private void StateMachine()
{
switch (state)
{
case ProcessState.Init:
this.parser.Open = true;
state = ProcessState.CheckIfOnline;
break;
case ProcessState.CheckIfOnline:
if (this.parser.Open)
{
state = ProcessState.CheckSettings;
Thread.Sleep(300);
}
else
{
state = ProcessState.Init;
Thread.Sleep(500);
}
break;
case ProcessState.CheckSettings:
var settings = new List <string>();
settings.Add("$0=10"); // (step pulse, usec)
settings.Add("$1=25"); // (step idle delay, msec)
settings.Add("$2=0"); // (step port invert mask:00000000)
settings.Add("$3=3"); // (dir port invert mask:00000011)
settings.Add("$4=0"); // (step enable invert, bool)
settings.Add("$5=0"); // (limit pins invert, bool)
settings.Add("$6=0"); // (probe pin invert, bool)
settings.Add("$10=3"); // (status report mask:00000011)
settings.Add("$11=0.020"); // (junction deviation, mm)
settings.Add("$12=0.001"); // (arc tolerance, mm)
settings.Add("$13=0"); //(report inches, bool)
settings.Add("$20=0"); // (soft limits, bool)
settings.Add("$21=0"); // (hard limits, bool)
settings.Add("$22=0"); // (homing cycle, bool)
settings.Add("$23=1"); // (homing dir invert mask:00000001)
settings.Add("$24=50.000"); // (homing feed, mm/min)
settings.Add("$25=635.000"); // (homing seek, mm/min)
settings.Add("$26=250"); // (homing debounce, msec)
settings.Add("$27=1.000"); // (homing pull-off, mm)
settings.Add("$100=320.000"); // (x, step/mm)
settings.Add("$101=320.000"); // (y, step/mm)
settings.Add("$102=320.000"); // (z, step/mm)
settings.Add("$110=3000.000"); // (x max rate, mm/min)
settings.Add("$111=3000.000"); // (y max rate, mm/min)
settings.Add("$112=3000.000"); // (z max rate, mm/min)
settings.Add("$120=50.000"); // (x accel, mm/sec^2)
settings.Add("$121=50.000"); // (y accel, mm/sec^2)
settings.Add("$122=50.000"); // (z accel, mm/sec^2)
settings.Add("$130=225.000"); // (x max travel, mm)
settings.Add("$131=125.000"); // (y max travel, mm)
settings.Add("$132=170.000"); // (z max travel, mm)
var result = this.parser.SendCommand("$$");
if (String.IsNullOrEmpty(result))
{
this.parser.Open = false;
state = ProcessState.Init;
Thread.Sleep(5000);
return;
}
var currentSettings = result.Split(new string[] { "\r\n", "\n" }, StringSplitOptions.None);
foreach (var setting in currentSettings)
{
settings.RemoveAll(s => s == setting);
}
foreach (var setting in settings)
{
QueueCommand(setting);
}
if (settings.Count > 0)
{
this.parser.SendCommand(((char)24).ToString());
}
state = ProcessState.Idle;
break;
case ProcessState.Idle:
if (statusCheck.Ready)
{
state = ProcessState.CheckStatus;
}
else
{
state = ProcessState.WriteOutput;
}
break;
case ProcessState.WriteOutput:
state = ProcessState.Idle;
while (this.PlannerBlocksAvailble > 0)
{
var nextCommand = queue.GetNextCommand();
// no more commands
if (String.IsNullOrEmpty(nextCommand))
{
break;
}
// grbl rxBuffer full
if (this.RxBufferBytesAvailble < (nextCommand.Length + 5))
{
break;
}
this.RxBufferBytesAvailble -= (nextCommand.Length + 2);
this.PlannerBlocksAvailble--;
var message = this.parser.SendCommand(nextCommand);
queue.Remove(nextCommand);
if (!String.IsNullOrEmpty(message) && message.Contains("[MSG:Pgm End]"))
{
this.JobActive = false;
}
}
break;
case ProcessState.CheckStatus:
state = ProcessState.Idle;
var status = this.parser.ReadStaus();
if (status == null)
{
return;
}
this.PlannerBlocksAvailble = status.PlannerBlocksAvailble;
this.RxBufferBytesAvailble = status.RxBufferBytesAvailble;
if (MachinePosition == null)
{
