public void CycleStart()
{
if (grblState.State == GrblStates.Hold || (grblState.State == GrblStates.Run && grblState.Substate == 1))
{
Comms.com.WriteByte(GrblLegacy.ConvertRTCommand(GrblConstants.CMD_CYCLE_START));
}
else if (grblState.State == GrblStates.Tool)
{
model.Message = "";
Comms.com.WriteByte(GrblLegacy.ConvertRTCommand(GrblConstants.CMD_CYCLE_START));
}
else if (JobTimer.IsRunning)
{
JobTimer.Pause = false;
streamingHandler.Call(StreamingState.Send, false);
}
else if (GCode.File.IsLoaded)
{
model.RunTime = "";
job.ACKPending = job.CurrLine = job.ACKPending = job.serialUsed = 0;
job.Started = false;
job.NextRow = GCode.File.Data.Rows[0];
Comms.com.PurgeQueue();
model.Message = "";
JobTimer.Start();
streamingHandler.Call(StreamingState.Send, false);
System.Threading.Thread.Sleep(250);
SendNextLine();
}
}
private void RequestStatus()
{
parameters.WorkPositionOffset.Z = double.NaN;
if (double.IsNaN(parameters.WorkPosition.X) || true) // If not NaN then MPG is polling
{
Comms.com.WriteByte(GrblLegacy.ConvertRTCommand(GrblConstants.CMD_STATUS_REPORT_ALL));
}
}
private void DataReceived(string data)
{
if (awaitCoord)
{
Thread.Sleep(50);
Comms.com.WriteByte(GrblLegacy.ConvertRTCommand(GrblConstants.CMD_STATUS_REPORT));
}
else
{
GotPosition?.Invoke("ok");
}
}
private void btnCurrPos_Click(object sender, RoutedEventArgs e)
{
Comms.com.CommandState = Comms.State.AwaitAck;
if (double.IsNaN(parameters.WorkPosition.X)) // If not NaN then MPG is polling
{
Comms.com.WriteByte(GrblLegacy.ConvertRTCommand(GrblConstants.CMD_STATUS_REPORT_ALL));
}
awaitCoord = true;
while (awaitCoord)
{
Comms.com.AwaitResponse(); // TODO: add timeout?
}
}
public void CycleStart()
{
if (grblState.State == GrblStates.Hold || grblState.State == GrblStates.Tool || (grblState.State == GrblStates.Run && grblState.Substate == 1))
{
Comms.com.WriteByte(GrblLegacy.ConvertRTCommand(GrblConstants.CMD_CYCLE_START));
}
else if (GCode.Loaded)
{
lblRunTime.Content = "";
ACKPending = CurrLine = serialUsed = 0;
pgmStarted = false;
System.Threading.Thread.Sleep(250);
Comms.com.PurgeQueue();
model.Message = "";
nextRow = GCode.Data.Rows[0];
JobTimer.Start();
SetStreamingState(StreamingState.Send);
// DataReceived("!start");
}
}
public bool Init()
{
bool?res = null;
probing.Message = String.Empty;
Grbl.Poller.SetState(0); // Disable status polling during probing
// Clear error status if set
if (Grbl.GrblError != 0)
{
new Thread(() =>
{
res = WaitFor.AckResponse <string>(
cancellationToken,
null,
a => Grbl.OnResponseReceived += a,
a => Grbl.OnResponseReceived -= a,
1000, () => Grbl.ExecuteCommand(""));
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
res = null;
}
// Get a status report in order to establish current machine position
new Thread(() =>
{
res = WaitFor.SingleEvent <string>(
cancellationToken,
null,
a => Grbl.OnResponseReceived += a,
a => Grbl.OnResponseReceived -= a,
1000, () => Comms.com.WriteByte(GrblLegacy.ConvertRTCommand(GrblConstants.CMD_STATUS_REPORT)));
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
Grbl.Poller.SetState(AppConfig.Settings.Base.PollInterval);
if (Grbl.GrblState.State == GrblStates.Alarm)
{
probing.Message = GrblAlarms.GetMessage(Grbl.GrblState.Substate.ToString());
res = false;
}
if (res == true && Grbl.Signals.Value.HasFlag(Signals.ProbeDisconnected))
{
