private IRobotCommand GetNextCommand(bool canAcceptMoveCommand)
{
currentCommand = null;
if (commandGenerator == null)
{
return(null);
}
if (sendZeroCommand)
{
currentCommand = commandGenerator.GenerateZeroCommand();
sendZeroCommand = false;
}
if (sendCancelCommand)
{
currentCommand = commandGenerator.GenerateCancelCommand();
sendCancelCommand = false;
}
else if (sendResumeCommand)
{
currentCommand = commandGenerator.GenerateResumeCommand();
sendResumeCommand = false;
}
else if (sendPauseCommand)
{
currentCommand = commandGenerator.GeneratePauseCommand();
sendPauseCommand = false;
}
else if (sendEnableStepperCommand)
{
currentCommand = commandGenerator.GenerateStepperEnableCommand();
sendEnableStepperCommand = false;
}
else if (sendDisableStepperCommand)
{
currentCommand = commandGenerator.GenerateStepperDisableCommand();
sendDisableStepperCommand = false;
}
else if (canAcceptMoveCommand && lastPositionKnown)
{
while (currentCommand == null && commands.Count > 0)
{
ICommand command = commands.Dequeue();
if (command is MoveTool)
{
currentCommand = CreateRobotCommand(command as MoveTool, commandGenerator);
}
}
}
if (currentCommand == null)
{
currentCommand = commandGenerator.GenerateStatusCommand();
}
return(currentCommand);
}
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);
}
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;
}