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 grblComm_GrblStatusChanged(object sender, GrblStatus.MachineState newState, GrblStatus.MachineState oldState)
{
if (InvokeRequired)
{
BeginInvoke(new MethodInvoker(() => { grblComm_GrblStatusChanged(sender, newState, oldState); }));
return;
}
toolStripStep.Enabled = newState == GrblStatus.MachineState.Idle;
toolStripStart.Enabled = newState == GrblStatus.MachineState.Idle || newState == GrblStatus.MachineState.Hold;
toolStripStart.Checked = newState == GrblStatus.MachineState.Run;
toolStripPause.Enabled = newState == GrblStatus.MachineState.Run;
toolStripPause.Checked = newState == GrblStatus.MachineState.Hold;
}
void HandleStateChange(GrblStatus.MachineState oldState)
{
if (grblStatus.state == GrblStatus.MachineState.Hold && machineState != MachineState.Paused && machineState != MachineState.Stopping)
{
machineState = MachineState.Paused;
}
if (GrblStatusChanged != null)
{
GrblStatusChanged(this, grblStatus.state, oldState);
}
if (grblStatus.state == GrblStatus.MachineState.Idle)
{
if (machineState == MachineState.ProbeTool)
{
ProbeToolEnd();
}
if (machineState == MachineState.ProbeAxis && insertMsgQueue.Count == 0)
{
machineState = MachineState.waitStatus;
GetGcodeCoordOfsets();
}
}
}
public MachineStateTransition(State target, GrblStatus.MachineState state, bool negate = false) : base(target)
{
this.state = state;
this.negate = negate;
}