/// <summary>
/// Takes manual input parameters for a set of commands for motorized printhead droplet printing and outputs the commands to the serial port.
/// </summary>
/// <param name="xDistance"></param>
/// <param name="yDistance"></param>
/// <param name="zDistance"></param>
/// <param name="interpolateDistance"></param>
/// <param name="eDispensePerDroplet"></param>
public void ProcessManualMotorDropletPrintCommand(double xDistance, double yDistance, double zDistance, double interpolateDistance, double eDispensePerDroplet)
{
PrintheadModel printheadModel = _printerModel.FindPrinthead(_realTimeStatusDataModel.ActivePrintheadModel.Name);
MotorizedPrintheadTypeModel motorizedPrintheadTypeModel = (MotorizedPrintheadTypeModel)printheadModel.PrintheadTypeModel;
double emmPerStep = motorizedPrintheadTypeModel.MmPerStep;
RealTimeStatusMotorizedPrintheadModel realTimeStatusMotorizedPrintheadModel = (RealTimeStatusMotorizedPrintheadModel)_realTimeStatusDataModel.ActivePrintheadModel;
double eMaxSpeed = realTimeStatusMotorizedPrintheadModel.MaxSpeed;
double eAcceleration = realTimeStatusMotorizedPrintheadModel.Acceleration;
double xmmPerStep = (xDistance != 0) ? _printerModel.AxisModelList[0].MmPerStep : double.MaxValue;
double ymmPerStep = (yDistance != 0) ? _printerModel.AxisModelList[1].MmPerStep : double.MaxValue;
AxisModel zAxisModel = _printerModel.FindAxis(_realTimeStatusDataModel.ZRealTimeStatusAxisModel.Name);
double zmmPerStep = (zDistance != 0) ? _printerModel.FindAxis(zAxisModel.Name).MmPerStep : double.MaxValue;
bool zDirectionInverted = (zAxisModel != null) ? zAxisModel.IsDirectionInverted : false;
double unused = 0;
string printString = GCodeLinesConverter.GCodeLinesListToString(
WriteG00.WriteMotorizedDropletPrint(
emmPerStep, xmmPerStep, ymmPerStep, zmmPerStep,
eDispensePerDroplet, 0, xDistance, 0, yDistance, 0, zDistance,
_printerModel.AxisModelList[0].IsDirectionInverted, _printerModel.AxisModelList[1].IsDirectionInverted, zDirectionInverted, motorizedPrintheadTypeModel.IsDirectionInverted,
ref unused, ref unused, ref unused, ref unused,
null, new DropletModel(interpolateDistance)));
_serialCommunicationOutgoingMessagesModel.QueueNextProspectiveOutgoingMessage(printString);
}
public RealTimeStatusMotorizedPrintheadViewModel(RealTimeStatusMotorizedPrintheadModel RealTimeStatusMotorizedPrintheadModel) : base(RealTimeStatusMotorizedPrintheadModel)
{
_realTimeStatusMotorizedPrintheadModel = RealTimeStatusMotorizedPrintheadModel;
base._imageSource = "/Resources/General/ValvePrinthead.png";
UpdateProperties();
}
/// <summary>
/// Set the new center as the origin (position 0) and adjust the max and min range around such.
/// </summary>
/// <param name="commandSet"></param>
/// <returns></returns>
private List <string> InterpretSetOrigin(string commandSet)
{
//Remove "*Origin" from the beginning of the string.
