Exemplo n.º 1
0
        private void NewDataAvailable(SerialPortWrapper.SimpleSerialPacket packet)
        {
            lock (thisLock)
            {
                if (currentCommand == null)
                {
                    Console.WriteLine("Error: Received data, but no command was sent!");
                    foreach (byte b in packet.Data)
                    {
                        Console.Write(b.ToString("x") + ", ");
                    }
                    Console.WriteLine();
                }
                else
                {
                    currentCommand.ProcessResponse(packet.Data);
                    if (currentCommand.IsDataValid())
                    {
                        // See if there's any state information in the command used to 
                        // update location or other fields...
                        byte locations = MaxLocations;
                        if (currentCommand is StatusCommand)
                        {
                            StatusCommand c = currentCommand as StatusCommand;
                            currentPosition = Vector3.Divide (c.CurrentPosition.ToVector3(), ScaleFactors);
                            locations = c.Locations;
                            if (onPositionUpdate != null)
                            {
                                onPositionUpdate(this, EventArgs.Empty);
                            }
                        }
                        if (currentCommand is MoveCommand)
                        {
                            MoveCommand m = currentCommand as MoveCommand;
                            locations = m.Locations;
                        }

                        currentCommand = GetNextCommand(locations);

                        elapsedCounter = 0;
                        serial.Transmit(currentCommand.GenerateCommand(), 0x21);
                    }
                    else
                    {
                        Console.WriteLine("Error: Did not process data correctly!");
                    }
                }
            }
        }
Exemplo n.º 2
0
            internal override bool ProcessResponse(byte data)
            {
                if (data == 0xCA) // Only the binary robot will send this character (it's the packet start character)
                {
                    // Drop anything earlier from the accumulator
                    accumulator.Clear();
                    Console.WriteLine("Found 0xCA start byte, looks like the packetized binary protocol");
                    commandGenerator    = new PacketizedCommandGenerator();
                    binaryStatusCommand = commandGenerator.GenerateStatusCommand();
                }

                accumulator.Add(data);
                if (binaryStatusCommand != null)
                {
                    // The response will be a binary status command, just forward the data and wait until it's good.
                    return(binaryStatusCommand.ProcessResponse(data));
                }
                else
                {
                    // Look for an ASCII communicating robot (like GRBL)
                    var s = System.Text.Encoding.ASCII.GetString(accumulator.ToArray());

                    if (s.EndsWith("\r\n", StringComparison.OrdinalIgnoreCase))
                    {
                        if (s.StartsWith("Grbl ") && s.Length >= 9)
                        {
                            var   version       = s.Substring(5, 3);
                            float version_float = 0.0f;
                            if (float.TryParse(version, out version_float) && version_float >= 0.8f)
                            {
                                Console.WriteLine("Compatible Grbl type robot found: " + s.Substring(0, 9));
                                commandGenerator = new GrblCommandGenerator();
                                return(true);
                            }
                        }
                        else
                        {
                            // Seems like a GRBL type robot, but the start of the string wasn't right.  Maybe some garbage
                            // or an extra \r\n, clear it out and wait for more.
                            accumulator.Clear();
                        }
                    }
                }
                return(false);
            }
Exemplo n.º 3
0
        private void NewDataAvailable(byte data)
        {
            lock (thisLock)
            {
                elapsedCounter = 0;
                if (currentCommand == null)
                {
                    Console.WriteLine("Error: Received data, but no command was sent!");
                    Console.Write(data.ToString("x") + ", ");
                    Console.WriteLine();
                }
                else
                {
                    if (currentCommand.ProcessResponse(data))
                    {
                        bool canAcceptMoveCommand = false;
                        if (currentCommand is IRobotCommandWithStatus)
                        {
                            IRobotCommandWithStatus status = currentCommand as IRobotCommandWithStatus;
                            currentPosition      = status.CurrentPosition;
                            canAcceptMoveCommand = status.CanAcceptMoveCommand;
                            if (this.lastPositionKnown == false)
                            {
                                lastPosition      = currentPosition;
                                lastPositionKnown = true;
                            }
                            if (onRobotStatusChange != null)
                            {
                                onRobotStatusChange(status, EventArgs.Empty);
                            }
                        }
                        else if (currentCommand is RobotDetectionCommand)
                        {
                            RobotDetectionCommand r = currentCommand as RobotDetectionCommand;
                            commandGenerator = r.GetCommandGenerator();
                        }

                        currentCommand = GetNextCommand(canAcceptMoveCommand);
                        serial.Transmit(currentCommand.GenerateCommand());
                    }
                }
            }
        }