private void AddEdge(ProbingViewModel probing, int offsetAxis, int clearanceAxis, double XYClearance)
{
AxisFlags probeAxis = GrblInfo.AxisIndexToFlag(clearanceAxis);
Position rapidto = new Position(probing.StartPosition);
rapidto.Values[clearanceAxis] -= XYClearance * af[clearanceAxis];
rapidto.Z -= probing.Depth;
probing.Program.AddRapidToMPos(rapidto, probeAxis);
probing.Program.AddRapidToMPos(rapidto, AxisFlags.Z);
probing.Program.AddProbingAction(probeAxis, af[clearanceAxis] == -1.0d);
probing.Program.AddRapidToMPos(rapidto, probeAxis);
rapidto.Values[offsetAxis] = probing.StartPosition.Values[offsetAxis] + probing.Offset * af[offsetAxis];
probing.Program.AddRapidToMPos(rapidto, GrblInfo.AxisIndexToFlag(offsetAxis));
probing.Program.AddProbingAction(probeAxis, af[clearanceAxis] == -1.0d);
probing.Program.AddRapidToMPos(rapidto, probeAxis);
probing.Program.AddRapidToMPos(probing.StartPosition, AxisFlags.Z);
probing.Program.AddRapidToMPos(probing.StartPosition, AxisFlags.XY);
}
private void JogCommand(string cmd)
{
GrblViewModel model = DataContext as GrblViewModel;
if (cmd == "stop")
{
cmd = ((char)GrblConstants.CMD_JOG_CANCEL).ToString();
}
else
{
var distance = cmd[1] == '-' ? -JogData.Distance : JogData.Distance;
if (softLimits)
{
int axis = GrblInfo.AxisLetterToIndex(cmd[0]);
if (jogAxis != -1 && axis != jogAxis)
{
return;
}
if (axis != jogAxis)
{
position = distance + model.MachinePosition.Values[axis];
}
else
{
position += distance;
}
if (GrblInfo.ForceSetOrigin)
{
if (!GrblInfo.HomingDirection.HasFlag(GrblInfo.AxisIndexToFlag(axis)))
{
if (position > 0d)
{
position = 0d;
}
else if (position < (-GrblInfo.MaxTravel.Values[axis] + limitSwitchesClearance))
{
position = (-GrblInfo.MaxTravel.Values[axis] + limitSwitchesClearance);
}
}
else
{
if (position < 0d)
{
position = 0d;
}
else if (position > (GrblInfo.MaxTravel.Values[axis] - limitSwitchesClearance))
{
position = GrblInfo.MaxTravel.Values[axis] - limitSwitchesClearance;
}
}
}
else
{
if (position > -limitSwitchesClearance)
{
position = -limitSwitchesClearance;
}
else if (position < -(GrblInfo.MaxTravel.Values[axis] - limitSwitchesClearance))
{
position = -(GrblInfo.MaxTravel.Values[axis] - limitSwitchesClearance);
}
}
if (position == 0d)
{
return;
}
jogAxis = axis;
cmd = string.Format("$J=G53{0}{1}{2}F{3}", mode, cmd.Substring(0, 1), position.ToInvariantString(), Math.Ceiling(JogData.FeedRate).ToInvariantString());
}
else
{
cmd = string.Format("$J=G91{0}{1}{2}F{3}", mode, cmd.Substring(0, 1), distance.ToInvariantString(), Math.Ceiling(JogData.FeedRate).ToInvariantString());
}
}
model.ExecuteCommand(cmd);
}
public bool ProcessKeypress(KeyEventArgs e, bool allowJog)
{
bool isJogging = IsJogging;
double[] dist = new double[3] {
0d, 0d, 0d
};
if (e.IsUp && isJogging)
{
bool cancel = !allowJog;
isJogging = false;
for (int i = 0; i < 3; 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);
}
if (e.IsDown && CanJog && allowJog)
{
// Do not respond to autorepeats!
if (e.IsRepeat)
{
return(true);
}
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;
}
}
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 < 3; 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;
}
}
}
if ((isJogging = command != string.Empty))
{
if ((Keyboard.Modifiers & ModifierKeys.Control) == ModifierKeys.Control)
{
for (int i = 0; i < 3; i++)
{
axisjog[i] = Key.None;
}
preCancel = !(jogMode == JogMode.Step || jogMode == JogMode.None);
jogMode = JogMode.Step;
jogDistance[(int)jogMode] = grbl.JogStep;
}
else if (fullJog)
{
preCancel = true;
if ((Keyboard.Modifiers & ModifierKeys.Shift) == ModifierKeys.Shift)
{
jogMode = JogMode.Fast;
}
else
{
jogMode = JogMode.Slow;
}
}
else
{
for (int i = 0; i < 3; i++)
{
axisjog[i] = Key.None;
}
jogMode = JogMode.None;
}
if (jogMode != JogMode.None)
{
if (GrblInfo.IsGrblHAL || !softLimits)
{
var distance = jogDistance[(int)jogMode].ToInvariantString();
SendJogCommand("$J=G91G21" + string.Format(command + "F{0}",
jogSpeed[(int)jogMode].ToInvariantString(),
distance, distance, distance));
}
else
{
for (int i = 0; i < 3; i++)
{
if (dist[i] != 0d)
{
if (GrblInfo.HomingDirection.HasFlag(GrblInfo.AxisIndexToFlag(i)))
{
dist[i] = dist[i] < 0d ? grbl.MachinePosition.Values[i] : Math.Max(0d, GrblInfo.MaxTravel.Values[i] - grbl.MachinePosition.Values[i] - .5d);
}
else
{
dist[i] = dist[i] > 0d ? (-grbl.MachinePosition.Values[i] - .5d) : Math.Max(0d, GrblInfo.MaxTravel.Values[i] + grbl.MachinePosition.Values[i] - .5d);
}
}
}
SendJogCommand("$J=G91G21" + string.Format(command + "F{0}",
jogSpeed[(int)jogMode].ToInvariantString(),
dist[GrblConstants.X_AXIS].ToInvariantString(),
dist[GrblConstants.Y_AXIS].ToInvariantString(),
dist[GrblConstants.Z_AXIS].ToInvariantString()));
}
}
return(jogMode != JogMode.None);
}
}
if (e.IsUp)
{
if (Keyboard.Modifiers == ModifierKeys.Alt)
{
var handler = handlers.Where(k => k.modifiers == Keyboard.Modifiers && k.key == e.SystemKey).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).FirstOrDefault();
if (handler != null)
{
return(handler.Call(e.Key));
}
else
{
switch (e.Key)
{
case Key.NumPad4:
JogControl.JogData.StepDec();
return(true);
// break;
case Key.NumPad6:
JogControl.JogData.StepInc();
return(true);
case Key.NumPad8:
JogControl.JogData.FeedInc();
return(true);
case Key.NumPad2:
JogControl.JogData.FeedDec();
return(true);
// break;
}
}
}
}
return(false);
}