public void KeepMovingZ(int dir)
{
if (!has_started_port)
{
return;
}
if (is_reading_from_file)
{
return;
}
//string send_message;
MotionMessage send_message;
//if (dir > 0) { send_message = "z1"; }
//else if (dir == 0) { send_message = "z0"; }
//else { send_message = "z-1"; }
if (dir > 0)
{
send_message = new MotionMessage(11);
}
else if (dir == 0)
{
send_message = new MotionMessage(10);
}
else
{
send_message = new MotionMessage(9);
}
lock (send_message_list)
{
send_message_list.AddLast(send_message);
}
//should_send = true;
}
public void KeepMovingX(int dir)
{
if (!has_started_port)
{
return;
}
if (is_reading_from_file)
{
return;
}
watch.Start();
MotionMessage send_message;
//string send_message;
//if (dir > 0) { send_message = "x1"; }
//else if (dir == 0) { send_message = "x0"; }
//else { send_message = "x-1"; }
if (dir > 0)
{
send_message = new MotionMessage(5);
}
else if (dir == 0)
{
send_message = new MotionMessage(4);
}
else
{
send_message = new MotionMessage(3);
}
lock (send_message_list)
{
send_message_list.AddLast(send_message);
}
//should_send = true;
}
public void GetPosition()
{
if (!has_started_port)
{
return;
}
//if (has_reached) { return; }
if (is_reading_from_file)
{
return;
}
if (send_message_list.Count != 0)
{
if (send_message_list.First.Value.GetSerialString() == "G" || send_message_list.Last.Value.GetSerialString() == "G")
{
return;
}
}
MotionMessage send_message = new MotionMessage(1);
lock (send_message_list)
{
send_message_list.AddLast(send_message);
}
//should_send = true;
}
public void GoToPosition(int X, int Y, int Z)
{
//string send_message;
if (!has_started_port)
{
return;
}
if (is_reading_from_file)
{
return;
}
int delta_x = X - position_x;
int delta_y = Y - position_y;
int delta_z = Z - position_z;
//send_message = string.Format("X{0}Y{1}Z{2}", delta_x, delta_y, delta_z);
MotionMessage send_message = new MotionMessage(delta_x, delta_y, delta_z, step_time, is_punching);
string ss = send_message.GetSerialString();
Rhino.RhinoApp.WriteLine(ss);
lock (send_message_list)
{
send_message_list.AddLast(send_message);
}
//should_send = true;
}
public void RotateServo(float angle)
{
if (!has_started_port)
{
return;
}
if (is_reading_from_file)
{
return;
}
MotionMessage send_message = new MotionMessage(angle, is_punching);
lock (send_message_list)
{
send_message_list.AddLast(send_message);
}
}
public void ReadOrdersFromFile(string address)
{
if (!has_started_port)
{
return;
}
if (is_reading_from_file)
{
return;
}
string[] lines = System.IO.File.ReadAllLines(@address);
is_reading_from_file = true;
lock (send_message_list)
{
foreach (string line in lines)
{
MotionMessage send_message = new MotionMessage(line);
send_message_list.AddLast(send_message);
}
}
PrintQueue();
is_reading_from_file = false;
}
public void SetSpeed(int speed_level)
{
if (!has_started_port)
{
return;
}
if (is_reading_from_file)
{
return;
}
switch (speed_level)
{
case 1:
step_time = 6000;
break;
case 2:
step_time = 2000;
break;
case 3:
step_time = 400;
break;
default:
step_time = 500;
break;
}
MotionMessage send_message = new MotionMessage(0, 0, 0, step_time, false);
//string send_message = string.Format("C{0}", step_time);
lock (send_message_list)
{
send_message_list.AddLast(send_message);
}
}
public void Read()
{
while (_continue && has_started_port)
{
//Rhino.RhinoApp.WriteLine("serial port read thread working");
lock (send_message_list)
{
if (send_message_list.Count > 0)
{
if (has_reached && turntable.has_reached)
{
//string send_message = send_message_list.First.Value;
MotionMessage send_message = send_message_list.First.Value;
/*
* if (send_message[0] == 'x')
* {
*
* LinkedListNode<string> send_message_list_node = send_message_list.First;
* for (int i = 0; i < send_message_list.Count; i++)
* {
* Rhino.RhinoApp.Write("{0}, ", send_message_list_node.Value);
* send_message_list_node = send_message_list_node.Next;
* }
* Rhino.RhinoApp.WriteLine(" ");
*
* watch.Stop();
* Rhino.RhinoApp.WriteLine("order queueing time: {0}", watch.Elapsed);
* watch.Reset();
* }
*/
//send message to arduino
send_message_list.RemoveFirst();
_serialPort.WriteLine(send_message.GetSerialString());
if (send_message.GetSerialString() != "G")
{
Rhino.RhinoApp.WriteLine(send_message.GetSerialString());
}
turntable.SetRotation(send_message.GetRotateIngerval(), send_message.GetRotateAngle());
string sent_str = send_message.GetSerialString();
if (sent_str[0] == 'X' || sent_str[0] == 'Y' || sent_str[0] == 'Z')
{
has_reached = false;
}
}
else
{
string send_message = send_message_list.First.Value.GetSerialString();
if (send_message[0] == 'G')
{
send_message_list.RemoveFirst();
}
}
//should_send = false;
}
}
//bool keep_read = true;
string message = null;
//while (keep_read)
//{
try
{
message = _serialPort.ReadLine();
//Console.WriteLine(message);
//keep_read = false;
}
catch (TimeoutException) { //keep_read = true;
}
//}
if (message != null)
{
string submessage = message.Substring(1);
switch (message[0])
{
case 'E':
{
has_reached_end = true;
has_reached = true;
_serialPort.WriteLine("G");
break;
}
case 'F':
{
has_reached = true;
break;
}
case 'P':
{
int X, Y, Z;
ConvertPosition(submessage, out X, out Y, out Z);
position_x = X;
position_y = Y;
position_z = Z;
break;
}
case 'R':
{
int X, Y, Z;
ConvertPosition(submessage, out X, out Y, out Z);
range_x = X;
range_y = Y;
range_z = Z;
break;
}
default:
{
break;
}
}
}
Thread.Sleep(1);
}
}
