public T this[int i]
{
get { return(arr[i]); }
set
{
if (!value.Equals(arr[i]))
{
arr[i] = value;
if (!_suspend)
{
OnPropertyChanged(GrblInfo.AxisIndexToLetter(i));
}
}
}
}
public void ParseHomedStatus(string data)
{
string[] values = data.TrimEnd(']').Split(':');
if (values.Length == 3)
{
HomePosition.Parse(values[1]);
AxisHomed.Value = (AxisFlags)int.Parse(values[2]);
for (int i = 0; i < GrblInfo.NumAxes; i++)
{
if (!AxisHomed.Value.HasFlag(GrblInfo.AxisIndexToFlag(i)))
{
HomePosition.Values[i] = double.NaN;
}
}
}
}
public T this[int i]
{
get { return(arr[i]); }
set
{
//double v = (double)(object)arr[i];
//if (dbl.Assign((double)(object)value, ref v))
{
arr[i] = value;
if (!_suspend)
{
OnPropertyChanged(GrblInfo.AxisIndexToLetter(i));
}
}
}
}
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 ProcessKeypress(KeyEventArgs e, bool allowJog, UserControl context = null)
{
bool isJogging = IsJogging, jogkeyPressed = false;
double[] dist = new double[4] {
0d, 0d, 0d, 0d
};
if (e.IsUp && isJogging)
{
bool cancel = !allowJog;
isJogging = false;
for (int i = 0; i < N_AXIS; i++)
{
if (axisjog[i] == e.Key)
{
axisjog[i] = Key.None;
cancel = true;
}
else
{
isJogging = isJogging || (axisjog[i] != Key.None);
}
}
isJogging &= allowJog;
if (cancel && !isJogging && jogMode != JogMode.Step)
{
JogCancel();
}
}
if (!isJogging && allowJog && Comms.com.OutCount != 0)
{
return(true);
}
this.allowJog = allowJog;
if (IsJoggingEnabled && e.IsDown && CanJog)
{
// Do not respond to autorepeats!
if (e.IsRepeat)
{
return(true);
}
N_AXIS = GrblInfo.AxisFlags.HasFlag(AxisFlags.A) ? 4 : 3;
switch (e.Key)
{
case Key.PageUp:
isJogging = axisjog[GrblConstants.Z_AXIS] != Key.PageUp;
axisjog[GrblConstants.Z_AXIS] = Key.PageUp;
break;
case Key.PageDown:
isJogging = axisjog[GrblConstants.Z_AXIS] != Key.PageDown;
axisjog[GrblConstants.Z_AXIS] = Key.PageDown;
break;
case Key.Left:
isJogging = axisjog[GrblConstants.X_AXIS] != Key.Left;
axisjog[GrblConstants.X_AXIS] = Key.Left;
break;
case Key.Up:
isJogging = axisjog[GrblConstants.Y_AXIS] != Key.Up;
axisjog[GrblConstants.Y_AXIS] = Key.Up;
break;
case Key.Right:
isJogging = axisjog[GrblConstants.X_AXIS] != Key.Right;
axisjog[GrblConstants.X_AXIS] = Key.Right;
break;
case Key.Down:
isJogging = axisjog[GrblConstants.Y_AXIS] != Key.Down;
axisjog[GrblConstants.Y_AXIS] = Key.Down;
break;
case Key.Home:
if (N_AXIS == 4)
{
isJogging = axisjog[GrblConstants.A_AXIS] != Key.Home;
axisjog[GrblConstants.A_AXIS] = Key.Home;
}
break;
case Key.End:
if (N_AXIS == 4)
{
isJogging = axisjog[GrblConstants.A_AXIS] != Key.End;
axisjog[GrblConstants.A_AXIS] = Key.End;
}
break;
}
}
else
{
jogkeyPressed = !(Keyboard.FocusedElement is System.Windows.Controls.TextBox) && (e.Key == Key.Left || e.Key == Key.Right || e.Key == Key.Up || e.Key == Key.Down || e.Key == Key.PageUp || e.Key == Key.PageDown);
}
if (isJogging)
{
string command = string.Empty;
if (GrblInfo.LatheModeEnabled)
{
for (int i = 0; i < 2; i++)
{
switch (axisjog[i])
{
case Key.Left:
dist[GrblConstants.Z_AXIS] = -1d;
command += "Z-{3}";
break;
case Key.Up:
dist[GrblConstants.X_AXIS] = -1d;
command += "X-{1}";
break;
case Key.Right:
dist[GrblConstants.Z_AXIS] = 1d;
command += "Z{3}";
break;
case Key.Down:
dist[GrblConstants.X_AXIS] = 1d;
command += "X{1}";
break;
}
}
}
else
{
for (int i = 0; i < N_AXIS; i++)
{
switch (axisjog[i])
{
case Key.PageUp:
dist[GrblConstants.Z_AXIS] = 1d;
command += "Z{3}";
break;
case Key.PageDown:
dist[GrblConstants.Z_AXIS] = -1d;
command += "Z-{3}";
break;
case Key.Left:
dist[GrblConstants.X_AXIS] = -1d;
command += "X-{1}";
break;
case Key.Up:
dist[GrblConstants.Y_AXIS] = 1d;
command += "Y{2}";
break;
case Key.Right:
