public void home_start(
double print_time,
double sample_time,
int sample_count,
double rest_time,
bool triggered = true)
{
var clock = _mcu.print_time_to_clock(print_time);
var rest_ticks = (int)(rest_time * _mcu.get_adjusted_freq());
_homing = true;
_min_query_time = _mcu.monotonic();
_next_query_print_time = print_time + RETRY_QUERY;
_home_cmd.send(new object[] {
_oid,
clock,
_mcu.seconds_to_clock(sample_time),
sample_count,
rest_ticks,
triggered ^ _invert
}, reqclock: (ulong)clock);
foreach (var s in _steppers)
{
s.note_homing_start((ulong)clock);
}
}
public void set_digital(double print_time, bool value)
{
var clock = _mcu.print_time_to_clock(print_time);
_set_cmd.send(new object[] { _oid, clock, !!value ^ _invert }, (ulong)_last_clock, (ulong)clock);
_last_clock = clock;
}
public void handle_identify(Dictionary <string, object> parameters)
{
if (is_done || parameters.Get <int>("offset") != identify_data.Length)
{
return;
}
byte[] msgdata = parameters.Get <byte[]>("data");
if (msgdata == null || msgdata.Length < 40)
{
if (msgdata != null)
{
identify_data.Write(msgdata);
}
is_done = true;
logging.Info("finish load identify_data " + identify_data.Length);
return;
}
identify_data.Write(msgdata);
identify_cmd.send(new object[] { (int)identify_data.Length, 40 });
}
public bool _check_busy(double eventtime, double home_end_time = 0.0)
{
// Check if need to send an end_stop_query command
var last_sent_time = _last_state.Get("#sent_time", -1.0);
if (last_sent_time >= _min_query_time || _mcu.is_fileoutput())
{
if (!_homing)
{
return(false);
}
if (!(bool)_last_state.Get("homing", false))
{
foreach (var s in _steppers)
{
s.note_homing_end(did_trigger: true);
}
_homing = false;
return(false);
}
var last_sent_print_time = _mcu.estimated_print_time(last_sent_time);
if (last_sent_print_time > home_end_time)
{
// Timeout - disable endstop checking
foreach (var s in _steppers)
{
s.note_homing_end();
}
_homing = false;
_home_cmd.send(new object[] { _oid, 0, 0, 0, 0, 0 });
throw new TimeoutEndstopException("Timeout during endstop homing");
}
}
if (_mcu.is_shutdown())
{
throw new McuException("MCU is shutdown");
}
var est_print_time = _mcu.estimated_print_time(eventtime);
if (est_print_time >= _next_query_print_time)
{
_next_query_print_time = est_print_time + RETRY_QUERY;
_query_cmd.send(new object[] { _oid });
}
return(true);
}