void HandleStatusLine(string line)
{
if (machineState == MachineState.waitStatus)
{
machineState = MachineState.Idle;
}
GrblStatus.MachineState oldState = grblStatus.state;
float[] axis = new float[grblStatus.axisPos.Length];
for (int i = 0; i < axis.Length; i++)
{
axis[i] = grblStatus.axisPos[i];
}
grblStatus.Parse(line);
if (StatusUpdate != null)
{
StatusUpdate(this, grblStatus);
}
grblStatus.gStateChange = false;
if (oldState != grblStatus.state)
{
HandleStateChange(oldState);
}
if (wasRunningWhenToolChanged)
{
float absZ = grblStatus.axisPos[Z_AXIS] + grblStatus.workingCoords[Z_AXIS];
if (absZ > tcpZmax)
{
tcpZmax = absZ;
}
}
// handle stopping, if in action. Fixme: need to find a better way to do it.
if (machineState == MachineState.Stopping && grblStatus.state != GrblStatus.MachineState.Run)
{
bool motionStopped = true;
for (int i = 0; i < axis.Length; i++)
{
if (axis[i] != grblStatus.axisPos[i])
{
motionStopped = false;
break;
}
}
if (motionStopped)
{
SendStop();
}
}
if (machineState == MachineState.ToolChange && grblStatus.state != GrblStatus.MachineState.Run)
{
ChangeTool();
}
}
void HandleReceivedLine(string line)
{
if (line.Length == 0)
{
return;
}
bool isStatusLine = false;
if (line.Length > maxlinelen)
{
maxlinelen = line.Length;
tmpLongLine = line;
}
if (line.StartsWith("Grbl"))
{
activePort = port.PortName;
if (machineState == MachineState.Idle)
{
GetAllGrblParameters();
}
//machineState = MachineState.Idle;
if (ConnectionStatus != CommStatus.Connected)
{
ConnectionStatus = CommStatus.Connected;
if (StatusChanged != null)
{
StatusChanged(this, ConnectionStatus);
}
}
}
else if (line.StartsWith("<"))
{
isStatusLine = true;
grblStatus.Parse(line);
if (StatusUpdate != null)
{
StatusUpdate(this, grblStatus);
}
}
else if (line.StartsWith("$"))
{
HandleParamLine(line);
}
else if (line.StartsWith("ok"))
{
HandleOKLine(line);
}
else if (line.StartsWith("["))
{
HandleMessageLine(line);
}
else if (line.StartsWith("error"))
{
HandleErrorLine(line, MessageType.Error);
}
else if (line.StartsWith("ALARM"))
{
HandleErrorLine(line, MessageType.Alarm);
}
if (LineReceived != null)
{
LineReceived(this, line, isStatusLine && showStatusMsg == 0);
if (showStatusMsg > 0)
{
showStatusMsg--;
}
}
}