// Handle incoming commands from the serial link
void Process()
{
// Todo - receive incoming commands from the serial link and act on those commands by calling the low-level hardwarwe APIs, etc.
byte ACK = 0xA5;
byte NACK = 0xFF;
float xVoltage = 0;
float yVoltage = 0;
float oldZLocation = 0;
while (!fDone)
{
var receivedHeader = new byte[4];
var ACKorNACK = new byte[1];
ReceiveHeaderAndSend(receivedHeader);
var paramData = new byte[receivedHeader[1]];
printer.WaitMicroseconds(3000);
while (ACKorNACK[0] != ACK && ACKorNACK[0] != NACK)
{
printer.ReadSerialFromHost(ACKorNACK, 1);
}
if (ACKorNACK[0] == ACK)
{
printer.WaitMicroseconds(3000);
//var readParamByte = ReadParamBytes(receivedHeader, paramData);
//var paramBytes = new byte[header[1]];
//var paramBytesRead = printer.ReadSerialFromHost(paramData, receivedHeader[1]);
//var responseByte = new byte[successBytes.Length];
if (printer.ReadSerialFromHost(paramData, receivedHeader[1]) != receivedHeader[1] /*ByteArraysEquals(readParamByte, timeoutBytes)*/)
{
printer.WriteSerialToHost(timeoutBytes, responseBytesLen);
}
else
{
//Console.WriteLine("Firmware: " + BitConverter.ToString(receivedHeader) + "|-|" + BitConverter.ToString(paramData));
//responseByte = successBytes;
var calculatedChecksum = CalculateChecksum(receivedHeader, paramData);
if (receivedHeader[2] == calculatedChecksum[0] && receivedHeader[3] == calculatedChecksum[1])
{
printer.WriteSerialToHost(successBytes, successBytes.Length);
if (receivedHeader[0] == 0)
{
var distance = BitConverter.ToSingle(paramData, 0) - oldZLocation;
oldZLocation = BitConverter.ToSingle(paramData, 0);
MoveZrail(distance, PrinterControl.StepperDir.STEP_UP);
}
else if (receivedHeader[0] == 1)
{
//Console.WriteLine("Execute setLaser with data: " + BitConverter.ToBoolean(paramData, 0));
printer.SetLaser(BitConverter.ToBoolean(paramData, 0));
}
else if (receivedHeader[0] == 2)
{
xVoltage = BitConverter.ToSingle(paramData, 0) / 20;
yVoltage = BitConverter.ToSingle(paramData, 4) / 20;
if ((xVoltage > -2.25 && xVoltage < 2.25) && (yVoltage > -2.25 && yVoltage < 2.25))
{
printer.MoveGalvos(xVoltage, yVoltage);
//Console.WriteLine("Execute moveGalvos with data: xVoltage: " + xVoltage + " yVoltage: " + yVoltage);
}
}
//printer.WriteSerialToHost(successBytes, successBytes.Length);
}
else
{
printer.WriteSerialToHost(checksumBytes, responseBytesLen);
}
}
}
}
}
public void executeCommand(byte command, byte[] param)
{
try
{
switch (command)
{
case 0x00:
return;
case 0x01:
commandsExecuted["ResetStepper"] += 1;
printer.ResetStepper();
moveStepperToTop();
moveStepperFromTopToBuildPlate();
break;
case 0x02:
float direction = BitConverter.ToSingle(param, 0);
if (direction == 1)
{
Console.WriteLine("Step up");
commandsExecuted["StepStepperUp"] += 1;
bool result = printer.StepStepper(PrinterControl.StepperDir.STEP_UP);
}
else if (direction == 0)
{
Console.WriteLine("Step down");
commandsExecuted["StepStepperDown"] += 1;
bool result = printer.StepStepper(PrinterControl.StepperDir.STEP_DOWN);
}
break;
case 0x03:
float value = BitConverter.ToSingle(param, 0);
if (value == 1)
{
printer.SetLaser(true);
Console.WriteLine("Turned on laser");
}
else if (value == 0)
{
printer.SetLaser(false);
Console.WriteLine("Turned laser off");
}
else
{
Console.WriteLine("Invalid laser value for on/off");
}
break;
case 0x04:
commandsExecuted["MoveGalvonometer"] += 1;
float x = BitConverter.ToSingle(param, 0);
float y = BitConverter.ToSingle(param, 4);
printer.MoveGalvos(x, y);
Console.WriteLine("Moved galvo");
break;
default:
Console.WriteLine("Bad command");
break;
}
}
catch (Exception e)
{
System.Console.WriteLine(e.StackTrace);
}
}