/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Converts the contents of the isoPlotSegment to an appropriate GCodeCmd object
/// </summary>
/// <returns>list of GCodeCmd objects or null for fail</returns>
public override List <GCodeCmd> GetGCodeCmds(GCodeFileStateMachine stateMachine)
{
int adjustedNumTabs;
GCodeCmd_Line lineObj = null;
GCodeCmd_Line lineObjSegment = null;
List <GCodeCmd> retList = new List <GCodeCmd>();
float fX0;
float fY0;
float fX1;
float fY1;
List <PointF> ptListMidCenters = new List <PointF>();
// build the line now
if (ReverseOnConversionToGCode == true)
{
// NOTE we use the chainedStart_X as point x1,y1 here.
lineObj = new GCodeCmd_Line(x0, y0, ChainedStart_X, ChainedStart_Y, this.PointsAddedCount, this.DebugID);
fX0 = (float)x0;
fY0 = (float)y0;
fX1 = (float)ChainedStart_X;
fY1 = (float)ChainedStart_Y;
lineObj.ReverseOnConversionToGCode = true;
}
else
{
// NOTE we use the chainedStart_X as point x0,y0 here.
lineObj = new GCodeCmd_Line(ChainedStart_X, ChainedStart_Y, x1, y1, this.PointsAddedCount, this.DebugID);
fX0 = (float)ChainedStart_X;
fY0 = (float)ChainedStart_Y;
fX1 = (float)x1;
fY1 = (float)y1;
lineObj.ReverseOnConversionToGCode = false;
}
lineObj.DoNotEmitToGCode = DoNotEmitToGCode;
//DebugMessage("IsoSegmentLength=" + IsoSegmentLength(stateMachine).ToString());
// figure out our adjusted number of tabs
adjustedNumTabs = 0;
if (NumberOfTabs <= 0)
{
adjustedNumTabs = 0;
}
else
{
adjustedNumTabs = CalcAdjustedNumberOfTabs(stateMachine);
}
//DebugMessage("NumberOfTabs=" + NumberOfTabs.ToString());
//DebugMessage("adjustedNumTabs=" + adjustedNumTabs.ToString());
//DebugMessage("TabLength=" + TabLength.ToString());
// do we need to break the line to add tabs?
if ((NumberOfTabs <= 0) || (adjustedNumTabs <= 0) || (TabLength <= 0))
{
// no we do not, add it and return it as a single line in a list
retList.Add(lineObj);
return(retList);
}
// calc the length of a tab in isoplot units
float TabLenInIsoPlotUnits = TabLength * stateMachine.IsoPlotPointsPerAppUnit;
// we use half of half of the Isolation width to compensate for the width of the bit
float millRadiusCompensatedTabLenInIsoPlotUnits = TabLenInIsoPlotUnits + ((stateMachine.IsolationWidth * stateMachine.IsoPlotPointsPerAppUnit) / 2);
// this is the amount of a segment repressented by a tab
float pctOfSegmentInASingleTab = millRadiusCompensatedTabLenInIsoPlotUnits / IsoSegmentLength;
// we deduct half a tab width from the midpoint to calc the new start and end points
float pctOfSegmentInASingleHalfTab = pctOfSegmentInASingleTab / 2;
// set this now
int numSegments = adjustedNumTabs + 1;
// figure out the set of points starting and ending each line segment
// add the original line start point
ptListMidCenters.Add(new PointF(fX0, fY0));
// this is based on the line partitioning algorythm courtesy of Tom Sirgedas
// https://stackoverflow.com/questions/3542402/partition-line-into-equal-parts
for (float i = 1; i < numSegments; i++)
{
float weightedAverage = (i / numSegments);
float workingNearSidePct = pctOfSegmentInASingleHalfTab;
float workingFarSidePct = pctOfSegmentInASingleHalfTab;
// calc the start of the segment
float startX = fX0 * (1 - (weightedAverage - workingNearSidePct)) + fX1 * (weightedAverage - workingNearSidePct);
float startY = fY0 * (1 - (weightedAverage - workingNearSidePct)) + fY1 * (weightedAverage - workingNearSidePct);
