protected void CommandSended(MotorCommand command)
{
var str = (command.line > 0 ? command.line.ToString() : "-") + " " + command.Command.ToString() + " ";
var cc = command as MotorCommand;
if (cc != null)
{
str += " " + cc.x;
str += " " + cc.y;
str += " " + cc.z;
str += " " + cc.speed;
}
log(str);
}
private void btnLeft_Click(object sender, EventArgs e)
{
if (CncController.LastState != null && !CncController.InMove && CncController.Ready)
{
var command = new MotorCommand(MRS.Hardware.Server.CommandType.Move);
command.x = 0 - step;
command.y = 0;
command.z = 0;
command.speed = speedY;
command.paramA = 64;
CncController.SendCommand(command);
}
}
public static bool Spindle(bool enable)
{
var mc = new MotorCommand(CommandType.Spindle1);
mc.speed = enable ? (ushort)1 : (ushort)0;
SpindleState = enable;
return SendCommand(mc);
}
public static MotorCommand Go(int x, int y, int z)
{
var command = new MotorCommand(CommandType.Go);
command.x = x;
command.y = y;
command.z = z;
return command;
}
public void ProcessRequest(HttpContext context)
{
context.Response.ContentType = "application/json";
context.Response.AddHeader("Access-Control-Allow-Methods", "POST,GET,OPTIONS");
context.Response.AddHeader("Access-Control-Request-Header", "X-Prototype-Version, x-requested-with");
context.Response.AddHeader("Access-Control-Allow-Origin", "*");
//context.Response.Headers.Remove("content-length");
context.Response.Flush();
CncController.OnMessage += Uart_OnMessage;
CncProgram.OnCommand += Uart_OnCommand;
CncProgram.OnStateChange += new ProgramStateHandler(Program_OnStateChange);
CncController.GetStateAsync();
if (CncController.LastCommand != null) OutCommand = CncController.LastCommand;
ProgramState = CncProgram.State;
var timeout = 10000;
while (timeout > 0 && context.Response.IsClientConnected)
{
Thread.Sleep(100);
timeout--;
List<string> states = new List<string>();
if (OutCommand != null)
{
states.Add(OutCommand.ToString());
OutCommand = null;
}
if (ProgramState != null)
{
states.Add("{\"state\":\"" + ProgramState.Value.ToString() + "\", \"line\":" + CncProgram.CurrentLine + ",\"type\" : \"program-state\"}");
ProgramState = null;
}
if (StateMessage != null)
{
states.Add(StateMessage.ToString());
StateMessage = null;
}
if (states.Count > 0)
{
context.Response.Write("[" + String.Join(",", states.ToArray()) + "]");
context.Response.Flush();
}
}
/* while (Uart.LastState == null)
{
var dt = DateTime.Now;
Uart.SendStateCommand();
var timeout = 2000;
while ((Uart.LastState == null || Uart.LastState.date < dt) && timeout > 0)
{
Thread.Sleep(200);
timeout -= 200;
}
if (Uart.LastState != null && timeout > 0)
{
context.Response.Write(Uart.LastState.ToString());
}
else
{
context.Response.StatusCode = 504;
context.Response.Write(" ");
}
return;
}
if (context.Request.HttpMethod == "GET")
{
var ld = DateTime.Now;
if (context.Request["lastdate"] != null)
{
ld = DateTime.Parse(context.Request["lastdate"]);
if (ld >= Uart.LastState.date && context.Request["wait"] == null)
{
return;
}
}
if (context.Request["wait"] != null)
{
if (context.Request["ping"] != null)
{
Uart.SendStateCommand();
}
var timeout = 2000;
while ((Uart.LastState == null || Uart.LastState.date < ld) && timeout > 0)
{
Thread.Sleep(200);
timeout -= 200;
}
if (Uart.LastState != null && timeout > 0)
{
context.Response.Write(Uart.LastState.ToString());
}
else
{
context.Response.StatusCode = 504;
}
return;
}
context.Response.Write(Uart.LastState.ToString());
}
if (context.Request.HttpMethod == "POST")
{
}*/
}
private void Uart_OnCommand(MotorCommand command)
