public PosEventArgs(xyzPoint world, xyzPoint machine, grblState stat, string last)
{
posWorld = world;
posMachine = machine;
status = stat;
lastCmd = last;
}
private void setCoord(int nr, xyzPoint tmp = new xyzPoint())
{
string cmd = String.Format("G10 L2 P{0} X{1:0.000} Y{2:0.000} Z{3:0.000}", nr, tmp.X, tmp.Y, tmp.Z);
sendCommandEvent(new CmdEventArgs(cmd.Replace(',', '.')));
refreshValues();
}
private void btnStartTL_Click(object sender, EventArgs e)
{
lblEFProgressInfo.Text = Localization.getString("probingProbingOn") + " Z"; //"Probing on X";
lblTLProgress.Text = "";
lblTLStatus.Text = "";
probingValuesIndex = 0;
probingAction = probingMode.toolLenght;
setRBEnable(cBnow, false);
for (int i = 0; i < stateCommandsMax; i++)
{
stateCommands[i] = "";
}
probeStartMachine = grbl.posMachine;
probingValuesIndex = 0;
int k = 1;
stateCommands[k++] = string.Format("{0} Z-{1} F{2};", ProbeCommand, nUDProbeTravelZ.Value, nUDProbeFeed.Value); // index=1 will be send below
stateCommands[k++] = string.Format("G53 G00 Z{0};", probeStartMachine.Z);
// stateCommands[k++] = string.Format("G91 G00 Z{0};", nUDProbeTravelZ.Value);
probingCount = 1;
sendCommandEvent(new CmdEventArgs(stateCommands[probingCount++].Replace(',', '.')));
setProgressTL(nUDProbeTravelZ.Value);
isIdle = false;
timer1.Enabled = true;
}
// store gcode parameters https://github.com/gnea/grbl/wiki/Grbl-v1.1-Commands#---view-gcode-parameters
public static void setCoordinates(string id, string value, string info)
{
xyzPoint tmp = new xyzPoint();
string allowed = "PRBG54G55G56G57G58G59G28G30G92TLO";
if (allowed.Contains(id))
{
getPosition("abc:" + value, ref tmp); // parse string [PRB:-155.000,-160.000,-28.208:1]
if (coordinates.ContainsKey(id))
{
coordinates[id] = tmp;
}
else
{
coordinates.Add(id, tmp);
}
if ((info.Length > 0) && (id == "PRB"))
{
xyzPoint tmp2 = new xyzPoint();
tmp2 = coordinates["PRB"];
tmp2.A = info == "1" ? 1 : 0;
coordinates["PRB"] = tmp2;
}
}
}
public static void getPosition(string text, ref xyzPoint position)
{
string[] dataField = text.Split(':');
string[] dataValue = dataField[1].Split(',');
// axisA = false; axisB = false; axisC = false;
axisCount = 0;
if (dataValue.Length > 2)
{
Double.TryParse(dataValue[0], System.Globalization.NumberStyles.Any, System.Globalization.CultureInfo.InvariantCulture, out position.X);
Double.TryParse(dataValue[1], System.Globalization.NumberStyles.Any, System.Globalization.CultureInfo.InvariantCulture, out position.Y);
Double.TryParse(dataValue[2], System.Globalization.NumberStyles.Any, System.Globalization.CultureInfo.InvariantCulture, out position.Z);
axisCount = 3;
}
if (dataValue.Length > 3)
{
Double.TryParse(dataValue[3], System.Globalization.NumberStyles.Any, System.Globalization.CultureInfo.InvariantCulture, out position.A);
axisA = true; axisCount++;
}
if (dataValue.Length > 4)
{
Double.TryParse(dataValue[4], System.Globalization.NumberStyles.Any, System.Globalization.CultureInfo.InvariantCulture, out position.B);
axisB = true; axisCount++;
}
if (dataValue.Length > 5)
{
Double.TryParse(dataValue[5], System.Globalization.NumberStyles.Any, System.Globalization.CultureInfo.InvariantCulture, out position.C);
axisC = true; axisCount++;
}
//axisA = true; axisB = true; axisC = true; // for test only
}
public PosEventArgs(xyzPoint world, xyzPoint machine, grblState stat, mState msg, pState last)
{
