public EngineCommandResult ProcessAllCommands()
{
if (ActiveCommands.Count == 0)
{
return(EngineCommandResult.Success);
}
//if (!Proxy.CheckAllInitialized)
// return ( EngineCommandResult.Failed );
var res = EngineCommandResult.Success;
foreach (var c in ActiveCommands)
{
Proxy.Core.Log.Info("[Proxy Command Processor] Starting command: " + c.Type);
res = ProcessCommand(c);
if (res == EngineCommandResult.CriticalFailed)
{
break;
}
}
ActiveCommands.Clear();
return(res);
}
private void MachineConnection_LineReceived(string line)
{
if (line.StartsWith("<"))
{
Match statusMatch = StatusEx.Match(line);
if (!statusMatch.Success)
{
Console.WriteLine("Received Bad Status: '{0}'", line);
return;
}
Group status = statusMatch.Groups["State"];
if (status.Success)
{
Status = status.Value;
}
Group mx = statusMatch.Groups["MX"], my = statusMatch.Groups["MY"], mz = statusMatch.Groups["MZ"];
if (mx.Success)
{
MachinePosition = new Vector3(double.Parse(mx.Value, GCodeCommand.NumberFormat), double.Parse(my.Value, GCodeCommand.NumberFormat), double.Parse(mz.Value, GCodeCommand.NumberFormat));
}
Group wx = statusMatch.Groups["WX"], wy = statusMatch.Groups["WY"], wz = statusMatch.Groups["WZ"];
if (wx.Success)
{
WorkPosition = new Vector3(double.Parse(wx.Value, GCodeCommand.NumberFormat), double.Parse(wy.Value, GCodeCommand.NumberFormat), double.Parse(wz.Value, GCodeCommand.NumberFormat));
}
StatusUpdate();
}
else if (line.StartsWith("ok"))
{
if (ActiveCommands.Count > 0)
{
CharBufferCount -= ActiveCommands.Dequeue().Length;
}
else
{
Console.WriteLine("Received ok without active command");
}
}
else if (line.StartsWith("[PRB:"))
{
Match probeMatch = ProbeEx.Match(line);
Group mx = probeMatch.Groups["MX"];
if (!probeMatch.Success || !mx.Success)
{
Console.WriteLine("Received Bad Probe: '{0}'", line);
return;
}
double height = double.Parse(mx.Value, GCodeCommand.NumberFormat);
height += WorkPosition.Z - MachinePosition.Z;
if (Probes.Count > 0)
{
Probes.Dequeue().SetResult(height);
}
}
else if (line.StartsWith("error"))
{
string command;
if (ActiveCommands.Count > 0)
{
command = ActiveCommands.Dequeue();
CharBufferCount -= command.Length;
}
else
{
command = "No active command";
}
HandleError(line, command);
}
else if (line.StartsWith("[")) //feedback message
{
}
else if (line.StartsWith("ALARM"))
{
}
else if (line.StartsWith("Grbl"))
{
Probes.Clear();
ActiveCommands.Clear();
CharBufferCount = 0;
RequestStatus();
}
}
