public PosEventArgs(xyzPoint world, xyzPoint machine, grblState stat, mState msg, pState last, string sraw)
{
posWorld = world;
posMachine = machine;
status = stat;
statMsg = msg;
lastCmd = last;
raw = sraw;
}
/// <summary>
/// parse single gcode line to set parser state
/// </summary>
public static void updateParserState(string line, ref pState myParserState)
{
char cmd = '\0';
string num = "";
bool comment = false;
double value = 0;
if (!(line.StartsWith("$") || line.StartsWith("("))) //do not parse grbl commands
{
try
{ foreach (char c in line)
{
if (c == ';')
{
break;
}
if (c == '(')
{
comment = true;
}
if (!comment)
{
if (Char.IsLetter(c))
{
if (cmd != '\0')
{
value = 0;
if (num.Length > 0)
{
try { value = double.Parse(num, System.Globalization.NumberFormatInfo.InvariantInfo); }
catch { }
}
try { setParserState(cmd, value, ref myParserState); }
catch { }
}
cmd = c;
num = "";
}
else if (Char.IsNumber(c) || c == '.' || c == '-')
{
num += c;
}
}
if (c == ')')
{
comment = false;
}
}
if (cmd != '\0')
{
try { setParserState(cmd, double.Parse(num, System.Globalization.NumberFormatInfo.InvariantInfo), ref myParserState); }
catch { }
}
}
catch { }
}
}
/********************************************************
* handle last sent commands from serial form
* FeedRate, SpindleSpeed, Spinde/Coolant on/off, G54-Coord
* update other forms
********************************************************/
private void processParserState(pState cmd)
{
if (logPosEvent)
{
Logger.Trace("processParserState FR:{0} SS:{1} spindle:{2} coolant:{3} Tool:{4} Coord:{5}", cmd.FR.ToString(), cmd.SS.ToString(), cmd.spindle, cmd.coolant, cmd.tool.ToString(), cmd.coord_select.ToString());
}
if (cmd.changed)
{
actualFR = cmd.FR.ToString();
if (_streaming_form != null)
{
_streaming_form.show_value_FR(actualFR);
}
actualSS = cmd.SS.ToString();
if (_streaming_form != null)
{
_streaming_form.show_value_SS(actualSS);
}
if (grbl.isVersion_0)
{
cBSpindle.CheckedChanged -= cBSpindle_CheckedChanged;
cBSpindle.Checked = (cmd.spindle <= 4) ? true : false; // M3, M4 start, M5 stop
cBSpindle.CheckedChanged += cBSpindle_CheckedChanged;
cBCoolant.CheckedChanged -= cBCoolant_CheckedChanged;
cBCoolant.Checked = (cmd.coolant <= 8) ? true : false; // M7, M8 on M9 coolant off
cBCoolant.CheckedChanged += cBCoolant_CheckedChanged;
}
if (cmd.toolchange)
{
lblTool.Text = cmd.tool.ToString();
}
lblCurrentG.Text = "G" + cmd.coord_select.ToString();
lblCurrentG.BackColor = (cmd.coord_select == 54) ? Color.Lime : Color.Fuchsia;
if (_camera_form != null)
{
_camera_form.setCoordG = cmd.coord_select;
}
if (_coordSystem_form != null)
{
_coordSystem_form.markActiveCoordSystem(lblCurrentG.Text);
_coordSystem_form.updateTLO(cmd.TLOactive, cmd.tool_length);
}
}
}
/// <summary>
/// set parser state
/// </summary>
private static void setParserState(char cmd, double value, ref pState myParserState)
{
// myParserState.changed = false;
switch (Char.ToUpper(cmd))
{
case 'G':
if (value <= 3)
{
myParserState.motion = (byte)value;
break;
}
if ((value >= 17) && (value <= 19))
{
myParserState.plane_select = (byte)value;
}
else if ((value == 20) || (value == 21))
{
myParserState.units = (byte)value;
}
else if ((value >= 43) && (value < 44))
{
myParserState.TLOactive = true; getTLO = true;
}
else if (value == 49)
{
myParserState.TLOactive = false;
}
else if ((value >= 54) && (value <= 59))
{
myParserState.coord_select = (byte)value;
}
else if ((value == 90) || (value == 91))
{
myParserState.distance = (byte)value;
}
else if ((value == 93) || (value == 94))
{
myParserState.feed_rate = (byte)value;
}
myParserState.changed = true;
// MessageBox.Show("set parser state "+cmd + " " + value.ToString()+ " "+ myParserState.TLOactive.ToString());
break;
case 'M':
if ((value <= 2) || (value == 30))
{