commandSet = commandSet.Substring(6);
if (commandSet.Contains("E"))
{
if (_realTimeStatusDataModel.ActivePrintheadType == PrintheadType.Motorized)
{
RealTimeStatusMotorizedPrintheadModel realTimeStatusMotorizedPrintheadModel = (RealTimeStatusMotorizedPrintheadModel)_realTimeStatusDataModel.ActivePrintheadModel;
MotorizedPrintheadTypeModel motorizedPrintheadTypeModel = (MotorizedPrintheadTypeModel)_printerModel.FindPrinthead(realTimeStatusMotorizedPrintheadModel.Name).PrintheadTypeModel;
double previousEPosition = realTimeStatusMotorizedPrintheadModel.Position;
motorizedPrintheadTypeModel.MaxPosition -= previousEPosition;
motorizedPrintheadTypeModel.MinPosition -= previousEPosition;
realTimeStatusMotorizedPrintheadModel.Position = 0;
}
}
if (commandSet.Contains("X"))
{
AxisModel xAxisModel = _printerModel.AxisModelList[0];
double previousXPosition = _realTimeStatusDataModel.XRealTimeStatusAxisModel.Position;
xAxisModel.MaxPosition -= previousXPosition;
xAxisModel.MinPosition -= previousXPosition;
_realTimeStatusDataModel.XRealTimeStatusAxisModel.Position = 0;
}
if (commandSet.Contains("Y"))
{
AxisModel yAxisModel = _printerModel.AxisModelList[1];
double previousYPosition = _realTimeStatusDataModel.YRealTimeStatusAxisModel.Position;
yAxisModel.MaxPosition -= previousYPosition;
yAxisModel.MinPosition -= previousYPosition;
_realTimeStatusDataModel.YRealTimeStatusAxisModel.Position = 0;
}
if (commandSet.Contains("Z"))
{
AxisModel zAxisModel = _printerModel.FindAxis(_realTimeStatusDataModel.ZRealTimeStatusAxisModel.Name);
double previousZPosition = _realTimeStatusDataModel.ZRealTimeStatusAxisModel.Position;
zAxisModel.MaxPosition -= previousZPosition;
zAxisModel.MinPosition -= previousZPosition;
_realTimeStatusDataModel.ZRealTimeStatusAxisModel.Position = 0;
}
OnCommandSetMinMaxPositionChanged();
OnCommandSetMinMaxPositionChanged();
//No commands to return.
return(null);
}
/// <summary>
/// Takes manual input parameters for a motor print without movement command and outputs the command to the serial port.
/// </summary>
/// <param name="eDistance"></param>
public void ProcessManualMotorPrintWithoutMovementCommand(double eDistance)
{
MotorizedPrintheadTypeModel motorizedPrintheadTypeModel = (MotorizedPrintheadTypeModel)_printerModel.FindPrinthead(_realTimeStatusDataModel.ActivePrintheadModel.Name).PrintheadTypeModel;
double emmPerStep = motorizedPrintheadTypeModel.MmPerStep;
RealTimeStatusMotorizedPrintheadModel realTimeStatusMotorizedPrintheadModel = (RealTimeStatusMotorizedPrintheadModel)_realTimeStatusDataModel.ActivePrintheadModel;
double unused = 0;
string printString = GCodeLinesConverter.GCodeLinesListToString(
WriteG00.WriteMotorizedPrintWithoutMovement(eDistance, emmPerStep, motorizedPrintheadTypeModel.IsDirectionInverted, ref unused, null));
_serialCommunicationOutgoingMessagesModel.QueueNextProspectiveOutgoingMessage(printString);
}
/// <summary>
/// Record the parameters from a Motorized Printhead Print With Movement command.
/// </summary>
/// <param name="taskQueuedMessage"></param>
/// <param name="eStepsTaken"></param>
/// <param name="xStepsTaken"></param>
/// <param name="yStepsTaken"></param>
/// <param name="zStepsTaken"></param>
public void RecordMotorizedPrintWithMovement(int eStepsTaken, int xStepsTaken, int yStepsTaken, int zStepsTaken)
{
if (_activePrintheadType == PrintheadType.Motorized)
{
MotorizedPrintheadTypeModel motorizedPrintheadTypeModel = (MotorizedPrintheadTypeModel)_printerModel.FindPrinthead(_activePrintheadModel.Name).PrintheadTypeModel;
double emmPerStep = motorizedPrintheadTypeModel.MmPerStep;
double xmmPerStep = _printerModel.AxisModelList[0].MmPerStep;
double ymmPerStep = _printerModel.AxisModelList[1].MmPerStep;
double zmmPerStep = _printerModel.FindAxis(_zRealTimeStatusAxisModel.Name).MmPerStep;
//Record data.
RealTimeStatusMotorizedPrintheadModel motorizedPrintheadModel = (RealTimeStatusMotorizedPrintheadModel)_activePrintheadModel;
//Record positions.
