private bool FnKeyHandler(Key key)
{
if (!model.IsJobRunning)
{
int id = int.Parse(key.ToString().Substring(1));
var macro = AppConfig.Settings.Macros.FirstOrDefault(o => o.Id == id);
if (macro != null && MessageBox.Show(string.Format("Run {0} macro?", macro.Name), "Run macro", MessageBoxButton.YesNo, MessageBoxImage.Question) == MessageBoxResult.Yes)
{
model.ExecuteCommand(macro.Code);
return(true);
}
}
return(false);
}
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 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);
}
private void JogCommand(string cmd)
{
GrblViewModel model = DataContext as GrblViewModel;
if (cmd == "stop")
{
cmd = ((char)GrblConstants.CMD_JOG_CANCEL).ToString();
}
else
{
var distance = cmd[1] == '-' ? -JogData.Distance : JogData.Distance;
if (softLimits)
{
int axis = GrblInfo.AxisLetterToIndex(cmd[0]);
if (jogAxis != -1 && axis != jogAxis)
{
return;
}
if (axis != jogAxis)
{
position = distance + model.MachinePosition.Values[axis];
}
else
{
position += distance;
}
if (GrblInfo.ForceSetOrigin)
{
if (!GrblInfo.HomingDirection.HasFlag(GrblInfo.AxisIndexToFlag(axis)))
{
if (position > 0d)
{
position = 0d;
}
else if (position < (-GrblInfo.MaxTravel.Values[axis] + limitSwitchesClearance))
{
position = (-GrblInfo.MaxTravel.Values[axis] + limitSwitchesClearance);
}
}
else
{
if (position < 0d)
{
position = 0d;
}
else if (position > (GrblInfo.MaxTravel.Values[axis] - limitSwitchesClearance))
{
position = GrblInfo.MaxTravel.Values[axis] - limitSwitchesClearance;
}
}
}
else
{
if (position > -limitSwitchesClearance)
{
position = -limitSwitchesClearance;
}
else if (position < -(GrblInfo.MaxTravel.Values[axis] - limitSwitchesClearance))
{
position = -(GrblInfo.MaxTravel.Values[axis] - limitSwitchesClearance);
}
}
if (position == 0d)
{
return;
}
jogAxis = axis;
cmd = string.Format("$J=G53{0}{1}{2}F{3}", mode, cmd.Substring(0, 1), position.ToInvariantString(), Math.Ceiling(JogData.FeedRate).ToInvariantString());
}
else
{
cmd = string.Format("$J=G91{0}{1}{2}F{3}", mode, cmd.Substring(0, 1), distance.ToInvariantString(), Math.Ceiling(JogData.FeedRate).ToInvariantString());
}
}
model.ExecuteCommand(cmd);
}
private bool Home(Key key)
{
model.ExecuteCommand(GrblConstants.CMD_HOMING);
return(true);
}
public RestartResult Restart()
{
Message = model.Message;
model.Message = string.Format(LibStrings.FindResource("MsgWaiting"), AppConfig.Settings.Base.PortParams);
string response = GrblInfo.Startup(model);
if (response.StartsWith("<"))
{
if (model.GrblState.State != GrblStates.Unknown)
{
switch (model.GrblState.State)
{
case GrblStates.Alarm:
model.Poller.SetState(AppConfig.Settings.Base.PollInterval);
switch (model.GrblState.Substate)
{
case 1: // Hard limits
if (!GrblInfo.IsLoaded)
{
if (model.LimitTriggered)
{
MessageBox.Show(string.Format(LibStrings.FindResource("MsgNoCommAlarm"), model.GrblState.Substate.ToString()), "ioSender");
if (AttemptReset())
{
model.ExecuteCommand(GrblConstants.CMD_UNLOCK);
}
else
{
MessageBox.Show(LibStrings.FindResource("MsgResetFailed"), "ioSender");
