private void NextCommand(MotorState ms)
{
CurrentLine++;
if (CurrentLine < Commands.Length)
{
CncController.SendCommand(CurrentCommand);
LastSended = CurrentCommand;
}
else
{
Stop();
}
}
public static MotorState Deserialize(byte[] data)
{
if (data == null) return null;
if (data.Length >= 33)
{
MotorState obj = new MotorState();
obj.date = DateTime.Now;
obj.address = data[0];
obj.command = data[1];
obj.state = data[2];
obj.line = MotorState.loadInt(data, 3);
obj.x = loadInt(data, 7);
obj.y = loadInt(data, 11);
obj.z = loadInt(data, 15);
obj.xLimit = loadInt(data, 19);
obj.yLimit = loadInt(data, 23);
obj.zLimit = loadInt(data, 27);
obj.stateA = data[31];
obj.stateB = data[32];
return obj;
}
return null;
}
public static void ProcessMessage(byte[] data, SerialManager manager)
{
MotorState obj = MotorState.Deserialize(data);
WriteLog(obj);
if (obj != null)
{
/*if (!initialized && LastState != null)
{
if (LastState.x != obj.x || LastState.y != obj.y || LastState.z != obj.z)
{
Uart.SendCommand(MotorCommand.Rebase(LastState.x, LastState.y, LastState.z));
}
}*/
if (OnMessage != null)
{
OnMessage(obj);
}
LastState = obj;
/*StreamWriter writer = new StreamWriter(cfgPath + "\\config.json", false, Encoding.UTF8);
writer.WriteLine(Uart.PortName);
writer.WriteLine(JsonConvert.SerializeObject(obj));
writer.Close();*/
initialized = true;
}
else
{
if (data.Length == 1 && (data[0] >= 50 || data[0] < 100))
{
if (LastState != null)
{
//SendCoordCommand(CoordMotorCommand.Rebase(LastState.x, LastState.y, LastState.z));
}
}
}
}
private void CncControllerOnOnMessage(MotorState obj)
{
if (state != CncProgramState.NotStarted && state != CncProgramState.Aborted)
{
if (obj.Command == CommandType.Stop)
{
Abort();
return;
}
if (obj.line > 0)
{
switch (obj.State)
{
case CncState.Completed:
NextCommand(obj);
break;
case CncState.Error:
case CncState.Aborted:
Stop();
break;
}
}
}
}
private static void WriteLog(MotorState obj)
{
StreamWriter writer = new StreamWriter("log.txt", true, Encoding.UTF8);
writer.WriteLine(obj.ToString());
writer.Close();
}
public static void Init(SerialAddressedManager serialPort, string cfgPath, byte cncAddress)
{
CncController.cfgPath = cfgPath;
CncAddress = cncAddress;
Uart = serialPort;
Uart.OnReceive += ProcessMessage;
if (!File.Exists(cfgPath + "\\config.json"))
{
StreamWriter writer = new StreamWriter(cfgPath + "\\config.json", false, Encoding.UTF8);
writer.Close();
GetStateAsync();
return;
}
StreamReader reader = new StreamReader(cfgPath + "\\config.json");
var cfgStr = reader.ReadToEnd();
reader.Close();
if (cfgStr.Length > 0)
{
LastState = JsonConvert.DeserializeObject<MotorState>(cfgStr);
}
else
{
LastState = new MotorState();
}
initialized = true;
}
public void ProcessRequest(HttpContext context)
{
context.Response.ContentType = "application/json";
context.Response.AddHeader("Access-Control-Allow-Methods", "POST,GET,OPTIONS");
context.Response.AddHeader("Access-Control-Request-Header", "X-Prototype-Version, x-requested-with");
context.Response.AddHeader("Access-Control-Allow-Origin", "*");
//context.Response.Headers.Remove("content-length");
context.Response.Flush();
CncController.OnMessage += Uart_OnMessage;
CncProgram.OnCommand += Uart_OnCommand;
CncProgram.OnStateChange += new ProgramStateHandler(Program_OnStateChange);
CncController.GetStateAsync();
if (CncController.LastCommand != null) OutCommand = CncController.LastCommand;
ProgramState = CncProgram.State;
var timeout = 10000;
while (timeout > 0 && context.Response.IsClientConnected)
{
Thread.Sleep(100);
timeout--;
List<string> states = new List<string>();
if (OutCommand != null)
{
states.Add(OutCommand.ToString());
OutCommand = null;
}
if (ProgramState != null)
{
states.Add("{\"state\":\"" + ProgramState.Value.ToString() + "\", \"line\":" + CncProgram.CurrentLine + ",\"type\" : \"program-state\"}");