if (eStepsTaken != 0)
{
motorizedPrintheadModel.Position += (motorizedPrintheadTypeModel.IsDirectionInverted == false) ? (double)(eStepsTaken * emmPerStep) : (double)(eStepsTaken * -1 * emmPerStep);
motorizedPrintheadModel.LimitSwitchStatus = LimitSwitchStatus.NoLimit;
}
if (xStepsTaken != 0)
{
_xRealTimeStatusAxisModel.Position += (_printerModel.AxisModelList[0].IsDirectionInverted == false) ? (double)(xStepsTaken * xmmPerStep) : (double)(xStepsTaken * -1 * xmmPerStep);
_xRealTimeStatusAxisModel.LimitSwitchStatus = LimitSwitchStatus.NoLimit;
}
if (yStepsTaken != 0)
{
_yRealTimeStatusAxisModel.Position += (_printerModel.AxisModelList[1].IsDirectionInverted == false) ? (double)(yStepsTaken * ymmPerStep) : (double)(yStepsTaken * -1 * ymmPerStep);
_yRealTimeStatusAxisModel.LimitSwitchStatus = LimitSwitchStatus.NoLimit;
}
if (zStepsTaken != 0)
{
_zRealTimeStatusAxisModel.Position += (_printerModel.FindAxis(_zRealTimeStatusAxisModel.Name).IsDirectionInverted == false) ? (double)(zStepsTaken * zmmPerStep) : (double)(zStepsTaken * -1 * zmmPerStep);
_zRealTimeStatusAxisModel.LimitSwitchStatus = LimitSwitchStatus.NoLimit;
}
//Notify other classes.
OnRecordMotorizedPrintWithMovementExecuted();
}
}
/// <summary>
/// Record the parameters from a Motorized Printhead Print without Movement command.
/// </summary>
/// <param name="ePosition"></param>
public void RecordMotorizedPrintWithoutMovement(double eStepsTaken)
{
if (_activePrintheadType == PrintheadType.Motorized)
{
MotorizedPrintheadTypeModel motorizedPrintheadTypeModel = (MotorizedPrintheadTypeModel)_printerModel.FindPrinthead(_activePrintheadModel.Name).PrintheadTypeModel;
double emmPerStep = motorizedPrintheadTypeModel.MmPerStep;
//Record data.
RealTimeStatusMotorizedPrintheadModel motorizedPrintheadModel = (RealTimeStatusMotorizedPrintheadModel)_activePrintheadModel;
if (eStepsTaken != 0)
{
motorizedPrintheadModel.Position += (motorizedPrintheadTypeModel.IsDirectionInverted == false) ? (double)(eStepsTaken * emmPerStep) : (double)(eStepsTaken * -1 * emmPerStep);
motorizedPrintheadModel.LimitSwitchStatus = LimitSwitchStatus.NoLimit;
}
//Notify other classes.
OnRecordMotorizedPrintWithoutMovementExecuted();
}
}
/// <summary>
/// Sets the minimum and/or maximum position of actuator-based equipment as its current position.
/// </summary>
/// <param name="commandSet"></param>
/// <returns></returns>
private List <string> InterpretSetMinMaxPosition(string commandSet)
{
//Remove "*SetMinMaxPos" from the beginning of the command set.
commandSet = commandSet.Substring(12);
for (int index = 0; index < commandSet.Length; index++)
{
switch (commandSet[index])
{
case 'E':
if (_realTimeStatusDataModel.ActivePrintheadType == PrintheadType.Motorized)
{
//Set the current position as the parameter value.
RealTimeStatusMotorizedPrintheadModel realTimeStatusMotorizedPrintheadModel = (RealTimeStatusMotorizedPrintheadModel)_realTimeStatusDataModel.ActivePrintheadModel;
MotorizedPrintheadTypeModel motorizedPrintheadTypeModel = (MotorizedPrintheadTypeModel)_printerModel.FindPrinthead(_realTimeStatusDataModel.ActivePrintheadModel.Name).PrintheadTypeModel;
double ePreviousPosition = realTimeStatusMotorizedPrintheadModel.Position;
realTimeStatusMotorizedPrintheadModel.Position = ParseDouble(commandSet.Substring(index));
double ePositionDifference = realTimeStatusMotorizedPrintheadModel.Position - ePreviousPosition;
//Set the Min or Max Position property as the parameter value.
//Adjust the Min and Max positions such that the distance between Max and Min Position remains the same.
switch (commandSet[index + 1])
{
case 'N':
motorizedPrintheadTypeModel.MinPosition = realTimeStatusMotorizedPrintheadModel.Position;
motorizedPrintheadTypeModel.MaxPosition += ePositionDifference;
break;
case 'M':
motorizedPrintheadTypeModel.MaxPosition = realTimeStatusMotorizedPrintheadModel.Position;
motorizedPrintheadTypeModel.MinPosition += ePositionDifference;
break;
default:
//Set position value only.
//Do nothing here.
break;
}
}
break;
case 'X':
//Set the current position as the parameter value.
