private void DataReceived(IAsyncResult ar)
{
UdpClient c = (UdpClient)ar.AsyncState;
IPEndPoint receivedIpEndPoint = new IPEndPoint(IPAddress.Any, 0);
Byte[] receivedBytes = c.EndReceive(ar, ref receivedIpEndPoint);
// Convert data to ASCII and print in console
string receivedText = ASCIIEncoding.ASCII.GetString(receivedBytes);
//SetText(logForm.txtResponse.Text + receivedText);
//logForm.txtResponse.SelectionStart = logForm.txtResponse.Text.Length;
if (gcodeCmd == "M27") //progress report
{
string[] lines = receivedText.Split('\n');
lines = lines.Where(x => !string.IsNullOrEmpty(x)).ToArray();
double[] progress = new double[2];
if ((lines[0].Substring(0, 5).ToUpper() != "ERROR") && (lines[0].Substring(0, 2).ToUpper() != "OK"))
{
isPrinting = true;
lines = lines[0].Split(new[] { "byte" }, StringSplitOptions.None);
lines = lines[1].Split('/');
progress[0] = double.Parse(lines[0].Trim());
progress[1] = double.Parse(lines[1].Trim());
//SetText(logForm.txtResponse.Text + progressCount.ToString()+"\r\n");
if (progress[0] > progressBefore && progressCount >= 1)
{
progressCount = 0;
int PrintProgress = (int)Math.Round((progress[0] * 100) / progress[1]);
SetProgress(PrintProgress);
SetLbl("Percent done : " + PrintProgress.ToString());
progressBefore = progress[0];
SetText(logForm.txtResponse.Text + "Frame = " + framenumber.ToString() + ", ");
if (timelapse)
{
FrameSnapped = false;
if (framenumber >= skipFirst)
{
if ((framenumber - skipFirst) % takeEvery == 0)
{
gcodeCmd = "M25";
receiver.Send(Encoding.ASCII.GetBytes(gcodeCmd), gcodeCmd.Length);
receivedBytes = receiver.Receive(ref ipEndPoint);
receivedText = ASCIIEncoding.ASCII.GetString(receivedBytes);
gcodeCmd = "M114";
//receiver.Send(Encoding.ASCII.GetBytes(gcodeCmd), gcodeCmd.Length);
//receivedBytes = receiver.Receive(ref ipEndPoint);
//receivedText = ASCIIEncoding.ASCII.GetString(receivedBytes);
FrameSnapped = true;
}
//else
//{
// if(PrintProgress>=100) //It's not the nth frame but the print finished. take the last frame
// {
// gcodeCmd = "M25";
// receiver.Send(Encoding.ASCII.GetBytes(gcodeCmd), gcodeCmd.Length);
// receivedBytes = receiver.Receive(ref ipEndPoint);
// receivedText = ASCIIEncoding.ASCII.GetString(receivedBytes);
// gcodeCmd = "M114";
// }
//}
}
}
framenumber++;
}
else if (progress[0] > progressBefore && progressCount < 1)
{
progressCount++;
}
//txtResponse.SelectionStart = txtResponse.Text.Length;
//txtResponse.ScrollToCaret();
//txtResponse.Refresh();
}
else if (lines[0].Substring(0, 5).ToUpper() == "ERROR")
{
if (isPrinting) //means it was printing and now it finsihed
{
SetProgress(100);
SetLbl("Percent done : 100");
if (timelapse)
{
if (!FrameSnapped) //The lasr frame was not snapped coz it was not the nth frame
{
gcodeCmd = "M114";
//receiver.Send(Encoding.ASCII.GetBytes(gcodeCmd), gcodeCmd.Length);
//receivedBytes = receiver.Receive(ref ipEndPoint);
//receivedText = ASCIIEncoding.ASCII.GetString(receivedBytes);
FrameSnapped = true;
}
timelapse = false; //stop time lapse
}
}
isPrinting = false;
}
}
else if (gcodeCmd == "M114") //Get current Z value untill it settles
{
if (receivedText.IndexOf("X:0.000000") != -1)
{
string[] lines = receivedText.Split(new[] { "Z:" }, StringSplitOptions.None);
lines = lines[1].Split(new[] { "E:" }, StringSplitOptions.None);
double zpos = double.Parse(lines[0]);
SetZheight("Z Height = " + Math.Round(zpos, 3).ToString());
if (zposbefore != zpos)
{
zposbefore = zpos;
}
else
{
double Zoffset = MaxLiftHeight - zpos;
gcodeCmd = "G91, G0 Z" + Zoffset.ToString() + " F300";
receiver.Send(Encoding.ASCII.GetBytes(gcodeCmd), gcodeCmd.Length);
receivedBytes = receiver.Receive(ref ipEndPoint);
receivedText = ASCIIEncoding.ASCII.GetString(receivedBytes);
prevzoffset = Zoffset;
zposbefore = 0;
snapped = false;
snapComplete = false;
gcodeCmd = "M4000";
}
}
}
else if (gcodeCmd == "M4000") //Get current Z value untill it settles
{
if (receivedText.IndexOf("X:0.000") != -1)
{
string[] lines = receivedText.Split(new[] { "Z:" }, StringSplitOptions.None);
lines = lines[1].Split(new[] { "F:" }, StringSplitOptions.None);
double zpos = double.Parse(lines[0]);
SetZheight("Z Height = " + Math.Round(zpos, 3).ToString());
if (zposbefore != zpos)
{
zposbefore = zpos;
}
else
{
if (!snapped)
{
if (!FirstSnap)
{
SetText(logForm.txtResponse.Text + "Time Lapse Starts\r\n");
MessageBox.Show("Setup the Camera for time Lapse and click OK.");
FirstSnap = true;
}
snapComplete = false;
_actionSource.FireEvent(ActionEvent.Command.TAKE_PICTURE, IntPtr.Zero);
SetText(logForm.txtResponse.Text + "Take Picture\r\n");
snapped = true;
}
if (snapComplete)
{
gcodeCmd = "G91, G0 Z" + (-1 * prevzoffset).ToString() + " F300";;
receiver.Send(Encoding.ASCII.GetBytes(gcodeCmd), gcodeCmd.Length);
receivedBytes = receiver.Receive(ref ipEndPoint);
receivedText = ASCIIEncoding.ASCII.GetString(receivedBytes);
if (isPrinting) //if the printing it going on then resume print
{
gcodeCmd = "M24";
receiver.Send(Encoding.ASCII.GetBytes(gcodeCmd), gcodeCmd.Length);
receivedBytes = receiver.Receive(ref ipEndPoint);
receivedText = ASCIIEncoding.ASCII.GetString(receivedBytes);
}
zposbefore = 0;
snapComplete = false;
snapped = false;
gcodeCmd = "M27";
}
}
}
}
// Restart listening for udp data packages
c.BeginReceive(DataReceived, ar.AsyncState);
}