// calc the end of the segment
float endX = fX0 * (1 - (weightedAverage + workingFarSidePct)) + fX1 * (weightedAverage + workingFarSidePct);
float endY = fY0 * (1 - (weightedAverage + workingFarSidePct)) + fY1 * (weightedAverage + workingFarSidePct);
// add the point about this center
ptListMidCenters.Add(new PointF(startX, startY));
ptListMidCenters.Add(new PointF(endX, endY));
}
// add the original line end point
ptListMidCenters.Add(new PointF(fX1, fY1));
// by this point we have a list of points, each pair represents a line we should draw
// now we go through the points list and build our lines from them
for (int i = 0; i < ptListMidCenters.Count; i += 2)
{
float startX = ptListMidCenters[i].X;
float startY = ptListMidCenters[i].Y;
float endX = ptListMidCenters[i + 1].X;
float endY = ptListMidCenters[i + 1].Y;
// convert to ints
int startXInt = (int)Math.Round(startX, 0);
int startYInt = (int)Math.Round(startY, 0);
int endXInt = (int)Math.Round(endX, 0);
int endYInt = (int)Math.Round(endY, 0);
// create a new line, give it a debugID based off the original full length one, and copy other info in as well
lineObjSegment = new GCodeCmd_Line(startXInt, startYInt, endXInt, endYInt, this.PointsAddedCount, (int)((this.DebugID * DEFAULT_NEW_DEBUG_ID_MULTIPLIER) + i));
lineObjSegment.ReverseOnConversionToGCode = this.ReverseOnConversionToGCode;
// add it
retList.Add(lineObjSegment);
}
// was the original line object reversed? If so we have to reverse the order of the segments
if (this.ReverseOnConversionToGCode == true)
{
retList.Reverse();
}
// return this
return(retList);
}
/// +=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=+=
/// <summary>
/// Generates the gcode to mill a pocket in the surface. We use this for
/// BedFlattening
/// </summary>
/// <remarks>the gcode file is assumed to have been populated with the standard headers.
/// We just add our lines onto the end.</remarks>
/// <param name="lX">low x coord</param>
/// <param name="lY">low y coord</param>
/// <param name="hX">high x coord</param>
/// <param name="hY">high y coord</param>
/// <param name="millWidth">the diameter of the mill doing the pocketing</param>
/// <param name="overlapScaleFactor">the amount of overlap we require. Expressed as decimal fraction. 0.25 =25%</param>
/// <param name="errStr">the error string</param>
public int GeneratePocketGCode(float isoPlotPointsPerAppUnit, float lX, float lY, float hX, float hY, float millWidth, float overlapScaleFactor, ref string errStr)
{
int i = 0;
GCodeCmd_ZMove zLine = null;
GCodeCmd_RapidMove rmLine = null;
GCodeCmd_Line gcLine = null;
GCodeCmd_Comment coLine = null;
errStr = "";
float centerX;
float centerY;
float lXCutCoord;
float lYCutCoord;
float hXCutCoord;
float hYCutCoord;
float lastXCoord;
float lastYCoord;
// test these
if (isoPlotPointsPerAppUnit <= 0)
{
LogMessage("GeneratePocketGCode: isoPlotPointsPerAppUnit<=0");
errStr = "isoPlotPointsPerAppUnit is invalid.";
return(1023);
}
if ((lX == float.MaxValue) ||
(lY == float.MaxValue) ||
(hX == float.MinValue) ||
(hY == float.MinValue))
{
LogMessage("GeneratePocketGCode: One or more of the lX,lY,hXor hY coordinates are invalid.");
errStr = "The X and Y coordinates of the pocket rectangle are invalid.";
return(1024);
}
// do we enclose an area?