RealTimeStatusAxisModel xRealTimeStatusAxisModel = _realTimeStatusDataModel.XRealTimeStatusAxisModel;
AxisModel xAxisModel = _printerModel.AxisModelList[0];
double xPreviousPosition = xRealTimeStatusAxisModel.Position;
xRealTimeStatusAxisModel.Position = ParseDouble(commandSet.Substring(index));
double xPositionDifference = xRealTimeStatusAxisModel.Position - xPreviousPosition;
//Set the Min or Max Position property as the parameter value.
//Adjust the Min and Max positions such that the distance between Max and Min Position remains the same.
switch (commandSet[index + 1])
{
case 'N':
xAxisModel.MinPosition = xRealTimeStatusAxisModel.Position;
xAxisModel.MaxPosition += xPositionDifference;
break;
case 'M':
xAxisModel.MaxPosition = xRealTimeStatusAxisModel.Position;
xAxisModel.MinPosition += xPositionDifference;
break;
default:
//Set position value only.
//Do nothing here.
break;
}
break;
case 'Y':
//Set the current position as the parameter value.
RealTimeStatusAxisModel yRealTimeStatusAxisModel = _realTimeStatusDataModel.YRealTimeStatusAxisModel;
AxisModel yAxisModel = _printerModel.AxisModelList[1];
double yPreviousPosition = yRealTimeStatusAxisModel.Position;
yRealTimeStatusAxisModel.Position = ParseDouble(commandSet.Substring(index));
double yPositionDifference = yRealTimeStatusAxisModel.Position - yPreviousPosition;
//Set the Min or Max Position property as the parameter value.
//Adjust the Min and Max positions such that the distance between Max and Min Position remains the same.
switch (commandSet[index + 1])
{
case 'N':
yAxisModel.MinPosition = yRealTimeStatusAxisModel.Position;
yAxisModel.MaxPosition += yPositionDifference;
break;
case 'M':
yAxisModel.MaxPosition = yRealTimeStatusAxisModel.Position;
yAxisModel.MinPosition += yPositionDifference;
break;
default:
//Set position value only.
//Do nothing here.
break;
}
break;
case 'Z':
//Set the current position as the parameter value.
RealTimeStatusAxisModel zRealTimeStatusAxisModel = _realTimeStatusDataModel.ZRealTimeStatusAxisModel;
AxisModel zAxisModel = _printerModel.FindAxis(zRealTimeStatusAxisModel.Name);
double zPreviousPosition = zRealTimeStatusAxisModel.Position;
zRealTimeStatusAxisModel.Position = ParseDouble(commandSet.Substring(index));
double zPositionDifference = zRealTimeStatusAxisModel.Position - zPreviousPosition;
//Set the Min or Max Position property as the parameter value.
//Adjust the Min and Max positions such that the distance between Max and Min Position remains the same.
switch (commandSet[index + 1])
{
case 'N':
zAxisModel.MinPosition = zRealTimeStatusAxisModel.Position;
zAxisModel.MaxPosition += zPositionDifference;
break;
case 'M':
zAxisModel.MaxPosition = zRealTimeStatusAxisModel.Position;
zAxisModel.MinPosition += zPositionDifference;
break;
default:
//Set position value only.
//Do nothing here.
break;
}
break;
}
}
OnCommandSetPositionChanged();
OnCommandSetMinMaxPositionChanged();
//No commands to return.
return(null);
}
/// <summary>
/// Record the parameters from a Limit Switch status message.
/// </summary>
/// <param name="xLimit"></param>
/// <param name="yLimit"></param>
/// <param name="zLimit"></param>
/// <param name="eLimit"></param>
/// <param name="xStepsTaken"></param>
/// <param name="yStepsTaken"></param>
/// <param name="zStepsTaken"></param>
/// <param name="eStepsTaken"></param>
public void RecordLimit(bool xLimit, bool yLimit, bool zLimit, bool eLimit, int xStepsTaken, int yStepsTaken, int zStepsTaken, int eStepsTaken)
{
//E
if (_activePrintheadType == PrintheadType.Motorized)
{
//mm Per Step.
MotorizedPrintheadTypeModel motorizedPrintheadTypeModel = (MotorizedPrintheadTypeModel)_printerModel.FindPrinthead(_activePrintheadModel.Name).PrintheadTypeModel;
eStepsTaken = (motorizedPrintheadTypeModel.IsDirectionInverted == false) ? eStepsTaken : (-1 * eStepsTaken);
double emmPerStep = motorizedPrintheadTypeModel.MmPerStep;
//Update Position.