probing.Message = "Probing failed, probe is not connected";
res = false;
}
if (res == true && Grbl.Signals.Value.HasFlag(Signals.Probe))
{
probing.Message = "Probing failed, probe signal is asserted";
res = false;
}
if (res == true && !(Grbl.GrblState.State == GrblStates.Idle || Grbl.GrblState.State == GrblStates.Tool))
{
probing.Message = "Probing failed, Grbl is not in idle or tool changing state";
res = false;
}
if (res == true && !Grbl.IsMachinePositionKnown)
{
probing.Message = "Probing failed, could not establish current machine position";
res = false;
}
_program.Clear();
if (res != true) // Reenable status polling if init fails
{
Grbl.Poller.SetState(AppConfig.Settings.Base.PollInterval);
}
return(res == true);
}
public bool GotoMachinePosition(Position pos, AxisFlags axisflags)
{
bool?res = null;
bool wait = true;
string command = "G53G0" + pos.ToString(axisflags);
Comms.com.PurgeQueue();
new Thread(() =>
{
res = WaitFor.AckResponse <string>(
cancellationToken,
null,
a => Grbl.OnResponseReceived += a,
a => Grbl.OnResponseReceived -= a,
100, () => Grbl.ExecuteCommand(command));
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
if (res == true)
{
while (wait && !isCancelled)
{
res = null;
new Thread(() =>
{
res = WaitFor.SingleEvent <string>(
cancellationToken,
null,
a => Grbl.OnRealtimeStatusProcessed += a,
a => Grbl.OnRealtimeStatusProcessed -= a,
200, () => Comms.com.WriteByte(GrblLegacy.ConvertRTCommand(GrblConstants.CMD_STATUS_REPORT)));
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
wait = res != true;
int i = 0, axes = (int)axisflags;
while (axes != 0 && !wait)
{
if ((axes & 0x01) != 0)
{
wait = Math.Abs(pos.Values[i] - Grbl.MachinePosition.Values[i]) >= 0.003d; // use step resolution plus some?
}
i++; axes >>= 1;
}
if (wait)
{
Thread.Sleep(200); // needed?
}
}
}
return(isCancelled ? false : !wait);
}
public void Activate(bool activate, ViewType chgMode)
{
if (activate)
{
GCodeSender.RewindFile();
GCodeSender.CallHandler(GCode.File.IsLoaded ? StreamingState.Idle : (sdStream ? StreamingState.Start : StreamingState.NoFile), false);
sdStream = false;
if (initOK != true)
{
model.Message = "Waiting for controller...";
Comms.com.PurgeQueue();
Comms.com.WriteByte(GrblLegacy.ConvertRTCommand(GrblConstants.CMD_STATUS_REPORT));
int timeout = 30; // 1.5s
do
{
System.Threading.Thread.Sleep(50);
} while (Comms.com.Reply == "" && --timeout != 0);
if (Comms.com.Reply.StartsWith("<Alarm"))
{
GrblViewModel data = (GrblViewModel)DataContext;
data.ParseStatus(Comms.com.Reply);
// Alarm 1, 2 and 10 are critical events
if (!(data.GrblState.Substate == 1 || data.GrblState.Substate == 2 || data.GrblState.Substate == 10))
{
InitSystem();
}
}
else if (Comms.com.Reply != "")
{
InitSystem();
}
}
if (initOK == null)
{
initOK = false;
}
#if ADD_CAMERA
if (MainWindow.UIViewModel.Camera != null)
{
MainWindow.UIViewModel.Camera.MoveOffset += Camera_MoveOffset;
MainWindow.UIViewModel.Camera.Opened += Camera_Opened;
}
#endif
//if (viewer == null)
// viewer = new Viewer();
if (GCode.File.IsLoaded)
{
MainWindow.ui.WindowTitle = ((GrblViewModel)DataContext).FileName;
}
}
else if (ViewType != ViewType.Shutdown)
{
DRO.IsFocusable = false;
#if ADD_CAMERA
if (MainWindow.UIViewModel.Camera != null)
{
MainWindow.UIViewModel.Camera.MoveOffset -= Camera_MoveOffset;
}
#endif
}
