IEnumerator Move(gcLine moveTo)
{
float distanceThreshold = 0.1f;
CncCartDouble position = new CncCartDouble();
position.x = (double)moveTo.X;
position.y = (double)moveTo.Y;
position.z = (double)moveTo.Z;
CncCartBool Cncbool = new CncCartBool();
Cncbool.x = 1;
Cncbool.y = 1;
Cncbool.z = 1;
Cncbool.a = 1;
Cncbool.b = 1;
Cncbool.c = 1;
while (Vector3.Distance(HeadPosition, new Vector3((float)moveTo.X, (float)moveTo.Y, (float)moveTo.Z)) < distanceThreshold)
{
g_JoggingFunctions.MoveTo(position, Cncbool, (double)moveTo.F);
yield return(null);
}
DoneWithLine = true;
Moving = false;
movee = false;
yield return(null);
}
// Update is called once per frame
void Update()
{
if (_Connected)
{
CncCartDouble machinePos = G_StatusItemsposition.GetMachinePosition();//do not use the static CncGetMachinePosition() !!!
if (machinePos != null)
{
HeadPosition = new Vector3((float)machinePos.x, (float)machinePos.y, (float)machinePos.z);
}
else
{
_Connected = false;
}
}
}
private void ConnectCncServer_Click(object sender, EventArgs e)
{
Cnc_Rc Rc = G_GetCncServer.ConnectServer("");
if (Rc == Cnc_Rc.CNC_RC_OK || Rc == Cnc_Rc.CNC_RC_ALREADY_RUNS || Rc == Cnc_Rc.CNC_RC_ALREADY_CONNECTED)
{
if (BindingIsset == false)
{
BindingIsset = true;
//Configuration for workposition:
DataSource_WorkPostion = G_StatusItemsposition.GetWorkPosition();
MethodInfo Method_GetWorkPosition = typeof(G_StatusItemsposition).GetMethod(nameof(G_StatusItemsposition.GetWorkPosition)); //method to invoke every time when check on value changes
NotifyPropertyChanged_WorkPosition = new NotifyCncApiPropertyChanged <CncCartDouble>(DataSource_WorkPostion, Method_GetWorkPosition); //extra method is required because G_StatusItemsposition.GetWorkPosition(); contains not a pointer to the CncServer
CancelToken = new CancellationTokenSource();
AxisX.DataBindings.Add(nameof(TextBox.Text), DataSource_WorkPostion, nameof(CncCartDouble.x));
AxisY.DataBindings.Add(nameof(TextBox.Text), DataSource_WorkPostion, nameof(CncCartDouble.y), true, DataSourceUpdateMode.OnPropertyChanged, "0", "0.00");
AxisZ.DataBindings.Add(nameof(TextBox.Text), DataSource_WorkPostion, nameof(CncCartDouble.z), true, DataSourceUpdateMode.OnPropertyChanged, "0", "0.000");
//Configuration items JointConfig
DataSource_JointConfig = G_GetConfigItems.GetAllJointConfig();
NotifyPropertyChanged_JointConfig = new NotifyCncApiPropertyChanged <CncJointCfg> [DataSource_JointConfig.Length];
for (int i = 0; i < DataSource_JointConfig.Length; i++)
{
NotifyPropertyChanged_JointConfig[i] = new NotifyCncApiPropertyChanged <CncJointCfg>(DataSource_JointConfig[i]);//Note: no methodinfo parameter used. G_GetConfigItems.GetAllJointConfig(); method contains a pointer to the CncServer. this is not the case by G_StatusItemsposition.GetWorkPosition();
}
PosLimit_X.DataBindings.Add(nameof(TextBox.Text), DataSource_JointConfig[0], nameof(CncJointCfg.positiveLimit), false, DataSourceUpdateMode.OnPropertyChanged);
PosLimit_Y.DataBindings.Add(nameof(TextBox.Text), DataSource_JointConfig[1], nameof(CncJointCfg.positiveLimit), false, DataSourceUpdateMode.OnPropertyChanged);
PosLimit_Z.DataBindings.Add(nameof(TextBox.Text), DataSource_JointConfig[2], nameof(CncJointCfg.positiveLimit), false, DataSourceUpdateMode.OnPropertyChanged);
//Check the CncServer values. Interval time can be changed in the UI
CncServerVars();
}
MessageBox.Show("CncRc State:" + Rc.ToString(), "CncServer is connected ", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
else
{
MessageBox.Show("CncRc State:" + Rc.ToString(), "CncServer ConnectServer Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
G_GetCncServer.DisConnectServer();
}
}