posWorld = world;
posMachine = machine;
status = stat;
statMsg = msg;
lastCmd = last;
}
public static void getPosition(string text, ref xyzPoint position)
{
string[] dataField = text.Split(':');
string[] dataValue = dataField[1].Split(',');
Double.TryParse(dataValue[0], System.Globalization.NumberStyles.Any, System.Globalization.CultureInfo.InvariantCulture, out position.X);
Double.TryParse(dataValue[1], System.Globalization.NumberStyles.Any, System.Globalization.CultureInfo.InvariantCulture, out position.Y);
Double.TryParse(dataValue[2], System.Globalization.NumberStyles.Any, System.Globalization.CultureInfo.InvariantCulture, out position.Z);
}
public static int getPosition(int serNr, string text, ref xyzPoint position)
{
string[] dataField = text.Split(':');
if (dataField.Length <= 1)
{
return(0);
}
string[] dataValue = dataField[1].Split(',');
// axisA = false; axisB = false; axisC = false;
int axisCountLocal = 0;
if (dataValue.Length == 1)
{
Double.TryParse(dataValue[0], NumberStyles.Any, CultureInfo.InvariantCulture, out position.Z);
position.X = 0;
position.Y = 0;
}
if (dataValue.Length > 2)
{
Double.TryParse(dataValue[0], NumberStyles.Any, CultureInfo.InvariantCulture, out position.X);
Double.TryParse(dataValue[1], NumberStyles.Any, CultureInfo.InvariantCulture, out position.Y);
Double.TryParse(dataValue[2], NumberStyles.Any, CultureInfo.InvariantCulture, out position.Z);
axisCountLocal = 3;
}
if (dataValue.Length > 3)
{
Double.TryParse(dataValue[3], NumberStyles.Any, CultureInfo.InvariantCulture, out position.A);
axisCountLocal++;
if (serNr == 1)
{
axisA = true;
}
}
if (dataValue.Length > 4)
{
Double.TryParse(dataValue[4], NumberStyles.Any, CultureInfo.InvariantCulture, out position.B);
axisCountLocal++;
if (serNr == 1)
{
axisB = true;
}
}
if (dataValue.Length > 5)
{
Double.TryParse(dataValue[5], NumberStyles.Any, CultureInfo.InvariantCulture, out position.C);
axisCountLocal++;
if (serNr == 1)
{
axisC = true;
}
}
if (serNr == 1)
{
axisCount = axisCountLocal;
}
return(axisCountLocal);
//axisA = true; axisB = true; axisC = true; // for test only
}
public static xyzPoint operator -(xyzPoint b, xyzPoint c)
{
xyzPoint a = new xyzPoint();
a.X = b.X - c.X;
a.Y = b.Y - c.Y;
a.Z = b.Z - c.Z;
a.A = b.A - c.A;
return(a);
}
// Overload + operator
public static xyzPoint operator +(xyzPoint b, xyzPoint c)
{
xyzPoint a = new xyzPoint();
a.X = b.X + c.X;
a.Y = b.Y + c.Y;
a.Z = b.Z + c.Z;
a.A = b.A + c.A;
return(a);
}
public gcodeByLine(gcodeByLine tmp)
{
resetAll();
lineNumber = tmp.lineNumber; figureNumber = tmp.figureNumber; codeLine = tmp.codeLine;
motionMode = tmp.motionMode; isdistanceModeG90 = tmp.isdistanceModeG90; ismachineCoordG53 = tmp.ismachineCoordG53;
isSubroutine = tmp.isSubroutine; spindleState = tmp.spindleState; coolantState = tmp.coolantState;
spindleSpeed = tmp.spindleSpeed; feedRate = tmp.feedRate;
x = tmp.x; y = tmp.y; z = tmp.z; i = tmp.i; j = tmp.j; a = tmp.a; b = tmp.b; c = tmp.c; u = tmp.u; v = tmp.v; w = tmp.w;
actualPos = tmp.actualPos; distance = tmp.distance;
}
// handle position events from serial form
private void OnRaisePosEvent(object sender, PosEventArgs e)
{
posWorld = e.PosWorld;
posMachine = e.PosMachine;
machineStatus = e.Status;
label_mx.Text = string.Format("{0:0.000}", posMachine.X);
label_my.Text = string.Format("{0:0.000}", posMachine.Y);
label_mz.Text = string.Format("{0:0.000}", posMachine.Z);