if ((lX == hX) || (lY == hY))
{
LogMessage("GeneratePocketGCode: The lX,lY,hXor hY coordinates do not enclose an area.");
errStr = "The X and Y coordinates of the pocket rectangle do not enclose an area.";
return(1025);
}
// are we inverted
if ((lX > hX) || (lY > hY))
{
LogMessage("GeneratePocketGCode: The lX,lY,hXor hY coordinates are inverted.");
errStr = "The X and Y coordinates of the pocket rectangle are inverted.";
return(1026);
}
// more checks
if (millWidth < 0)
{
LogMessage("GeneratePocketGCode: The millWidth is invalid.");
errStr = "The millWidth is invalid.";
return(1027);
}
// more checks
if ((overlapScaleFactor > 1) || (overlapScaleFactor < 0))
{
LogMessage("GeneratePocketGCode: The overlapScaleFactor is invalid.");
errStr = "The overlapScaleFactor is invalid.";
return(1028);
}
if (StateMachine.CurrentZFeedrate <= 0)
{
LogMessage("GeneratePocketGCode: The zFeedRate is invalid.");
errStr = "The zFeedRate is invalid.";
return(1029);
}
if (StateMachine.CurrentXYFeedrate <= 0)
{
LogMessage("GeneratePocketGCode: The xyFeedRate is invalid.");
errStr = "The xyFeedRate is invalid.";
return(1030);
}
if (StateMachine.ZCoordForCut > StateMachine.ZCoordForClear)
{
LogMessage("GeneratePocketGCode: The zCutLevel > zClearLevel. This cannot be correct.");
errStr = "The zCutLevel > zClearLevel. This cannot be correct.";
return(1031);
}
// test to see if the pocket can be cut with this mill
if ((millWidth >= (hX - lX)) || (millWidth >= (hY - lY)))
{
LogMessage("GeneratePocketGCode: The mill diameter is bigger than the pocket area.");
errStr = "The mill diameter is bigger than the pocket area. Pocket cannot be cut with this mill.";
return(1031);
}
// calculate the center point
centerX = (((hX - lX) / 2f) + lX) * isoPlotPointsPerAppUnit;
centerY = (((hY - lY) / 2f) + lY) * isoPlotPointsPerAppUnit;
// the first offset distance is the millWidth, after that we adjust by
float incrementalDistance = (millWidth * overlapScaleFactor) * isoPlotPointsPerAppUnit;
coLine = new GCodeCmd_Comment("... start ...");
this.AddLine(coLine);
// figure out the new corner coordinates - compensating for milling
// bit diameter
lXCutCoord = (lX + (millWidth / 2)) * isoPlotPointsPerAppUnit;
lYCutCoord = (lY + (millWidth / 2)) * isoPlotPointsPerAppUnit;
hXCutCoord = (hX - (millWidth / 2)) * isoPlotPointsPerAppUnit;
hYCutCoord = (hY - (millWidth / 2)) * isoPlotPointsPerAppUnit;
// G00 rapid move tool head to the destX,destY
rmLine = new GCodeCmd_RapidMove((int)hXCutCoord, (int)hYCutCoord);
this.AddLine(rmLine);
// G01 - put the bit into the work piece
zLine = new GCodeCmd_ZMove(GCodeCmd_ZMove.GCodeZMoveHeightEnum.GCodeZMoveHeight_ZCoordForCut);
zLine.WantLinearMove = true;
this.AddLine(zLine);
// do the vertical down leg
gcLine = new GCodeCmd_Line((int)hXCutCoord, (int)hYCutCoord, (int)hXCutCoord, (int)lYCutCoord);
this.AddLine(gcLine);
// do the low horizontal leg
gcLine = new GCodeCmd_Line((int)hXCutCoord, (int)lYCutCoord, (int)lXCutCoord, (int)lYCutCoord);
this.AddLine(gcLine);
// do the vertical up leg
gcLine = new GCodeCmd_Line((int)lXCutCoord, (int)lYCutCoord, (int)lXCutCoord, (int)hYCutCoord);
