public static async Task <IEnumerable <IEnumerable <decimal> > > GetPosition(this ISerial serial, string commandPrefix)
{
string message = await serial.SendCommandAndReadOKReplyAsync($"{commandPrefix}?", 10 * 1000);
var ret = new List <IEnumerable <decimal> >();
if (!string.IsNullOrEmpty(message))
{
if (message.Contains("MPos:"))
{
// new or grbl format
message = message.Replace("ok", "").Replace("<", "").Replace(">", "").Trim();
string[] tags = message.Split('|');
var mPos = TryConvert(tags, "MPos:");
if (mPos != null)
{
ret.Add(mPos.ToArray());
var wco = TryConvert(tags, "WCO:");
if (wco != null)
{
for (int i = 0; i < wco.Length; i++)
{
mPos[i] -= wco[i];
}
}
ret.Add(mPos);
}
}
else
{
decimal[] mPos = Convert(message, "dummy");
ret.Add(mPos);
message = await serial.SendCommandAndReadOKReplyAsync($"{commandPrefix}m114 s1", 10 * 1000);
if (!string.IsNullOrEmpty(message))
{
decimal[] rPos = Convert(message, "dummy");
ret.Add(rPos);
}
}
}
return(ret);
}
public static async Task <decimal?> GetParameterValueAsync(this ISerial serial, int parameter, string commandPrefix)
{
string message = await serial.SendCommandAndReadOKReplyAsync($"{commandPrefix}(print, #{parameter})", 10 * 1000);
if (!string.IsNullOrEmpty(message))
{
// expected response : 0\nok
string pos = message.Split('\n').FirstOrDefault();
if (decimal.TryParse(pos, NumberStyles.Any, CultureInfo.InvariantCulture, out decimal val))
{
return(val);
}
}
return(null);
}