ProgramState = null;
}
if (StateMessage != null)
{
states.Add(StateMessage.ToString());
StateMessage = null;
}
if (states.Count > 0)
{
context.Response.Write("[" + String.Join(",", states.ToArray()) + "]");
context.Response.Flush();
}
}
/* while (Uart.LastState == null)
{
var dt = DateTime.Now;
Uart.SendStateCommand();
var timeout = 2000;
while ((Uart.LastState == null || Uart.LastState.date < dt) && timeout > 0)
{
Thread.Sleep(200);
timeout -= 200;
}
if (Uart.LastState != null && timeout > 0)
{
context.Response.Write(Uart.LastState.ToString());
}
else
{
context.Response.StatusCode = 504;
context.Response.Write(" ");
}
return;
}
if (context.Request.HttpMethod == "GET")
{
var ld = DateTime.Now;
if (context.Request["lastdate"] != null)
{
ld = DateTime.Parse(context.Request["lastdate"]);
if (ld >= Uart.LastState.date && context.Request["wait"] == null)
{
return;
}
}
if (context.Request["wait"] != null)
{
if (context.Request["ping"] != null)
{
Uart.SendStateCommand();
}
var timeout = 2000;
while ((Uart.LastState == null || Uart.LastState.date < ld) && timeout > 0)
{
Thread.Sleep(200);
timeout -= 200;
}
if (Uart.LastState != null && timeout > 0)
{
context.Response.Write(Uart.LastState.ToString());
}
else
{
context.Response.StatusCode = 504;
}
return;
}
context.Response.Write(Uart.LastState.ToString());
}
if (context.Request.HttpMethod == "POST")
{
}*/
}
void Uart_OnMessage(MotorState state)
{
StateMessage = state;
}
void UART_OnMessage(MotorState state)
{
try
{
Invoke(new Action<MotorState>(UartMessage), state);
}
catch (Exception e)
{
}
}
protected void UartMessage(MotorState dState)
{
SetState(dState);
Program.HttpServer.Send(dState.ToString());
}
protected void SetState(MotorState dState)
{
lblCommand.ForeColor = Color.Black;
if (dState.Command >= CommandType.Null && dState.Command <= CommandType.Error)
{
if (dState.state == 0 || dState.state == 9)
{
lblX.Text = dState.x + "";
lblY.Text = dState.y + "";
lblZ.Text = dState.z + "";
if (dState.state == 9)
{
lblProgram.Text = "INITIALIZED " + dState.line;
lblProgram.ForeColor = Color.DarkGoldenrod;
}
else
{
lblProgram.Text = "IDLE";
lblProgram.ForeColor = Color.Gray;
}
}
if (dState.state == 1)
{
if (dState.Command != CommandType.State)
{
lblCommand.Text = dState.Command.ToString();
lblProgram.Text = "(WORKING)";
}
lblX.Text = dState.x + " -> " + dState.xLimit;
lblY.Text = dState.y + " -> " + dState.yLimit;
lblZ.Text = dState.z + " -> " + dState.zLimit;
}
if (dState.state == 2)
{
if (dState.Command != CommandType.State)
{
lblCommand.Text = dState.Command.ToString();
lblProgram.Text = "(STOP)";
}
lblX.Text = dState.x + " - " + dState.xLimit;
lblY.Text = dState.y + " - " + dState.yLimit;
lblZ.Text = dState.z + " - " + dState.zLimit;
}
if (dState.state == 3)
{
lblCommand.Text = dState.Command.ToString();
lblCommand.ForeColor = Color.Orange;
lblProgram.Text = "(PAUSE) " + dState.line;
lblX.Text = dState.x + " - " + dState.xLimit;
lblY.Text = dState.y + " - " + dState.yLimit;
lblZ.Text = dState.z + " - " + dState.zLimit;
//log.AppendText(DateTime.Now.ToString("HH:mm:ss") + "<" + format + "\n");
}
if (dState.state == 4)
{
lblCommand.Text = dState.Command.ToString();
lblCommand.ForeColor = Color.Red;
lblProgram.Text = "(ERROR) " + dState.line;
lblX.Text = dState.x + " - " + dState.xLimit;
lblY.Text = dState.y + " - " + dState.yLimit;
lblZ.Text = dState.z + " - " + dState.zLimit;
//log.AppendText(DateTime.Now.ToString("HH:mm:ss") + "<" + format + "\n");
}
point = new Point(dState.x/5, dState.y/5);
color = Color.Green;
//pBox.Refresh();
lblA.Text = dState.stateA.ToString();
lblB.Text = dState.stateB.ToString();
}
else
{
/*if (dState.Command == CommandType.Internal)
{
lblProgram.Text = "CONTACT " + dState.state;
}*/
}
}