dist[GrblConstants.X_AXIS] = 1d;
command += "X{1}";
break;
case Key.Down:
dist[GrblConstants.Y_AXIS] = -1d;
command += "Y-{2}";
break;
case Key.Home:
dist[GrblConstants.A_AXIS] = 1d;
command += "A{4}";
break;
case Key.End:
dist[GrblConstants.A_AXIS] = -1d;
command += "A-{4}";
break;
}
}
}
if ((isJogging = command != string.Empty))
{
if ((Keyboard.Modifiers & ModifierKeys.Control) == ModifierKeys.Control)
{
for (int i = 0; i < N_AXIS; i++)
{
axisjog[i] = Key.None;
}
preCancel = !(jogMode == JogMode.Step || jogMode == JogMode.None);
jogMode = JogMode.Step;
JogDistances[(int)jogMode] = grbl.JogStep;
}
else if (IsContinuousJoggingEnabled)
{
preCancel = true;
if ((Keyboard.Modifiers & ModifierKeys.Shift) == ModifierKeys.Shift)
{
jogMode = JogMode.Fast;
}
else
{
jogMode = JogMode.Slow;
}
}
else
{
for (int i = 0; i < N_AXIS; i++)
{
axisjog[i] = Key.None;
}
jogMode = JogMode.None;
}
if (jogMode != JogMode.None)
{
if (GrblInfo.IsGrblHAL || !SoftLimits)
{
var distance = JogDistances[(int)jogMode].ToInvariantString();
SendJogCommand("$J=G91G21" + string.Format(command + "F{0}",
JogFeedrates[(int)jogMode].ToInvariantString(),
distance, distance, distance, distance));
}
else
{
for (int i = 0; i < N_AXIS; i++)
{
if (dist[i] != 0d)
{
dist[i] = grbl.MachinePosition.Values[i] + JogDistances[(int)jogMode] * dist[i];
if (i == GrblConstants.A_AXIS && GrblInfo.MaxTravel.Values[GrblConstants.A_AXIS] == 0d)
{
continue;
}
if (GrblInfo.ForceSetOrigin)
{
if (!GrblInfo.HomingDirection.HasFlag(GrblInfo.AxisIndexToFlag(i)))
{
if (dist[i] > 0)
{
dist[i] = 0;
}
else if (dist[i] < (-GrblInfo.MaxTravel.Values[i] + LimitSwitchesClearance))
{
dist[i] = (-GrblInfo.MaxTravel.Values[i] + LimitSwitchesClearance);
}
}
else
{
if (dist[i] < 0d)
{
dist[i] = 0d;
}
else if (dist[i] > (GrblInfo.MaxTravel.Values[i] - LimitSwitchesClearance))
{
dist[i] = GrblInfo.MaxTravel.Values[i] - LimitSwitchesClearance;
}
}
}
else
{
if (dist[i] > -LimitSwitchesClearance)
{
dist[i] = -LimitSwitchesClearance;
}
else if (dist[i] < -(GrblInfo.MaxTravel.Values[i] - LimitSwitchesClearance))
{
dist[i] = -(GrblInfo.MaxTravel.Values[i] - LimitSwitchesClearance);
}
}
}
}
SendJogCommand("$J=G53G21" + string.Format(command.Replace('-', ' ') + "F{0}",
JogFeedrates[(int)jogMode].ToInvariantString(),
dist[GrblConstants.X_AXIS].ToInvariantString(),
dist[GrblConstants.Y_AXIS].ToInvariantString(),
dist[GrblConstants.Z_AXIS].ToInvariantString(),
dist[GrblConstants.A_AXIS].ToInvariantString()));
}
}
return(jogMode != JogMode.None);
}
}
IsRepeating = e.IsRepeat;
if (Keyboard.Modifiers == ModifierKeys.Alt)
{
var handler = handlers.Where(k => k.modifiers == Keyboard.Modifiers && k.key == e.SystemKey && k.onUp == e.IsUp && k.context == context).FirstOrDefault();
if (handler != null)
{
return(handler.Call(e.SystemKey));
}
else
{
handler = handlers.Where(k => k.modifiers == Keyboard.Modifiers && k.key == e.SystemKey && k.onUp == e.IsUp && k.context == null).FirstOrDefault();
if (handler != null)
{
return(handler.Call(e.SystemKey));
}
}
}
else if (Keyboard.Modifiers == ModifierKeys.None || Keyboard.Modifiers == ModifierKeys.Control || Keyboard.Modifiers == (ModifierKeys.Control | ModifierKeys.Shift))
{
var handler = handlers.Where(k => k.modifiers == Keyboard.Modifiers && k.key == e.Key && k.onUp == e.IsUp && k.context == context).FirstOrDefault();
if (handler != null)
{
return(handler.Call(e.Key));
}
else
{
handler = handlers.Where(k => k.modifiers == Keyboard.Modifiers && k.key == e.Key && k.onUp == e.IsUp && k.context == null).FirstOrDefault();
if (handler != null)
{
return(handler.Call(e.Key));
}
}
}
return(jogkeyPressed);
}
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);
}