mattercontrol/MatterControlLib/ConfigurationPage/PrintLeveling/WizardPages/ConductiveProbeFeedback.cs

/*
Copyright (c) 2019, Lars Brubaker, John Lewin
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
   list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

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of the authors and should not be interpreted as representing official policies,
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*/

using MatterHackers.Agg.UI;
using MatterHackers.MatterControl.SlicerConfiguration;
using MatterHackers.VectorMath;
using System;
using System.Collections.Generic;

namespace MatterHackers.MatterControl.ConfigurationPage.PrintLeveling
{
    public class ConductiveProbeFeedback : WizardPage
    {
        private readonly List<PrintLevelingWizard.ProbePosition> probePositions;

        private Vector3 feedRates;
        private double moveDelta = .5;
        private Vector3 nozzleCurrentPosition;

        private State state = State.WaitingForEndstopStatusStart;

        public ConductiveProbeFeedback(ISetupWizard setupWizard, Vector3 nozzleStartPosition, string headerText, string details, List<PrintLevelingWizard.ProbePosition> probePositions)
                    : base(setupWizard, headerText, details)
        {
            this.nozzleCurrentPosition = nozzleStartPosition;
            this.probePositions = probePositions;

            var spacer = new GuiWidget(15, 15);
            contentRow.AddChild(spacer);

            feedRates = printer.Settings.Helpers.ManualMovementSpeeds();
        }

        private enum State
        {
            WaitingForEndstopStatusStart,
            WaitingForEndstopStatusOk,
        }

        public bool MovedBelowMinZ { get; private set; }

        public override void OnClosed(EventArgs e)
        {
            printer.Connection.LineReceived -= PrinterLineRecieved;
            base.OnClosed(e);
        }

        public override void OnLoad(EventArgs args)
        {
            // always make sure we don't have print leveling turned on
            printer.Connection.AllowLeveling = false;

            NextButton.Enabled = false;

            // do a last minute check that the printer is ready to do this action
            if (printer.Connection.IsConnected
                && !(printer.Connection.Printing
                || printer.Connection.Paused))
            {
                printer.Connection.LineReceived += PrinterLineRecieved;
                printer.Connection.MoveAbsolute(nozzleCurrentPosition, feedRates.X);
                printer.Connection.QueueLine("G4 P1");
                printer.Connection.QueueLine("M119");
            }

            base.OnLoad(args);
        }

        private void PrinterLineRecieved(object sender, string line)
        {
            // looking for 'conductive: TRIGGERED' in an M119 command
            if (line != null)
            {
                switch (state)
                {
                    case State.WaitingForEndstopStatusStart:
                        if (line.StartsWith("conductive:"))
                        {
                            if (line.Contains("TRIGGERED"))
                            {
                                if (moveDelta > .02)
                                {
                                    nozzleCurrentPosition.Z += moveDelta * 3;
                                    moveDelta *= .5;
                                    state = State.WaitingForEndstopStatusOk;
                                }
                                else
                                {
                                    probePositions[0].Position = nozzleCurrentPosition;

                                    // make sure we are no longer listening for responses
                                    printer.Connection.LineReceived -= PrinterLineRecieved;
                                    // move on to the next page of the wizard
                                    UiThread.RunOnIdle(() => NextButton.InvokeClick());
                                }
                            }
                            else // did not find endstop yet
                            {
                                nozzleCurrentPosition.Z -= moveDelta;
                                state = State.WaitingForEndstopStatusOk;
                            }
                        }
                        break;

                    case State.WaitingForEndstopStatusOk:
                        // found the ok of the M119 command
                        // move down more
                        if (printer.Connection.CurrentDestination.Z < printer.Settings.GetValue<double>(SettingsKey.conductive_probe_min_z))
                        {
                            // we have gone down too far
                            // abort with error
                            this.MovedBelowMinZ = true;
                            // make sure we are no longer listening for responses
                            printer.Connection.LineReceived -= PrinterLineRecieved;
                            printer.Connection.MoveRelative(PrinterCommunication.PrinterConnection.Axis.Z, 10, printer.Settings.ZSpeed());
                            // move on to the next page of the wizard
                            UiThread.RunOnIdle(() => NextButton.InvokeClick());
                        }
                        else if (line.StartsWith("ok"))
                        {
                            state = State.WaitingForEndstopStatusStart;
                            // send the next set of commands
                            printer.Connection.MoveAbsolute(nozzleCurrentPosition, feedRates.X);
                            printer.Connection.QueueLine("G4 P1");
                            printer.Connection.QueueLine("M119");
                        }
                        break;
                }
            }
        }
    }
}