MachinePosition = status.MachinePosition;
WorkCoordinate = new PositionVector(MachinePosition.X, MachinePosition.Y, MachinePosition.Z);
}
else
{
MachinePosition.Move(status.MachinePosition);
WorkCoordinate.Move(MachinePosition);
}
if (status.WorkCoordinateOffset != null)
{
WorkCoordinate.Offset(status.WorkCoordinateOffset);
}
GrblWebSocket.SendToWebSocketClients(this.NamedParameters.ToJSON());
break;
}
}
private void ReadLoop()
{
var readInterval = new Interval(250, 500);
var requestStatusInterval = new Interval(350, 1000);
var txInterval = new Interval(5000, 1500);
var running = GrblStatus.Running;
bool statusRecived = false;
string rxBuffer = "";
while (!readLoopShutdown)
{
// open the port if it's not already oppend
try
{
lock (port)
{
if (!port.IsOpen)
{
port.Open();
Thread.Sleep(1000);
}
}
}
catch
{
Thread.Sleep(500);
continue;
}
try
{
if (readInterval.Ready)
{
lock (port)
{
if (port.BytesToRead > 0)
{
rxBuffer += port.ReadExisting();
}
}
}
if (requestStatusInterval.Ready)
{
lock (port)
{
port.Write("?");
statusRecived = false;
}
}
if (!String.IsNullOrEmpty(rxBuffer) && rxBuffer.Contains("\r\n"))
{
var responce = rxBuffer.Substring(0, rxBuffer.IndexOf('\n') - 1);
if (responce == "ok" || responce.StartsWith("error"))
{
if (commandSent.Count > 0)
{
var command = commandSent[0];
commandSent.RemoveAt(0);
command.Responce = responce;
command.Buffered = true;
if (command.Command.Length > 0)
{
commandBuffered.Add(command);
}
}
OnResponceRecived(responce);
}
else if (responce.StartsWith("<") && responce.EndsWith(">"))
{
GrblStatus.Parse(responce, (commandBuffered.Count > 0));
statusRecived = true;
// command complete
if (commandBuffered.Count > GrblStatus.MotionBuffer)
{
for (int c = 0; c < (commandBuffered.Count - GrblStatus.MotionBuffer); c++)
{
var command = commandBuffered[0];
commandBuffered.RemoveAt(0);
command.Completed = true;
commandHistory.Add(command);
}
}
this.CurrentCommand = (commandBuffered.Count > 0) ? commandBuffered[0] : null;
if (GrblStatus.Running)
{
GrblStatus.CommandsTotal = this.commandQueue.Count + this.commandSent.Count + this.commandBuffered.Count + this.commandHistory.Count;
GrblStatus.CommandsCompleted = this.commandHistory.Count;
}
// send update to web clients
GrblWebSocket.SendToWebSocketClients(GrblStatus.ToJSON());
// just finished job
if (running && !GrblStatus.Running && this.commandQueue.Count == 0)
{
GrblStatus.CommandsCompleted = GrblStatus.CommandsTotal;
this.commandQueue.Clear();
this.commandSent.Clear();
this.commandBuffered.Clear();
this.commandHistory.Clear();
}
running = GrblStatus.Running;
}
else
{
OnResponceRecived(responce);
}
rxBuffer = rxBuffer.Substring(responce.Length + 2, (rxBuffer.Length - responce.Length - 2));
}
// send queued command to grbl if rxBuffer can fit new message
const int MAX_RX_BUFFER = 127;
/* if (this.commandQueue.Count > 0 &&
* ((GrblStatus.RxBuffer + this.commandQueue[0].Command.Length + 1) < 127 || this.commandQueue[0].Command.Length == 1))
* {
*/
if (this.commandQueue.Count > 0 &&
(
/* try not to overfill the buffer */
((GrblStatus.RxBuffer) < 20 && GrblStatus.MotionBuffer < 5 && statusRecived) ||
this.commandQueue[0].Command.Length == 1))
{
GrblStatus.RxBuffer += this.commandQueue[0].Command.Length + 1;
GrblStatus.MotionBuffer++;
var command = commandQueue[0];
commandQueue.RemoveAt(0);
port.Write(command.Command + "\n");
command.Sent = true;
commandSent.Add(command);
}
Thread.Sleep(10);
}
catch (Exception ex)
{
Logger.Log(ex);
Thread.Sleep(2000);
}
}
}