return(RestartResult.Close);
}
}
else if (AttemptReset())
{
model.ExecuteCommand(GrblConstants.CMD_UNLOCK);
}
}
else
{
response = string.Empty;
}
break;
case 2: // Soft limits
if (!GrblInfo.IsLoaded)
{
MessageBox.Show(string.Format(LibStrings.FindResource("MsgNoCommAlarm"), model.GrblState.Substate.ToString()), "ioSender");
if (AttemptReset())
{
model.ExecuteCommand(GrblConstants.CMD_UNLOCK);
}
else
{
MessageBox.Show(LibStrings.FindResource("MsgResetFailed"), "ioSender");
return(RestartResult.Close);
}
}
else
{
response = string.Empty;
}
break;
case 10: // EStop
if (GrblInfo.IsGrblHAL && model.Signals.Value.HasFlag(Signals.EStop))
{
MessageBox.Show(LibStrings.FindResource("MsgEStop"), "ioSender", MessageBoxButton.OK, MessageBoxImage.Warning);
while (!AttemptReset() && model.GrblState.State == GrblStates.Alarm)
{
if (MessageBox.Show(LibStrings.FindResource("MsgEStopExit"), "ioSender", MessageBoxButton.YesNo, MessageBoxImage.Question) == MessageBoxResult.Yes)
{
return(RestartResult.Close);
}
}
;
}
else
{
AttemptReset();
}
if (!GrblInfo.IsLoaded)
{
model.ExecuteCommand(GrblConstants.CMD_UNLOCK);
}
break;
case 11: // Homing required
if (GrblInfo.IsLoaded)
{
response = string.Empty;
}
else
{
Message = LibStrings.FindResource("MsgHome");
}
break;
}
break;
case GrblStates.Tool:
Comms.com.WriteByte(GrblConstants.CMD_STOP);
break;
case GrblStates.Door:
if (!GrblInfo.IsLoaded)
{
if (MessageBox.Show(LibStrings.FindResource("MsgDoorOpen"), "ioSender", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
{
return(RestartResult.Close);
}
else
{
bool exit = false;
do
{
Comms.com.PurgeQueue();
bool?res = null;
CancellationToken cancellationToken = new CancellationToken();
new Thread(() =>
{
res = WaitFor.SingleEvent <string>(
cancellationToken,
s => TrapReset(s),
a => model.OnGrblReset += a,
a => model.OnGrblReset -= a,
200, () => Comms.com.WriteByte(GrblConstants.CMD_STATUS_REPORT));
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
if (!(exit = !model.Signals.Value.HasFlag(Signals.SafetyDoor)))
{
if (MessageBox.Show(LibStrings.FindResource("MsgDoorExit"), "ioSender", MessageBoxButton.YesNo, MessageBoxImage.Question) == MessageBoxResult.Yes)
{
exit = true;
return(RestartResult.Close);
}
}
} while (!exit);
}
}
else
{
MessageBox.Show(LibStrings.FindResource("MsgDoorPersist"), "ioSender", MessageBoxButton.YesNo, MessageBoxImage.Exclamation);
response = string.Empty;
}
break;
case GrblStates.Hold:
case GrblStates.Sleep:
if (MessageBox.Show(string.Format(LibStrings.FindResource("MsgNoComm"), model.GrblState.State.ToString()),
"ioSender", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
{
return(RestartResult.Close);
}
else if (!AttemptReset())
{
MessageBox.Show(LibStrings.FindResource("MsgResetExit"), "ioSender");
return(RestartResult.Close);
}
break;
case GrblStates.Idle:
if (response.Contains("|SD:Pending"))
{
AttemptReset();
}
break;
}
}
}
else
{
MessageBox.Show(response == string.Empty
? "No respone received from controller, exiting."