if (GCodeSender.Activate(activate))
{
Task.Delay(500).ContinueWith(t => DRO.EnableFocus());
Application.Current.Dispatcher.BeginInvoke(new System.Action(() =>
{
Focus();
}), DispatcherPriority.Render);
}
}
public bool Init(bool check_probe = true)
{
bool?res = null;
IsCancelled = false;
probing.Message = string.Empty;
Grbl.Poller.SetState(0); // Disable status polling during initialization
// Clear error status if set
if (Grbl.GrblError != 0)
{
new Thread(() =>
{
res = WaitFor.AckResponse <string>(
cancellationToken,
null,
a => Grbl.OnResponseReceived += a,
a => Grbl.OnResponseReceived -= a,
1000, () => Grbl.ExecuteCommand(""));
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
res = null;
}
// Get a status report in order to establish current machine position
new Thread(() =>
{
res = WaitFor.SingleEvent <string>(
cancellationToken,
null,
a => Grbl.OnResponseReceived += a,
a => Grbl.OnResponseReceived -= a,
AppConfig.Settings.Base.PollInterval * 5, () => Comms.com.WriteByte(GrblInfo.IsGrblHAL ? GrblConstants.CMD_STATUS_REPORT_ALL : GrblLegacy.ConvertRTCommand(GrblConstants.CMD_STATUS_REPORT)));
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
Grbl.Poller.SetState(AppConfig.Settings.Base.PollInterval);
if (Grbl.GrblState.State == GrblStates.Alarm)
{
probing.Message = GrblAlarms.GetMessage(Grbl.GrblState.Substate.ToString());
res = false;
}
if (res == true && check_probe)
{
res = IsProbeReady(false);
}
if (res == true && !(Grbl.GrblState.State == GrblStates.Idle || Grbl.GrblState.State == GrblStates.Tool))
{
probing.Message = LibStrings.FindResource("FailedNotIdle");
res = false;
}
if (res == true && !Grbl.IsMachinePositionKnown)
{
probing.Message = LibStrings.FindResource("FailedNoPos");
res = false;
}
probing.StartPosition.Set(probing.Grbl.MachinePosition);
hasPause = probeOnCycleStart = false;
_program.Clear();
return(res == true);
}
public bool GotoMachinePosition(Position pos, AxisFlags axisflags)
{
bool? res = null;
bool wait = true, running = false;
double delta, delta_max = 0d;
string command = "G53" + RapidCommand + pos.ToString(axisflags);
Comms.com.PurgeQueue();
Grbl.Poller.SetState(0);
new Thread(() =>
{
res = WaitFor.AckResponse <string>(
cancellationToken,
null,
a => Grbl.OnResponseReceived += a,
a => Grbl.OnResponseReceived -= a,
1000, () => Grbl.ExecuteCommand(command));
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
if (res == true)
{
while (wait && !isCancelled)
{
res = null;
new Thread(() =>
{
res = WaitFor.SingleEvent <string>(
cancellationToken,
null,
a => Grbl.OnRealtimeStatusProcessed += a,
a => Grbl.OnRealtimeStatusProcessed -= a,
400, () => Comms.com.WriteByte(GrblLegacy.ConvertRTCommand(GrblConstants.CMD_STATUS_REPORT)));
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
wait = res != true;
running |= Grbl.GrblState.State == GrblStates.Run;
int i = 0, axes = (int)axisflags;
while (axes != 0 && !wait)
{
if ((axes & 0x01) != 0)
{
delta = Math.Abs(pos.Values[i] - Grbl.MachinePosition.Values[i]);
wait = delta > Math.Max(0.003d, GrblInfo.TravelResolution.Values[i] * 2d);
delta_max = Math.Max(delta, delta_max);
if (wait && Grbl.GrblState.State == GrblStates.Idle && (running || delta_max < 0.01d))
{
wait = false;
isCancelled = true;
}
}
i++; axes >>= 1;
}
if (wait)
{
Thread.Sleep(AppConfig.Settings.Base.PollInterval); // needed?
