private void send(InstructionCNC instruction)
{
var data = new List <byte>(instruction.GetInstructionBytes());
while (data.Count < Configuration.InstructionLength - 2)
{
data.Add(0);
}
if (data.Count != Configuration.InstructionLength - 2)
{
throw new NotSupportedException("Invalid instruction length detected.");
}
//checksum is used for error detection
Int16 checksum = 0;
foreach (var b in data)
{
checksum += b;
}
data.AddRange(InstructionCNC.ToBytes(checksum));
var dataBuffer = data.ToArray();
lock (_L_instructionCompletition)
{
_incompleteInstructionQueue.Enqueue(instruction);
}
lock (_L_sendQueue)
{
_sendQueue.Enqueue(dataBuffer);
Monitor.Pulse(_L_sendQueue);
}
}
internal void Completed(InstructionCNC instruction)
{
var homing = instruction as HomingInstruction;
if (homing != null)
{
X = 0;
Y = 0;
U = 0;
V = 0;
TickCount = 0;
IsHomeCalibrated = true;
return;
}
var axesInstruction = instruction as Axes;
if (axesInstruction != null)
{
if (axesInstruction.InstructionU != null)
{
U += axesInstruction.InstructionU.StepCount;
}
if (axesInstruction.InstructionV != null)
{
V += axesInstruction.InstructionV.StepCount;
}
if (axesInstruction.InstructionX != null)
{
X += axesInstruction.InstructionX.StepCount;
}
if (axesInstruction.InstructionY != null)
{
Y += axesInstruction.InstructionY.StepCount;
}
TickCount += axesInstruction.GetInstructionDuration();
return;
}
var stepInstruction = instruction as StepInstrution;
if (stepInstruction != null)
{
X += stepInstruction.StepCount;
TickCount += stepInstruction.GetInstructionDuration();
}
}
/// <summary>
/// Sends a given part to the machine.
/// </summary>
/// <param name="part">Part to send.</param>
public bool SEND(InstructionCNC part)
{
var testState = _plannedState.Copy();
if (!checkBoundaries(part, ref testState))
{
return(false);
}
_plannedState = testState;
send(part);
return(true);
}
internal void Accept(InstructionCNC instruction)
{
var homing = instruction as HomingInstruction;
if (homing != null)
{
calibrateHome();
return;
}
var axesInstruction = instruction as Axes;
if (axesInstruction != null)
{
if (axesInstruction.InstructionU != null)
{
U += axesInstruction.InstructionU.HwStepCount;
}
if (axesInstruction.InstructionV != null)
{
V += axesInstruction.InstructionV.HwStepCount;
}
if (axesInstruction.InstructionX != null)
{
X += axesInstruction.InstructionX.HwStepCount;
}
if (axesInstruction.InstructionY != null)
{
Y += axesInstruction.InstructionY.HwStepCount;
}
TickCount += axesInstruction.GetInstructionDuration();
return;
}
var stepInstruction = instruction as StepInstrution;
if (stepInstruction != null)
{
X += stepInstruction.HwStepCount;
TickCount += stepInstruction.GetInstructionDuration();
}
}
/// <summary>
/// Sends a given part to the machine.
/// </summary>
/// <param name="instruction">Part to send.</param>
public bool SEND(InstructionCNC instruction)
{
if (instruction.IsEmpty)
{
return(true);
}
var testState = _plannedState.Copy();
if (!checkBoundaries(instruction, ref testState))
{
return(false);
}
_plannedState = testState;
send(instruction);
return(true);
}
private bool checkBoundaries(InstructionCNC instruction, ref StateInfo state)
{
state.Accept(instruction);
return(state.CheckBoundaries());
}