: string.Format("Unexpected response received from controller: \"{0}\", exiting.", response),
"ioSender", MessageBoxButton.OK, MessageBoxImage.Stop);
return(RestartResult.Exit);
}
return(response == string.Empty ? RestartResult.NoResponse : RestartResult.Ok);
}
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;
model.ResponseLogFilterOk = AppConfig.Settings.Base.FilterOkResponse;
if (initOK != true)
{
focusedControl = this;
var message = model.Message;
model.Message = string.Format("Waiting for controller ({0})...", AppConfig.Settings.Base.PortParams);
string response = GrblInfo.Startup(model);
if (response.StartsWith("<"))
{
if (model.GrblState.State != GrblStates.Unknown)
{
switch (model.GrblState.State)
{
case GrblStates.Alarm:
model.Poller.SetState(AppConfig.Settings.Base.PollInterval);
switch (model.GrblState.Substate)
{
case 1: // Hard limits
if (!GrblInfo.IsLoaded)
{
if (model.LimitTriggered)
{
MessageBox.Show(string.Format("Controller is not able to communicate due to alarm {0}, attempting a soft reset.", model.GrblState.Substate.ToString()), "ioSender");
if (AttemptReset())
{
model.ExecuteCommand(GrblConstants.CMD_UNLOCK);
}
else
{
MessageBox.Show("Controller soft reset failed, exiting.", "ioSender");
MainWindow.ui.Close();
}
}
else if (AttemptReset())
{
model.ExecuteCommand(GrblConstants.CMD_UNLOCK);
}
}
else
{
response = string.Empty;
}
break;
case 2: // Soft limits
if (!GrblInfo.IsLoaded)
{
MessageBox.Show(string.Format("Controller is not able to communicate due to alarm {0}, attempting a soft reset.", model.GrblState.Substate.ToString()), "ioSender");
if (AttemptReset())
{
model.ExecuteCommand(GrblConstants.CMD_UNLOCK);
}
else
{
MessageBox.Show("Controller soft reset failed, exiting.", "ioSender");
MainWindow.ui.Close();
}
}
else
{
response = string.Empty;
}
break;
case 10: // EStop
if (GrblInfo.IsGrblHAL && model.Signals.Value.HasFlag(Signals.EStop))
{
MessageBox.Show("E-Stop active! - clear before continuing.", "ioSender", MessageBoxButton.OK, MessageBoxImage.Warning);
while (!AttemptReset() && model.GrblState.State == GrblStates.Alarm)
{
if (MessageBox.Show("E-Stop still active, exit?", "ioSender", MessageBoxButton.YesNo, MessageBoxImage.Question) == MessageBoxResult.Yes)
{
MainWindow.ui.Close();
}
}
;
}
else
{
AttemptReset();
}
if (!GrblInfo.IsLoaded)
{
model.ExecuteCommand(GrblConstants.CMD_UNLOCK);
}
break;
case 11: // Homing required
if (GrblInfo.IsLoaded)
{
response = string.Empty;
}
else
{
message = "Homing cycle required, <Home> to continue";
}
break;
}
break;
case GrblStates.Tool:
Comms.com.WriteByte(GrblConstants.CMD_STOP);
break;
case GrblStates.Door:
if (!GrblInfo.IsLoaded)
{
if (MessageBox.Show("Door is open, close door and continue?", "ioSender", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
{
MainWindow.ui.Close();
}
else
{
bool exit = false;
do
{
Comms.com.PurgeQueue();
bool?res = null;
CancellationToken cancellationToken = new CancellationToken();
new Thread(() =>
{
res = WaitFor.SingleEvent <string>(
cancellationToken,
s => TrapReset(s),
a => model.OnGrblReset += a,
a => model.OnGrblReset -= a,
200, () => Comms.com.WriteByte(GrblConstants.CMD_STATUS_REPORT));
}).Start();
while (res == null)
{
EventUtils.DoEvents();
}
if (!(exit = !model.Signals.Value.HasFlag(Signals.SafetyDoor)))
{
if (MessageBox.Show("Door is still open, exit?", "ioSender", MessageBoxButton.YesNo, MessageBoxImage.Question) == MessageBoxResult.Yes)
{
exit = true;
MainWindow.ui.Close();
}
}
} while (!exit);
}
}
else
{
MessageBox.Show("Door state cannot be cleared with <Reset>", "ioSender", MessageBoxButton.YesNo, MessageBoxImage.Exclamation);
response = string.Empty;
}
break;
case GrblStates.Hold:
case GrblStates.Sleep:
if (MessageBox.Show(string.Format("Controller is in {0} state and cannot respond, try a soft reset?", model.GrblState.State.ToString()),
"ioSender", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
{
MainWindow.ui.Close();
}
else if (!AttemptReset())
{
MessageBox.Show("Controller soft reset failed, exiting.", "ioSender");
MainWindow.ui.Close();
}
break;
}
}
}
if (response != string.Empty)
{
InitSystem();
}
model.Message = message;
}
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
focusedControl = AppConfig.Settings.Base.KeepMdiFocus && Keyboard.FocusedElement is TextBox && (string)(Keyboard.FocusedElement as TextBox).Tag == "MDI"
? Keyboard.FocusedElement
: this;
}
if (GCodeSender.Activate(activate))
{
Task.Delay(500).ContinueWith(t => DRO.EnableFocus());
Application.Current.Dispatcher.BeginInvoke(new System.Action(() =>
{
focusedControl.Focus();
}), DispatcherPriority.Render);
}
}