}
}
}
Grbl.Poller.SetState(AppConfig.Settings.Base.PollInterval);
return(isCancelled ? false : !wait);
}
void btnHold_Click(object sender, RoutedEventArgs e)
{
Comms.com.WriteByte(GrblLegacy.ConvertRTCommand(GrblConstants.CMD_FEED_HOLD));
}
public void CycleStart()
{
if (grblState.State == GrblStates.Hold || (grblState.State == GrblStates.Run && grblState.Substate == 1) || (grblState.State == GrblStates.Door && grblState.Substate == 0))
{
Comms.com.WriteByte(GrblLegacy.ConvertRTCommand(GrblConstants.CMD_CYCLE_START));
}
else if (grblState.State == GrblStates.Idle && model.SDRewind)
{
streamingHandler.Call(StreamingState.Start, false);
Comms.com.WriteByte(GrblLegacy.ConvertRTCommand(GrblConstants.CMD_CYCLE_START));
}
else if (grblState.State == GrblStates.Tool)
{
model.Message = "";
Comms.com.WriteByte(GrblLegacy.ConvertRTCommand(GrblConstants.CMD_CYCLE_START));
}
else if (JobTimer.IsRunning)
{
JobTimer.Pause = false;
streamingHandler.Call(StreamingState.Send, false);
}
else if (GCode.File.IsLoaded)
{
model.Message = model.RunTime = string.Empty;
if (model.IsSDCardJob)
{
Comms.com.WriteCommand(GrblConstants.CMD_SDCARD_RUN + model.FileName.Substring(7));
}
else
{
job.ToolChangeLine = -1;
model.BlockExecuting = 0;
job.ACKPending = job.CurrLine = job.serialUsed = missed = 0;
job.Started = job.Transferred = job.HasError = false;
job.NextRow = GCode.File.Data.Rows[0];
Comms.com.PurgeQueue();
JobTimer.Start();
streamingHandler.Call(StreamingState.Send, false);
if ((job.IsChecking = model.GrblState.State == GrblStates.Check))
{
model.Message = (string)FindResource("Checking");
}
bool?res = null;
CancellationToken cancellationToken = new CancellationToken();
// Wait a bit for unlikely event before starting...
new Thread(() =>
{
res = WaitFor.SingleEvent <string>(
cancellationToken,
null,
a => model.OnGrblReset += a,
a => model.OnGrblReset -= a,
250);
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
SendNextLine();
}
}
}
public void Activate(bool activate, ViewType chgMode)
{
if (activate)
{
GCodeSender.RewindFile();
GCodeSender.SetStreamingState(GCodeSender.GCode.Loaded ? StreamingState.Idle : StreamingState.NoFile);
if (!initOK)
{
Comms.com.WriteByte(GrblLegacy.ConvertRTCommand(GrblConstants.CMD_STATUS_REPORT));
int timeout = 30; // 1.5s
do
{
System.Threading.Thread.Sleep(50);
} while (Comms.com.Reply == "" && --timeout != 0);
if (Comms.com.Reply.StartsWith("<Alarm"))
{
if (Comms.com.Reply.StartsWith("<Alarm:"))
{
int i = Comms.com.Reply.IndexOf('|');
string s = Comms.com.Reply.Substring(7, i - 7);
if (!"1,2,10".Contains(s)) // Alarm 1, 2 and 10 are critical events
{
InitSystem();
}
if (s == "11")
{
txtStatus.Text = "<Home> to continue.";
}
else
{
txtStatus.Text = "<Reset> then <Unlock> to continue.";
}
}
else
{
txtStatus.Text = "<Reset> then <Unlock> to continue.";
}
}
else
{
InitSystem();
}
}
#if ADD_CAMERA
if (MainWindow.Camera != null)
{
MainWindow.Camera.CameraControl.MoveOffset += Camera_MoveOffset;
MainWindow.Camera.Opened += Camera_Opened;
}
#endif
//if (viewer == null)
// viewer = new Viewer();
if (GCodeSender.GCode.Loaded)
{
MainWindow.ui.WindowTitle = ((GrblViewModel)DataContext).FileName;
}
}
else if (mode != ViewType.Shutdown)
{
DRO.IsFocusable = false;
#if ADD_CAMERA
if (MainWindow.Camera != null)
{
MainWindow.Camera.CameraControl.MoveOffset -= Camera_MoveOffset;
}
#endif
}
if (GCodeSender.Activate(activate))
{
Task.Delay(500).ContinueWith(t => DRO.EnableFocus());
Application.Current.Dispatcher.BeginInvoke(new System.Action(() =>
{
Focus();
}), DispatcherPriority.Render);
}
}