{
OutCommand = command;
}
private void button7_Click(object sender, EventArgs e)
{
if (CncController.LastState != null && !CncController.InMove)
{
var command = new MotorCommand(MRS.Hardware.Server.CommandType.Move);
command.X = 0 - step;
command.Y = 0 + step;
command.Z = 0;
command.Speed = (ushort)((speedX + speedY) / 2);
CncController.SendCommand(command);
}
}
private void resetXbtn_Click(object sender, EventArgs e)
{
if (CncController.LastState != null && CncController.Ready && !CncController.InMove)
{
var command = new MotorCommand(MRS.Hardware.Server.CommandType.Rebase);
command.X = 0;
command.Y = CncController.LastState.y;
command.Z = CncController.LastState.z;
command.Speed = 7000;
CncController.SendCommand(command);
}
}
private void btnBottom_Click(object sender, EventArgs e)
{
if (CncController.LastState != null && !CncController.InMove)
{
var command = new MotorCommand(MRS.Hardware.Server.CommandType.Move);
command.X = 0;
command.Y = 0;
command.Z = 0 + step;
command.Speed = speedZ;
command.paramB = 8;
CncController.SendCommand(command);
}
}
private void btnRightEnd_Click(object sender, EventArgs e)
{
if (CncController.LastState != null && !CncController.InMove)
{
var command = new MotorCommand(MRS.Hardware.Server.CommandType.Move);
command.X = 99999999;
command.Y = 0;
command.Z = 0;
command.Speed = speedY;
command.paramA = 32;
command.paramB = chkWaitHardwareStop.Checked ? (byte)16 : (byte)0;
CncController.SendCommand(command);
}
}
private void button7_Click(object sender, EventArgs e)
{
if (CncController.LastState != null && !CncController.InMove)
{
var command = new MotorCommand(MRS.Hardware.Server.CommandType.Move);
command.X = 0 - step;
command.Y = 0 + step;
command.Z = 0;
command.Speed = (ushort)((speedX + speedY) / 2);
command.paramA = 64 + 8;
command.paramB = chkWaitHardwareStop.Checked ? (byte)16 : (byte)0;
CncController.SendCommand(command);
}
}
private void btnTop_Click(object sender, EventArgs e)
{
if (CncController.LastState != null && !CncController.InMove)
{
var command = new MotorCommand(MRS.Hardware.Server.CommandType.Move);
command.X = 0;
command.Y = 0;
command.Z = 0 - step;
command.Speed = speedZ;
command.paramB = (byte)(8 | (chkWaitHardwareStop.Checked ? 16 : 0));
CncController.SendCommand(command);
}
}
private void btnDown_Click(object sender, EventArgs e)
{
if (CncController.LastState != null && !CncController.InMove && CncController.Ready)
{
var command = new MotorCommand(MRS.Hardware.Server.CommandType.Move);
command.x = 0;
command.y = 0 - step;
command.z = 0;
command.speed = speedX;
command.paramA = 16;
command.paramB = chkWaitHardwareStop.Checked ? (byte)16 : (byte)0;
CncController.SendCommand(command);
}
}
public static bool SendCommand(MotorCommand command)
{
if (command == null || command.Command <= CommandType.Null)
{
return false;
}
LastCommand = command;
Uart.Send(command.Serialize(CncAddress));
command.Sended = true;
if (OnCommand != null)
{
OnCommand(command);
}
return true;
}
private void button11_Click(object sender, EventArgs e)
{
var command = new MotorCommand(MRS.Hardware.Server.CommandType.Go);
command.X = 0;
command.Y = 0;
command.Z = 0;
command.Speed = 7000;
CncController.SendCommand(command);
}
private void NextCommand(MotorState ms)
{
CurrentLine++;
if (CurrentLine < Commands.Length)
{
CncController.SendCommand(CurrentCommand);
LastSended = CurrentCommand;
}
else
{
Stop();
}
}
void UART_OnCommand(MotorCommand command)
{
try
{
Invoke(new Action<MotorCommand>(CommandSended), command);
}
catch (Exception e)
{
}
}
