[0]);
}
break;
}
return(pos_changed);
}
public bool Set(string parameter, string value)
{
bool changed = false;
switch (parameter)
{
case "MPos":
if ((changed = _MPos != value))
{
if (!_isMPos)
{
IsMachinePosition = true;
}
_MPos = value;
MachinePosition.Parse(_MPos);
for (int i = 0; i < GrblInfo.NumAxes; i++)
{
double newpos = MachinePosition.Values[i] - WorkPositionOffset.Values[i];
if (!Position.Values[i].Equals(newpos))
{
Position.Values[i] = newpos;
}
}
}
break;
case "WPos":
if ((changed = _WPos != value))
{
if (_isMPos)
{
IsMachinePosition = false;
}
_WPos = value;
WorkPosition.Parse(_WPos);
for (int i = 0; i < GrblInfo.NumAxes; i++)
{
if (!Position.Values[i].Equals(WorkPosition.Values[i]))
{
Position.Values[i] = WorkPosition.Values[i];
}
}
}
break;
case "A":
if ((changed = _a != value))
{
_a = value;
if (_a == "")
{
Mist = Flood = IsToolChanging = false;
SpindleState.Value = GCode.SpindleState.Off;
}
else
{
Mist = value.Contains("M");
Flood = value.Contains("F");
IsToolChanging = value.Contains("T");
SpindleState.Value = value.Contains("S") ? GCode.SpindleState.CW : (value.Contains("C") ? GCode.SpindleState.CCW : GCode.SpindleState.Off);
}
}
break;
case "WCO":
if ((changed = _wco != value))
{
_wco = value;
WorkPositionOffset.Parse(value);
if (_isMPos)
{
for (int i = 0; i < GrblInfo.NumAxes; i++)
{
double newpos = MachinePosition.Values[i] - WorkPositionOffset.Values[i];
if (!Position.Values[i].Equals(newpos))
{
Position.Values[i] = newpos;
}
}
}
}
break;
case "WCS":
if ((changed = _wcs != value))
{
WorkCoordinateSystem = GrblParserState.WorkOffset = value;
}
break;
case "FS":
if ((changed = _fs != value))
{
_fs = value;
if (_fs == "")
{
FeedRate = ProgrammedRPM = 0d;
if (!double.IsNaN(ActualRPM))
{
ActualRPM = 0d;
}
}
else
{
double[] values = dbl.ParseList(_fs);
if (_feedrate != values[0])
{
FeedRate = values[0];
}
if (_rpm != values[1])
{
ProgrammedRPM = values[1];
}
if (values.Length > 2 && _rpmActual != values[2])
{
ActualRPM = values[2];
}
}
}
break;
case "Pn":
if ((changed = _pn != value))
{
_pn = value;
int s = 0;
foreach (char c in _pn)
{
int i = GrblConstants.SIGNALS.IndexOf(c);
if (i >= 0)
{
s |= (1 << i);
}
}
Signals.Value = (Signals)s;
}
break;
case "Ov":
if ((changed = _ov != value))
{
_ov = value;
if (_ov == string.Empty)
{
FeedOverride = RapidsOverride = RPMOverride = 100d;
}
else
{
double[] values = dbl.ParseList(_ov);
if (_feedOverride != values[0])
{
FeedOverride = values[0];
}
if (_rapidsOverride != values[1])
{
RapidsOverride = values[1];
}
if (_rpmOverride != values[2])
{
RPMOverride = values[2];
}
}
}
break;
case "Sc":
if ((changed = _sc != value))
{
int s = 0;
foreach (char c in value)
{
int i = GrblInfo.AxisLetterToIndex(c);
if (i >= 0)
{
s |= (1 << i);
}
}
AxisScaled.Value = (AxisFlags)s;
Scaling = value;
}
break;
case "Ex":
if ((changed = _ex != value))
{
TubeCoolant = value == "C";
}
break;
case "SD":
value = string.Format("SD Card streaming {0}% complete", value);
if ((changed = SDCardStatus != value))
{
Message = SDCardStatus = value;
}
break;
case "T":
if ((changed = _tool != value))
{