label_wx.Text = string.Format("{0:0.000}", posWorld.X);
label_wy.Text = string.Format("{0:0.000}", posWorld.Y);
label_wz.Text = string.Format("{0:0.000}", posWorld.Z);
label_status.Text = grbl.statusToText(machineStatus);
label_status.BackColor = grbl.grblStateColor(machineStatus);
}
public static void setCoordinates(string id, string value)
{
xyzPoint tmp = new xyzPoint();
string allowed = "PRBG54G55G56G57G58G59G28G30G92";
if (allowed.Contains(id))
{
getPosition("abc:" + value, ref tmp);
if (coordinates.ContainsKey(id))
{
coordinates[id] = tmp;
}
else
{
coordinates.Add(id, tmp);
}
}
}
public bool withinLimits(xyzPoint actualMachine, double tstx, double tsty)
{
double minlx = (double)Properties.Settings.Default.machineLimitsHomeX;
double maxlx = minlx + (double)Properties.Settings.Default.machineLimitsRangeX;
double minly = (double)Properties.Settings.Default.machineLimitsHomeY;
double maxly = minly + (double)Properties.Settings.Default.machineLimitsRangeY;
tstx += actualMachine.X;
tsty += actualMachine.Y;
if ((tstx < minlx) || (tstx > maxlx))
{
return(false);
}
if ((tsty < minly) || (tsty > maxly))
{
return(false);
}
return(true);
}
private void setCoord(int nr, xyzPoint tmp = new xyzPoint())
{
string cmd = String.Format("G10 L2 P{0} X{1:0.000} Y{2:0.000} Z{3:0.000}", nr, tmp.X, tmp.Y, tmp.Z);
if (grbl.axisA)
{
cmd = String.Format("{0} A{1:0.000}", cmd, tmp.A);
}
if (grbl.axisB)
{
cmd = String.Format("{0} B{1:0.000}", cmd, tmp.B);
}
if (grbl.axisC)
{
cmd = String.Format("{0} C{1:0.000}", cmd, tmp.C);
}
sendCommandEvent(new CmdEventArgs(cmd.Replace(',', '.')));
// refreshValues();
}
private void cmsPicBoxZeroXYAtMarkedPosition_Click(object sender, EventArgs e)
{
xyzPoint tmp = grbl.posWork - grbl.posMarker;
sendCommand(String.Format(zeroCmd + " X{0} Y{1}", gcode.frmtNum(tmp.X), gcode.frmtNum(tmp.Y)).Replace(',', '.'));
}
private void btnStartCF_Click(object sender, EventArgs e)
{
btnCancelCF.Enabled = true;
btnStartCF.Enabled = false;
lblEFProgressInfo.Text = Localization.getString("probingProbingOn") + " X"; //"Probing on X";
lblCFProgress.Text = "";
lblCFStatus.Text = "";
probingValuesIndex = 0;
probingAction = probingMode.centerFinder;
setRBEnable(cBnow, false);
for (int i = 0; i < stateCommandsMax; i++)
{
stateCommands[i] = "";
}
probeStartMachine = grbl.posMachine;
probingValuesIndex = 0;
int k = 1;
if (rBCF1.Checked)
{
stateCommands[k++] = string.Format("{0} X-{1} F{2};", ProbeCommand, nUDWorkpieceDiameter.Value, nUDProbeFeed.Value); // index=1 will be send below
stateCommands[k++] = string.Format("G53 G00 X{0};", probeStartMachine.X);
stateCommands[k++] = string.Format("{0} X{1} F{2};", ProbeCommand, nUDWorkpieceDiameter.Value, nUDProbeFeed.Value);
stateCommands[k++] = string.Format("G53 G00 X{0};", probeStartMachine.X); // replace 4
stateCommands[k++] = string.Format("{0} Y-{1} F{2};", ProbeCommand, nUDWorkpieceDiameter.Value, nUDProbeFeed.Value);
stateCommands[k++] = string.Format("G53 G00 Y{0};", probeStartMachine.Y);
stateCommands[k++] = string.Format("{0} Y{1} F{2};", ProbeCommand, nUDWorkpieceDiameter.Value, nUDProbeFeed.Value);
stateCommands[k++] = string.Format("G53 G00 Y{0};", probeStartMachine.Y);
}
else
{
stateCommands[k++] = string.Format("{0} X{1} F{2};", ProbeCommand, nUDProbeTravelX.Value, nUDProbeFeed.Value); // probe 0
