public void ParseHomedStatus(string data)
{
string[] values = data.TrimEnd(']').Split(':');
if (values.Length == 3)
{
HomePosition.Parse(values[1]);
AxisHomed.Value = (AxisFlags)int.Parse(values[2]);
for (int i = 0; i < GrblInfo.NumAxes; i++)
{
if (!AxisHomed.Value.HasFlag(GrblInfo.AxisIndexToFlag(i)))
{
HomePosition.Values[i] = double.NaN;
}
}
}
}
public bool ProcessKeypress(KeyEventArgs e, bool allowJog, UserControl context = null)
{
bool isJogging = IsJogging, jogkeyPressed = false;
double[] dist = new double[4] {
0d, 0d, 0d, 0d
};
if (e.IsUp && isJogging)
{
bool cancel = !allowJog;
isJogging = false;
for (int i = 0; i < N_AXIS; 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);
}
this.allowJog = allowJog;
if (IsJoggingEnabled && e.IsDown && CanJog)
{
// Do not respond to autorepeats!
if (e.IsRepeat)
{
return(true);
}
N_AXIS = GrblInfo.AxisFlags.HasFlag(AxisFlags.A) ? 4 : 3;
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;
case Key.Home:
if (N_AXIS == 4)
{
isJogging = axisjog[GrblConstants.A_AXIS] != Key.Home;
axisjog[GrblConstants.A_AXIS] = Key.Home;
}
break;
case Key.End:
if (N_AXIS == 4)
{
isJogging = axisjog[GrblConstants.A_AXIS] != Key.End;
axisjog[GrblConstants.A_AXIS] = Key.End;
}
break;
}
}
else
{
jogkeyPressed = !(Keyboard.FocusedElement is System.Windows.Controls.TextBox) && (e.Key == Key.Left || e.Key == Key.Right || e.Key == Key.Up || e.Key == Key.Down || e.Key == Key.PageUp || e.Key == Key.PageDown);
}
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 < N_AXIS; 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;
case Key.Home:
dist[GrblConstants.A_AXIS] = 1d;
command += "A{4}";
break;
case Key.End:
dist[GrblConstants.A_AXIS] = -1d;
command += "A-{4}";
break;
}
}
}
if ((isJogging = command != string.Empty))
{
if ((Keyboard.Modifiers & ModifierKeys.Control) == ModifierKeys.Control)
{
for (int i = 0; i < N_AXIS; i++)
{
axisjog[i] = Key.None;
}
preCancel = !(jogMode == JogMode.Step || jogMode == JogMode.None);
jogMode = JogMode.Step;
JogDistances[(int)jogMode] = grbl.JogStep;
}
else if (IsContinuousJoggingEnabled)
{
preCancel = true;
if ((Keyboard.Modifiers & ModifierKeys.Shift) == ModifierKeys.Shift)
{
jogMode = JogMode.Fast;
}
else
{
jogMode = JogMode.Slow;
}
}
else
{
for (int i = 0; i < N_AXIS; i++)
{
axisjog[i] = Key.None;
}
jogMode = JogMode.None;
}
if (jogMode != JogMode.None)
{
if (GrblInfo.IsGrblHAL || !SoftLimits)
{
var distance = JogDistances[(int)jogMode].ToInvariantString();
SendJogCommand("$J=G91G21" + string.Format(command + "F{0}",
JogFeedrates[(int)jogMode].ToInvariantString(),
distance, distance, distance, distance));
}
else
{
for (int i = 0; i < N_AXIS; i++)
{
if (dist[i] != 0d)
{
dist[i] = grbl.MachinePosition.Values[i] + JogDistances[(int)jogMode] * dist[i];
if (i == GrblConstants.A_AXIS && GrblInfo.MaxTravel.Values[GrblConstants.A_AXIS] == 0d)
{
continue;
}
if (GrblInfo.ForceSetOrigin)
{
if (!GrblInfo.HomingDirection.HasFlag(GrblInfo.AxisIndexToFlag(i)))
{
if (dist[i] > 0)
{
dist[i] = 0;
}
else if (dist[i] < (-GrblInfo.MaxTravel.Values[i] + LimitSwitchesClearance))
{
dist[i] = (-GrblInfo.MaxTravel.Values[i] + LimitSwitchesClearance);
}
}
else
{
if (dist[i] < 0d)
{
dist[i] = 0d;
}
else if (dist[i] > (GrblInfo.MaxTravel.Values[i] - LimitSwitchesClearance))
{
dist[i] = GrblInfo.MaxTravel.Values[i] - LimitSwitchesClearance;
}
}
}
else
{
if (dist[i] > -LimitSwitchesClearance)
{
dist[i] = -LimitSwitchesClearance;
}
else if (dist[i] < -(GrblInfo.MaxTravel.Values[i] - LimitSwitchesClearance))
{
dist[i] = -(GrblInfo.MaxTravel.Values[i] - LimitSwitchesClearance);
}
}
}
}
SendJogCommand("$J=G53G21" + string.Format(command.Replace('-', ' ') + "F{0}",
JogFeedrates[(int)jogMode].ToInvariantString(),
dist[GrblConstants.X_AXIS].ToInvariantString(),
dist[GrblConstants.Y_AXIS].ToInvariantString(),
dist[GrblConstants.Z_AXIS].ToInvariantString(),
dist[GrblConstants.A_AXIS].ToInvariantString()));
}
}
return(jogMode != JogMode.None);
}
}
IsRepeating = e.IsRepeat;
if (Keyboard.Modifiers == ModifierKeys.Alt)
{
var handler = handlers.Where(k => k.modifiers == Keyboard.Modifiers && k.key == e.SystemKey && k.onUp == e.IsUp && k.context == context).FirstOrDefault();
if (handler != null)
{
return(handler.Call(e.SystemKey));
}
else
{
handler = handlers.Where(k => k.modifiers == Keyboard.Modifiers && k.key == e.SystemKey && k.onUp == e.IsUp && k.context == null).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 && k.onUp == e.IsUp && k.context == context).FirstOrDefault();
if (handler != null)
{
return(handler.Call(e.Key));
}
else
{
handler = handlers.Where(k => k.modifiers == Keyboard.Modifiers && k.key == e.Key && k.onUp == e.IsUp && k.context == null).FirstOrDefault();
if (handler != null)
{
return(handler.Call(e.Key));
}
}
}
return(jogkeyPressed);
}