public ToolpathEnumerator(IToolpath collection)
{
this.collection = collection;
curIndex = -1;
curItem = default;
}
/// <summary>
/// Command toolpaths are used to pass special commands/etc to compiler.
/// These toolpaths do not affect the current extruder position/etc.
/// </summary>
protected virtual bool IsCommandToolpath(IToolpath toolpath)
{
return(toolpath.Type == ToolpathTypes.Custom ||
toolpath.Type == ToolpathTypes.CustomAssemblerCommands);
}
public void CNCparser_toolpathIsEmpty_ToolPathIsNotNull()
{
string inputPath = "";
var cncfp = new CNCFileParser();
IToolpath toolpath = cncfp.CreatePath(inputPath);
}
public static IToolpath AddExtruderCommands(IToolpath toolpath, double externalFactor, string indMechanism = null)
{
if (toolpath == null)
{
return(toolpath);
}
var resetCommand = ResetCommand(toolpath.Targets.First());
var outTargets = SetExternalWithVariable(toolpath.Targets);
return(toolpath.ShallowClone(outTargets));
Command ResetCommand(Target refTarget)
{
string declaration = $@"VAR num motorValue:= 0;
PERS num extrusionFactor:= {externalFactor:0.000};
VAR robtarget current;
";
string resetCode = $@"current:= CRobT(\Tool:= {refTarget.Tool.Name} \WObj:= {refTarget.Frame.Name});
EOffsSet current.extax;
motorValue:= 0;";
string initCode;
if (indMechanism != null)
{
string indCode = $@"IndReset {indMechanism},1 \RefNum:=0 \Short;";
initCode = $"{indCode}\r\n{resetCode}";
}
else
{
initCode = resetCode;
}
var command = new Robots.Commands.Custom("ResetExtruder", declaration: declaration, command: initCode);
command.RunBefore = true;
return(command);
}
List <Target> SetExternalWithVariable(IEnumerable <Target> inTargets)
{
var outTargets = new List <Target>();
double totalDistance = 0;
int count = 0;
int i = 0;
Target prev = null;
foreach (var target in inTargets)
{
var current = target.ShallowClone();
double externalDistance = 0;
if (target.External.Length > 0)
{
externalDistance = target.External[0];
}
totalDistance += externalDistance;
current.External = new[] { totalDistance };
current.ExternalCustom = new[] { "motorValue" };
if (i == 0)
{
current.AppendCommand(resetCommand);
}
if (externalDistance != 0)
{
//if (!IsExtrusion(prev))
string sign = externalDistance < 0 ? "+" : "-";
string code = $"motorValue:=motorValue{sign}{Abs(externalDistance):0.000}*extrusionFactor;";
var externalCommand = new Robots.Commands.Custom($"SetExternal{count++}", command: code);
externalCommand.RunBefore = true;
current.AppendCommand(externalCommand);
}
outTargets.Add(current);
prev = target;
i++;
}
return(outTargets);
}
}
public void CNCparser_toolpathIsNull_throwsException()
{
string inputPath = null;
var cncfp = new CNCFileParser();
IToolpath toolpath = cncfp.CreatePath(inputPath);
}