RealTimeStatusMotorizedPrintheadModel realTimeStatusMotorizedPrintheadTypeModel = (RealTimeStatusMotorizedPrintheadModel)_activePrintheadModel;
realTimeStatusMotorizedPrintheadTypeModel.Position += (double)(eStepsTaken * -1 * emmPerStep);
//Update Max/Min Position and Limit.
if (eLimit == true)
{
if (eStepsTaken > 0)
{
motorizedPrintheadTypeModel.MaxPosition = realTimeStatusMotorizedPrintheadTypeModel.Position;
realTimeStatusMotorizedPrintheadTypeModel.LimitSwitchStatus = LimitSwitchStatus.UpperLimit;
}
else if (eStepsTaken < 0)
{
motorizedPrintheadTypeModel.MinPosition = realTimeStatusMotorizedPrintheadTypeModel.Position;
realTimeStatusMotorizedPrintheadTypeModel.LimitSwitchStatus = LimitSwitchStatus.LowerLimit;
}
}
}
AxisModel xAxisModel = _printerModel.AxisModelList[0];
AxisModel yAxisModel = _printerModel.AxisModelList[1];
AxisModel zAxisModel = _printerModel.FindAxis(_zRealTimeStatusAxisModel.Name);
//mm Per Step.
double xmmPerStep = xAxisModel.MmPerStep;
double ymmPerStep = yAxisModel.MmPerStep;
double zmmPerStep = (zAxisModel != null) ? _printerModel.FindAxis(_zRealTimeStatusAxisModel.Name).MmPerStep : 0;
//Record positions.
if (xStepsTaken != 0)
{
xStepsTaken = (_printerModel.AxisModelList[0].IsDirectionInverted == false) ? xStepsTaken : (-1 * xStepsTaken);
_xRealTimeStatusAxisModel.Position += (double)(xStepsTaken * xmmPerStep);
}
if (yStepsTaken != 0)
{
yStepsTaken = (_printerModel.AxisModelList[1].IsDirectionInverted == false) ? yStepsTaken : (-1 * yStepsTaken);
_yRealTimeStatusAxisModel.Position += (double)(yStepsTaken * ymmPerStep);
}
if (zStepsTaken != 0)
{
zStepsTaken = (_printerModel.FindAxis(_zRealTimeStatusAxisModel.Name).IsDirectionInverted == false) ? zStepsTaken : (-1 * zStepsTaken);
_zRealTimeStatusAxisModel.Position += (double)(zStepsTaken * zmmPerStep);
}
//Set Max Positions and Limits.
if (xLimit == true)
{
if (xStepsTaken > 0)
{
xAxisModel.MaxPosition = _xRealTimeStatusAxisModel.Position;
_xRealTimeStatusAxisModel.LimitSwitchStatus = LimitSwitchStatus.UpperLimit;
}
else if (xStepsTaken < 0)
{
xAxisModel.MinPosition = _xRealTimeStatusAxisModel.Position;
_xRealTimeStatusAxisModel.LimitSwitchStatus = LimitSwitchStatus.LowerLimit;
}
}
if (yLimit == true)
{
if (yStepsTaken > 0)
{
yAxisModel.MaxPosition = _yRealTimeStatusAxisModel.Position;
_yRealTimeStatusAxisModel.LimitSwitchStatus = LimitSwitchStatus.UpperLimit;
}
else if (yStepsTaken < 0)
{
yAxisModel.MinPosition = _yRealTimeStatusAxisModel.Position;
_yRealTimeStatusAxisModel.LimitSwitchStatus = LimitSwitchStatus.LowerLimit;
}
}
if (zLimit == true)
{
if (zStepsTaken > 0)
{
if (_shouldZCalibrate == true)
{
zAxisModel.MaxPosition = _zRealTimeStatusAxisModel.Position;
_shouldZCalibrate = false;
}
_zRealTimeStatusAxisModel.LimitSwitchStatus = LimitSwitchStatus.UpperLimit;
}
else if (zStepsTaken < 0)
{
//The minimum Position of Z Axes are always zero.
//If the lower limit of a Z Axis is hit, then adjust the Max Position such that the range remains the same.
if (_shouldZCalibrate == true)
{
zAxisModel.MaxPosition = zAxisModel.MaxPosition + _zRealTimeStatusAxisModel.Position;
zAxisModel.MinPosition = 0;
_shouldZCalibrate = false;
}
_zRealTimeStatusAxisModel.LimitSwitchStatus = LimitSwitchStatus.LowerLimit;
}
}
//Notify other classes.
OnRecordLimitExecuted();
}