stateCommands[k++] = string.Format("G91 G00 X-{0};", nUDProbeSaveX.Value);
stateCommands[k++] = string.Format("Z{0};", nUDProbeTravelZ.Value);
stateCommands[k++] = string.Format("X{0};", (nUDWorkpieceDiameter.Value + 2 * nUDProbeSaveX.Value + nUDDiameter.Value));
stateCommands[k++] = string.Format("Z-{0}", nUDProbeTravelZ.Value);
// k=6
stateCommands[k++] = string.Format("{0} X-{1} F{2};", ProbeCommand, nUDProbeTravelX.Value, nUDProbeFeed.Value); // probe 1
stateCommands[k++] = string.Format("G91 G00 X{0};", nUDProbeSaveX.Value);
stateCommands[k++] = string.Format("Z{0};", nUDProbeTravelZ.Value);
stateCommands[k++] = string.Format("X-{0};", (nUDProbeSaveX.Value + nUDWorkpieceDiameter.Value / 2)); // 9 will be replaced
stateCommands[k++] = string.Format("G91 G00 Y-{0};", (nUDProbeTravelY.Value + nUDWorkpieceDiameter.Value / 2));
stateCommands[k++] = string.Format("Z-{0}", nUDProbeTravelZ.Value);
// 12
stateCommands[k++] = string.Format("{0} Y{1} F{2};", ProbeCommand, nUDWorkpieceDiameter.Value, nUDProbeFeed.Value); // probe 2
stateCommands[k++] = string.Format("G91 G00 Y-{0};", nUDProbeSaveY.Value);
stateCommands[k++] = string.Format("Z{0};", nUDProbeTravelZ.Value);
stateCommands[k++] = string.Format("Y{0};", (nUDWorkpieceDiameter.Value + 2 * nUDProbeSaveY.Value + nUDDiameter.Value));
stateCommands[k++] = string.Format("Z-{0}", nUDProbeTravelZ.Value);
// 17
stateCommands[k++] = string.Format("{0} Y-{1} F{2};", ProbeCommand, nUDWorkpieceDiameter.Value, nUDProbeFeed.Value); // probe 3
stateCommands[k++] = string.Format("G91 G00 Y{0};", nUDProbeSaveY.Value);
stateCommands[k++] = string.Format("Z{0};", nUDProbeTravelZ.Value);
stateCommands[k++] = string.Format("G53 G00 Y{0};", probeStartMachine.Y);
}
probingCount = 1;
sendCommandEvent(new CmdEventArgs(stateCommands[probingCount++].Replace(',', '.')));
setProgressCF(nUDWorkpieceDiameter.Value);
isIdle = false;
timer1.Enabled = true;
}
public static bool AlmostEqual(xyzPoint a, xyzPoint b)
{
// return (Math.Abs(a.X - b.X) <= grbl.resolution) && (Math.Abs(a.Y - b.Y) <= grbl.resolution) && (Math.Abs(a.Z - b.Z) <= grbl.resolution);
return(gcode.isEqual(a.X, b.X) && gcode.isEqual(a.Y, b.Y) && gcode.isEqual(a.Z, b.Z));
}
public bool withinLimits(xyzPoint actualMachine, xyzPoint actualWorld)
{
return(withinLimits(actualMachine, minx - actualWorld.X, miny - actualWorld.Y) && withinLimits(actualMachine, maxx - actualWorld.X, maxy - actualWorld.Y));
}
public xyArcPoint(xyzPoint tmp)
{
X = tmp.X; Y = tmp.Y; CX = 0; CY = 0; mode = 0;
}
public xyPoint(xyzPoint tmp)
{
X = tmp.X; Y = tmp.Y;
}
public xyzabcuvwPoint(xyzPoint tmp)
{
X = tmp.X; Y = tmp.Y; Z = tmp.Z; A = tmp.A; B = 0; C = 0; U = 0; V = 0; W = 0;
}
public coordByLine(int line, int figure, xyzPoint p, double a, double dist)
{
lineNumber = line; figureNumber = figure; actualPos = p; alpha = a; distance = dist; isArc = false;
}
public coordByLine(int line, int figure, xyzPoint p, double a, bool isarc)
{
lineNumber = line; figureNumber = figure; actualPos = p; alpha = a; distance = -1; isArc = isarc;
}
public void resetAll(xyzPoint tmp)
{
resetAll();
actualPos = new xyzabcuvwPoint(tmp);
}
public static bool AlmostEqual(xyzPoint b, xyzPoint c)
{
return((Math.Abs(b.X - c.X) <= grbl.resolution) && (Math.Abs(b.Y - c.Y) <= grbl.resolution) && (Math.Abs(b.Z - c.Z) <= grbl.resolution));
}
public void resetAll(xyzPoint tmp)
{
resetAll();
actualPos = tmp;
}