Tool = GrblParserState.Tool = value == "0" ? GrblConstants.NO_TOOL : value;
}
break;
case "MPG":
GrblInfo.MPGMode = _grblState.MPG = value == "1";
IsMPGActive = _grblState.MPG;
changed = true;
break;
case "H":
if (_h != value)
{
_h = value;
HomedState = value == "1" ? HomedState.Homed : HomedState.Unknown;
changed = true;
}
break;
case "D":
_d = value;
LatheMode = GrblParserState.LatheMode = value == "0" ? LatheMode.Radius : LatheMode.Diameter;
changed = true;
break;
}
return(changed);
}
private void StateMachine()
{
switch (state)
{
case ProcessState.Init:
this.parser.Open = true;
state = ProcessState.CheckIfOnline;
break;
case ProcessState.CheckIfOnline:
if (this.parser.Open)
{
state = ProcessState.CheckSettings;
Thread.Sleep(300);
}
else
{
state = ProcessState.Init;
Thread.Sleep(500);
}
break;
case ProcessState.CheckSettings:
var settings = new List <string>();
settings.Add("$0=10"); // (step pulse, usec)
settings.Add("$1=25"); // (step idle delay, msec)
settings.Add("$2=0"); // (step port invert mask:00000000)
settings.Add("$3=3"); // (dir port invert mask:00000011)
settings.Add("$4=0"); // (step enable invert, bool)
settings.Add("$5=0"); // (limit pins invert, bool)
settings.Add("$6=0"); // (probe pin invert, bool)
settings.Add("$10=3"); // (status report mask:00000011)
settings.Add("$11=0.020"); // (junction deviation, mm)
settings.Add("$12=0.001"); // (arc tolerance, mm)
settings.Add("$13=0"); //(report inches, bool)
settings.Add("$20=0"); // (soft limits, bool)
settings.Add("$21=0"); // (hard limits, bool)
settings.Add("$22=0"); // (homing cycle, bool)
settings.Add("$23=1"); // (homing dir invert mask:00000001)
settings.Add("$24=50.000"); // (homing feed, mm/min)
settings.Add("$25=635.000"); // (homing seek, mm/min)
settings.Add("$26=250"); // (homing debounce, msec)
settings.Add("$27=1.000"); // (homing pull-off, mm)
settings.Add("$100=320.000"); // (x, step/mm)
settings.Add("$101=320.000"); // (y, step/mm)
settings.Add("$102=320.000"); // (z, step/mm)
settings.Add("$110=3000.000"); // (x max rate, mm/min)
settings.Add("$111=3000.000"); // (y max rate, mm/min)
settings.Add("$112=3000.000"); // (z max rate, mm/min)
settings.Add("$120=50.000"); // (x accel, mm/sec^2)
settings.Add("$121=50.000"); // (y accel, mm/sec^2)
settings.Add("$122=50.000"); // (z accel, mm/sec^2)
settings.Add("$130=225.000"); // (x max travel, mm)
settings.Add("$131=125.000"); // (y max travel, mm)
settings.Add("$132=170.000"); // (z max travel, mm)
var result = this.parser.SendCommand("$$");
if (String.IsNullOrEmpty(result))
{
this.parser.Open = false;
state = ProcessState.Init;
Thread.Sleep(5000);
return;
}
var currentSettings = result.Split(new string[] { "\r\n", "\n" }, StringSplitOptions.None);
foreach (var setting in currentSettings)
{
settings.RemoveAll(s => s == setting);
}
foreach (var setting in settings)
{
QueueCommand(setting);
}
if (settings.Count > 0)
{
this.parser.SendCommand(((char)24).ToString());
}
state = ProcessState.Idle;
break;
case ProcessState.Idle:
if (statusCheck.Ready)
{
state = ProcessState.CheckStatus;
}
else
{