myParserState.program_flow = (byte)value; // M0, M1 pause, M2, M30 stop
}
else if ((value >= 3) && (value <= 5))
{
myParserState.spindle = (byte)value; // M3, M4 start, M5 stop
}
else if ((value >= 7) && (value <= 9))
{
myParserState.coolant = (byte)value; // M7, M8 on M9 coolant off
}
else if (value == 6)
{
myParserState.toolchange = true;
}
myParserState.changed = true;
break;
case 'F':
myParserState.FR = value;
myParserState.changed = true;
break;
case 'S':
myParserState.SS = value;
myParserState.changed = true;
break;
case 'T':
myParserState.tool = (byte)value;
myParserState.changed = true;
break;
case 'Z':
if (getTLO)
{
myParserState.tool_length = value;
}
break;
}
}
/************************************************************
* handle status report and position event from serial form
* processStatus()
************************************************************/
private void OnRaisePosEvent(object sender, PosEventArgs e)
{
// if (logPosEvent) Logger.Trace("OnRaisePosEvent {0} connect {1} status {2}", e.Status.ToString(), _serial_form.serialPortOpen, e.Status.ToString());
machineStatus = e.Status;
machineStatusMessage = e.StatMsg;
machineParserState = e.parserState;
/***** Restore saved position after reset and set initial feed rate: *****/
if (flagResetOffset || (e.Status == grblState.reset))
{
processReset();
}
/***** process grblState {idle, run, hold, home, alarm, check, door} *****/
processStatus(e.Raw);
/***** check and submit override values, set labels, checkbox *****/
processStatusMessage(e.StatMsg);
/***** set DRO digital-read-out labels with machine and work coordinates *****/
if (!simuEnabled)
{
updateDRO();
}
/***** parser state Spinde/Coolant on/off, on other Forms: FeedRate, SpindleSpeed, G54-Coord *****/
processParserState(e.parserState);
/***** update 2D view *****/
if (grbl.posChanged)
{
VisuGCode.createMarkerPath();
VisuGCode.updatePathPositions();
checkMachineLimit();
pictureBox1.Invalidate();
if (Properties.Settings.Default.flowCheckRegistryChange && !isStreaming)
{
gui.writePositionToRegistry();
}
grbl.posChanged = false;
}
if (grbl.wcoChanged)
{
checkMachineLimit();
grbl.wcoChanged = false;
}
if (((isStreaming || isStreamingRequestStop)) && Properties.Settings.Default.guiProgressShow)
{
VisuGCode.ProcessedPath.processedPathDraw(grbl.posWork);
}
if (_diyControlPad != null)
{
if (oldRaw != e.Raw)
{
_diyControlPad.sendFeedback(e.Raw); //hand over original grbl text
oldRaw = e.Raw;
}
}
}
/// <summary>
/// set parser state
/// </summary>
private static void setParserState(char cmd, double value, ref pState myParserState)
{
myParserState.changed = false;
switch (Char.ToUpper(cmd))
{
case 'G':
if (value <= 3)
{
myParserState.motion = (byte)value;
break;
}
if ((value >= 17) && (value <= 19))
{
myParserState.plane_select = (byte)value;
}
if ((value == 20) || (value == 21))
{
myParserState.units = (byte)value;
}
if ((value >= 54) && (value <= 59))
{
myParserState.coord_select = (byte)value;
}
if ((value == 90) || (value == 91))
{
myParserState.distance = (byte)value;
}
if ((value == 93) || (value == 94))
{
myParserState.feed_rate = (byte)value;
}
myParserState.changed = true;
break;
case 'M':
if ((value <= 2) || (value == 30))
{
myParserState.program_flow = (byte)value; // M0, M1 pause, M2, M30 stop
}
if ((value >= 3) && (value <= 5))
{
myParserState.spindle = (byte)value; // M3, M4 start, M5 stop
}
if ((value >= 7) && (value <= 9))
{
myParserState.coolant = (byte)value; // M7, M8 on M9 coolant off
}
if (value == 6)
{
myParserState.toolchange = true;
}
myParserState.changed = true;
break;
case 'F':
myParserState.FR = value;
myParserState.changed = true;
break;
case 'S':
myParserState.SS = value;
myParserState.changed = true;
break;
case 'T':
myParserState.tool = (byte)value;
myParserState.changed = true;
break;
}
}