this.AddLine(gcLine);
// do the high horizontal leg
gcLine = new GCodeCmd_Line((int)lXCutCoord, (int)hYCutCoord, (int)hXCutCoord, (int)hYCutCoord);
this.AddLine(gcLine);
lastXCoord = hXCutCoord;
lastYCoord = hYCutCoord;
// now do the rest of the pocket passes. This is encoded as a for loop
// because I do not like endless loops. MAX_POCKETING_PASSES should be
// pretty high so that it is not reached unless the finish tests fail
for (i = 0; i < MAX_POCKETING_PASSES; i++)
{
// figure out the new corner coordinates - compensating for milling
// bit diameter
lXCutCoord = lXCutCoord + incrementalDistance;
lYCutCoord = lYCutCoord + incrementalDistance;
hXCutCoord = hXCutCoord - incrementalDistance;
hYCutCoord = hYCutCoord - incrementalDistance;
// perform tests
if ((lXCutCoord >= centerX) || (lYCutCoord >= centerY) || (hXCutCoord <= centerX) || (hYCutCoord <= centerY))
{
// we are on the last cut - just figure out which is the longer dimension
// and run a single cut down that
if ((lX - lY) > (hX - hY))
{
// we have to move to the new start position
gcLine = new GCodeCmd_Line((int)lastXCoord, (int)lastYCoord, (int)hXCutCoord, (int)lYCutCoord);
this.AddLine(gcLine);
// vertical is the longer dimension, hold X constant, run down Y
gcLine = new GCodeCmd_Line((int)hXCutCoord, (int)hYCutCoord, (int)hXCutCoord, (int)lYCutCoord);
this.AddLine(gcLine);
lastXCoord = hXCutCoord;
lastYCoord = hYCutCoord;
}
else
{
// we have to move to the new start position
gcLine = new GCodeCmd_Line((int)lastXCoord, (int)lastYCoord, (int)hXCutCoord, (int)hYCutCoord);
this.AddLine(gcLine);
// horizontal is the longer dimension, hold Y constant, run down X
gcLine = new GCodeCmd_Line((int)hXCutCoord, (int)hYCutCoord, (int)lXCutCoord, (int)hYCutCoord);
this.AddLine(gcLine);
lastXCoord = hXCutCoord;
lastYCoord = hYCutCoord;
}
// leave now
break;
}
coLine = new GCodeCmd_Comment("... pass ...");
this.AddLine(coLine);
// we have to move to the new start position
gcLine = new GCodeCmd_Line((int)lastXCoord, (int)lastYCoord, (int)hXCutCoord, (int)hYCutCoord);
this.AddLine(gcLine);
// do the vertical down leg, this will also move it to (hXCutCoord, hYCutCoord)
gcLine = new GCodeCmd_Line((int)hXCutCoord, (int)hYCutCoord, (int)hXCutCoord, (int)lYCutCoord);
this.AddLine(gcLine);
// do the low horizontal leg
gcLine = new GCodeCmd_Line((int)hXCutCoord, (int)lYCutCoord, (int)lXCutCoord, (int)lYCutCoord);
this.AddLine(gcLine);
// do the vertical up leg
gcLine = new GCodeCmd_Line((int)lXCutCoord, (int)lYCutCoord, (int)lXCutCoord, (int)hYCutCoord);
this.AddLine(gcLine);
// do the high horizontal leg
gcLine = new GCodeCmd_Line((int)lXCutCoord, (int)hYCutCoord, (int)hXCutCoord, (int)hYCutCoord);
this.AddLine(gcLine);
lastXCoord = hXCutCoord;
lastYCoord = hYCutCoord;
}
// one last test
if (i >= MAX_POCKETING_PASSES)
{
LogMessage("GeneratePocketGCode: The the maximum number of pocketing passes was reached.");
errStr = "The the maximum number of pocketing passes was reached. The gcode file is not correct. Please see the logs.";
return(1036);
}
coLine = new GCodeCmd_Comment("... end ...");
this.AddLine(coLine);
return(0);
}
