public byte[] ProcessCmd(byte cmd, byte[] data)
{
if (cmd == (byte)Packet.Cmds.LASER)
{
printer.SetLaser(BitConverter.ToBoolean(data, 0));
}
else if (cmd == (byte)Packet.Cmds.GALVOS)
{
printer.MoveGalvos((float)BitConverter.ToDouble(data, 0), (float)BitConverter.ToDouble(data, 8));
}
else if (cmd == (byte)Packet.Cmds.ZCOR) // Find more efficient method
{
//Console.WriteLine(BitConverter.ToDouble(data,0));
int steps = (int)(400 * BitConverter.ToDouble(data, 0));
if (((float)data[0]) < 0)
{
zRailController.MoveZRail(PrinterControl.StepperDir.STEP_DOWN, steps);
}
else
{
zRailController.MoveZRail(PrinterControl.StepperDir.STEP_UP, steps);
}
}
else if (cmd == (byte)Packet.Cmds.RESET)
{
SetBuildPlateHome();
Console.WriteLine("return from setbuildplatehome");
}
return(Encoding.ASCII.GetBytes("SUCCESS"));
}
String DoCommand(byte cmd, byte[] cmdParams, byte offset)
{
string retString = "";
switch (cmd)
{
case FWCommands.CMD_VERSION:
retString = FIRMWARE_VERSION;
break;
case FWCommands.CMD_RETRACT_PLATE:
RetractPlate();
retString = "SUCCESS";
break;
case FWCommands.CMD_SET_Z:
SetZ(GetFloatParam(cmdParams, offset));
retString = "SUCCESS";
break;
case FWCommands.CMD_REMOVE_MODEL:
printer.RemoveModelFromPrinter();
retString = "SUCCESS";
break;
case FWCommands.CMD_MOVE_GALVOS:
printer.MoveGalvos(GetFloatParam(cmdParams, offset), GetFloatParam(cmdParams, offset + 4));
retString = "SUCCESS";
break;
case FWCommands.CMD_SET_LASER:
if (cmdParams[offset] == 1)
{
printer.SetLaser(true);
}
else
{
printer.SetLaser(false);
}
retString = "SUCCESS";
break;
default:
retString = "ERROR";
break;
}
return(retString);
}
void ProcessCommand(byte[] packet, PrinterControl printer)
{
// Process // TYLER's Section, Recieves byte array .
/* Byte 0: Command byte
* Byte 1: Length of parameter data (# of bytes)
* Byte 2: Low-byte of 16-bit checksum
* Byte 3: High-byte of 16-bit checksum
* Byte 4-n: Parameter data wait ms, stepper, move galvos, remove model, set laser
*
* Note: what we need to know is which bytes corespond to controling which of the below commands.
*/
if (firstCommand)
{
printer.ResetStepper();
moveTop(printer);
firstCommand = false;
}
printByteArray(packet, "Firmware received successfully. Now in process command.");
byte command = packet[0];
byte MoveGalvos_command = 0x00;
byte MoveZ_command = 0x01;
byte SetLaser_command = 0x02;
byte PrintDone_command = 0x03;
//byte WaitMicroseconds_command = 0x00;
//byte ResetStepper_command = 0x00;
//byte RemoveModelFromPrinter_command = 0x00;
//if (command == WaitMicroseconds_command) //WaitMicroseconds
//{
// // convert from byte to long
// long microsec = 0;
// printer.WaitMicroseconds(microsec);
//}
//if (command == ResetStepper_command) //ResetStepper
//{
// // void function
// printer.ResetStepper();
//}
if (command == MoveGalvos_command) //MoveGalvos
{
// convert from byte to float x and float y
byte[] x_substring = new byte[4]; // should I make this 4?
Array.Copy(packet, 4, x_substring, 0, 4);
byte[] y_substring = new byte[4]; // should I make this 4?
Array.Copy(packet, 8, y_substring, 0, 4);
float x = BitConverter.ToSingle(x_substring, 0);
float y = BitConverter.ToSingle(y_substring, 0);
float x_voltage = (float)(x * (2.5 / 100)); // find a better way to do these magic numbers
float y_voltage = (float)(y * (2.5 / 100));
printer.MoveGalvos(x_voltage, y_voltage); // sends voltages to MoveGalvos();
}
//else if (command == RemoveModelFromPrinter_command) //RemoveModelFromPrinter
//{
// // void function
// printer.RemoveModelFromPrinter();
//}
else if (command == SetLaser_command) //SetLaser
{
// convert from byte to bool
bool set = BitConverter.ToBoolean(packet, 4);
printer.SetLaser(set);
}
else if (command == MoveZ_command)
{
// convert from byte to float
float z_frombottom = BitConverter.ToSingle(packet, 4); // converting from byte[] starting at 4 to float
movementWithSpeed(printer, calculateDirection(printer, z_frombottom), CalculateDistance(printer, z_frombottom));
// zrailcontroller
}
else if (command == PrintDone_command)
{
fDone = true;
moveTop(printer);
}
}
// Handle incoming commands from the serial link
void Process()
{
// Todo - receive incoming commands from the serial link and act on those commands by calling the low-level hardwarwe APIs, etc.
