private void clearDriverState()
{
lock (_L_instructionCompletition)
{
_currentState = new StateInfo();
_plannedState = new StateInfo();
_sendQueue.Clear();
_incompleteInstructionQueue.Clear();
_incompleteInstructions = 0;
Monitor.Pulse(_L_instructionCompletition);
}
lock (_L_confirmation)
{
_stateDataRemainingBytes = 0;
_expectsConfirmation = false;
Monitor.Pulse(_L_confirmation);
}
}
/// <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);
}
public DriverCNC2()
{
_plannedState = new StateInfo();
_currentState = new StateInfo();
_currentState.Initialize();
_plannedState = _currentState.Copy();
_positionEstimator = new Thread(runPositionEstimation);
_positionEstimator.IsBackground = true;
_positionEstimator.Priority = ThreadPriority.Lowest;
_communicationWorker = new Thread(SERIAL_worker);
_communicationWorker.IsBackground = true;
_communicationWorker.Priority = ThreadPriority.Highest;
if (LOG_STEPS)
{
StepLogger = new StepLogger(".");
}
}
private bool checkBoundaries(InstructionCNC instruction, ref StateInfo state)
{
state.Accept(instruction);
return(state.CheckBoundaries());
}
private void _port_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
var data = readData(_port);
foreach (var dataByte in data)
{
var response = (char)dataByte;
if (_stateDataRemainingBytes > 0)
{
_stateDataBuffer[_stateDataBuffer.Length - _stateDataRemainingBytes] = (byte)response;
--_stateDataRemainingBytes;
if (_stateDataRemainingBytes == 0)
{
lock (_L_instructionCompletition)
{
_incompleteInstructionQueue.Dequeue();
_currentState.SetState(_stateDataBuffer);
--_incompleteInstructions;
if (_incompleteInstructionQueue.Count > 0)
{
throw new NotSupportedException("State retrieval requires empty queue");
}
_plannedState = _currentState.Copy();
Monitor.Pulse(_L_instructionCompletition);
}
}
continue;
}
if (_isCommentEnabled)
{
if (response == '\n')
{
_isCommentEnabled = false;
}
continue;
}
switch (response)
{
case '1':
//_resetConnection = true;
clearDriverState();
break;
case 'a':
//authentication is required
clearDriverState();
_port.Write("$%#");
break;
case 'A':
//authentication succeeded
break;
case 'I':
//first reset plans - the driver is blocked on expects confirmation
clearDriverState();
send(new StateDataInstruction());
break;
case 'D':
lock (_L_confirmation)
{
_expectsConfirmation = false;
Monitor.Pulse(_L_confirmation);
_stateDataRemainingBytes = _stateDataBuffer.Length;
}
break;
case 'H':
lock (_L_confirmation)
{
_expectsConfirmation = false;
Monitor.Pulse(_L_confirmation);
}
lock (_L_instructionCompletition)
{
onInstructionCompleted();
Monitor.Pulse(_L_instructionCompletition);
}
//homing was finished successfuly
OnHomeCalibrated?.Invoke();
break;
case 'Y':
lock (_L_confirmation)
{
_expectsConfirmation = false;
Monitor.Pulse(_L_confirmation);
}
break;
case 'F':
var incompleteInstrutionCount = 0;
lock (_L_instructionCompletition)
{
onInstructionCompleted();
incompleteInstrutionCount = _incompleteInstructionQueue.Count;
Monitor.Pulse(_L_instructionCompletition);
}
if (incompleteInstrutionCount == 0 && OnInstructionQueueIsComplete != null)
{
OnInstructionQueueIsComplete();
}
break;
case 'S':
//scheduler was enabled
System.Diagnostics.Debug.WriteLine("S: " + IncompleteInstructionCount);
break;
case 'M':
//step time was missed
break;
case 'E':
throw new NotImplementedException("Incomplete message erased");
case '|':
_isCommentEnabled = true;
break;
default:
// throw new NotImplementedException();
System.Diagnostics.Debug.Write(response);
break;
}
}
OnDataReceived?.Invoke(Encoding.ASCII.GetString(data.ToArray()));
}