state = ProcessState.WriteOutput;
}
break;
case ProcessState.WriteOutput:
state = ProcessState.Idle;
while (this.PlannerBlocksAvailble > 0)
{
var nextCommand = queue.GetNextCommand();
// no more commands
if (String.IsNullOrEmpty(nextCommand))
{
break;
}
// grbl rxBuffer full
if (this.RxBufferBytesAvailble < (nextCommand.Length + 5))
{
break;
}
this.RxBufferBytesAvailble -= (nextCommand.Length + 2);
this.PlannerBlocksAvailble--;
var message = this.parser.SendCommand(nextCommand);
queue.Remove(nextCommand);
if (!String.IsNullOrEmpty(message) && message.Contains("[MSG:Pgm End]"))
{
this.JobActive = false;
}
}
break;
case ProcessState.CheckStatus:
state = ProcessState.Idle;
var status = this.parser.ReadStaus();
if (status == null)
{
return;
}
this.PlannerBlocksAvailble = status.PlannerBlocksAvailble;
this.RxBufferBytesAvailble = status.RxBufferBytesAvailble;
if (MachinePosition == null)
{
MachinePosition = status.MachinePosition;
WorkCoordinate = new PositionVector(MachinePosition.X, MachinePosition.Y, MachinePosition.Z);
}
else
{
MachinePosition.Move(status.MachinePosition);
WorkCoordinate.Move(MachinePosition);
}
if (status.WorkCoordinateOffset != null)
{
WorkCoordinate.Offset(status.WorkCoordinateOffset);
}
GrblWebSocket.SendToWebSocketClients(this.NamedParameters.ToJSON());
break;
}
}
public void MachinePosition_defctor()
{
var mp = new MachinePosition();
Assert.AreEqual(0, mp.X);
}
public bool Parse(GrblResponse response)
{
bool result = false;
if (response != null)
{
switch (response.ResponseType)
{
case GrblResponseEnum.Coordinate:
if (GCodeParameters.ContainsKey(response.Items[0]))
{
result = GCodeParameters[response.Items[0]].Relocate(response.Items[1], response.Items[2], response.Items[3]);
}
break;
case GrblResponseEnum.Probe:
if (GCodeParameters.ContainsKey("PRB"))
{
if (GCodeParameters["PRB"].Relocate(response.Items[0], response.Items[1], response.Items[2]))
{
LastProbeSuccess = response.Items[3].Equals("1");
result = true;
}
}
break;
case GrblResponseEnum.ParserState:
ParserState.Clear();
for (int i = 0; i < response.Items.Count; i = i + 2)
{
ParserState.Add(new Tuple <string, string>(response.Items[i], response.Items[i + 1]));
}
result = true;
break;
case GrblResponseEnum.StartupBlock:
if (response.Items[0].Equals("0"))
{
StartupBlock1 = response.Items[1];
result = true;
}
else if (response.Items[0].Equals("1"))
{
StartupBlock2 = response.Items[1];
result = true;
}
break;
case GrblResponseEnum.Setting:
if (Settings.ContainsKey(response.Items[0]))
{
Settings[response.Items[0]] = response.Items[1];
result = true;
}
break;
case GrblResponseEnum.Status:
GrblState = (GrblStateEnum)Enum.Parse(typeof(GrblStateEnum), response.Items[0], true);
MachinePosition.Relocate(response.Items[1], response.Items[2], response.Items[3]);
WorkPosition.Relocate(response.Items[4], response.Items[5], response.Items[6]);
result = true;
break;
case GrblResponseEnum.ToolLengthOffset:
ToolLengthOffset = double.Parse(response.Items[0]);
result = true;
break;
case GrblResponseEnum.BuildInfo:
BuildInfo = response.Items[0];
result = true;
break;
}
}
return(result);
}