byte ACK = 0xA5;
byte NACK = 0xFF;
float xVoltage = 0;
float yVoltage = 0;
float oldZLocation = 0;
while (!fDone)
{
var receivedHeader = new byte[4];
var ACKorNACK = new byte[1];
ReceiveHeaderAndSend(receivedHeader);
var paramData = new byte[receivedHeader[1]];
printer.WaitMicroseconds(3000);
while (ACKorNACK[0] != ACK && ACKorNACK[0] != NACK)
{
printer.ReadSerialFromHost(ACKorNACK, 1);
}
if (ACKorNACK[0] == ACK)
{
printer.WaitMicroseconds(3000);
//var readParamByte = ReadParamBytes(receivedHeader, paramData);
//var paramBytes = new byte[header[1]];
//var paramBytesRead = printer.ReadSerialFromHost(paramData, receivedHeader[1]);
//var responseByte = new byte[successBytes.Length];
if (printer.ReadSerialFromHost(paramData, receivedHeader[1]) != receivedHeader[1] /*ByteArraysEquals(readParamByte, timeoutBytes)*/)
{
printer.WriteSerialToHost(timeoutBytes, responseBytesLen);
}
else
{
//Console.WriteLine("Firmware: " + BitConverter.ToString(receivedHeader) + "|-|" + BitConverter.ToString(paramData));
//responseByte = successBytes;
var calculatedChecksum = CalculateChecksum(receivedHeader, paramData);
if (receivedHeader[2] == calculatedChecksum[0] && receivedHeader[3] == calculatedChecksum[1])
{
printer.WriteSerialToHost(successBytes, successBytes.Length);
if (receivedHeader[0] == 0)
{
var distance = BitConverter.ToSingle(paramData, 0) - oldZLocation;
oldZLocation = BitConverter.ToSingle(paramData, 0);
MoveZrail(distance, PrinterControl.StepperDir.STEP_UP);
}
else if (receivedHeader[0] == 1)
{
//Console.WriteLine("Execute setLaser with data: " + BitConverter.ToBoolean(paramData, 0));
printer.SetLaser(BitConverter.ToBoolean(paramData, 0));
}
else if (receivedHeader[0] == 2)
{
xVoltage = BitConverter.ToSingle(paramData, 0) / 20;
yVoltage = BitConverter.ToSingle(paramData, 4) / 20;
if ((xVoltage > -2.25 && xVoltage < 2.25) && (yVoltage > -2.25 && yVoltage < 2.25))
{
printer.MoveGalvos(xVoltage, yVoltage);
//Console.WriteLine("Execute moveGalvos with data: xVoltage: " + xVoltage + " yVoltage: " + yVoltage);
}
}
//printer.WriteSerialToHost(successBytes, successBytes.Length);
}
else
{
printer.WriteSerialToHost(checksumBytes, responseBytesLen);
}
}
}
}
}
public void executeCommand(byte command, byte[] param)
{
try
{
switch (command)
{
case 0x00:
return;
case 0x01:
commandsExecuted["ResetStepper"] += 1;
printer.ResetStepper();
moveStepperToTop();
moveStepperFromTopToBuildPlate();
break;
case 0x02:
float direction = BitConverter.ToSingle(param, 0);
if (direction == 1)
{
Console.WriteLine("Step up");
commandsExecuted["StepStepperUp"] += 1;
bool result = printer.StepStepper(PrinterControl.StepperDir.STEP_UP);
}
else if (direction == 0)
{
Console.WriteLine("Step down");
commandsExecuted["StepStepperDown"] += 1;
bool result = printer.StepStepper(PrinterControl.StepperDir.STEP_DOWN);
}
break;
case 0x03:
float value = BitConverter.ToSingle(param, 0);
if (value == 1)
{
printer.SetLaser(true);
Console.WriteLine("Turned on laser");
}
else if (value == 0)
{
printer.SetLaser(false);
Console.WriteLine("Turned laser off");
}
else
{
Console.WriteLine("Invalid laser value for on/off");
}
break;
case 0x04:
commandsExecuted["MoveGalvonometer"] += 1;
float x = BitConverter.ToSingle(param, 0);
float y = BitConverter.ToSingle(param, 4);
printer.MoveGalvos(x, y);
Console.WriteLine("Moved galvo");
break;
default:
Console.WriteLine("Bad command");
break;
}
}
catch (Exception e)
{
System.Console.WriteLine(e.StackTrace);
}
}
