// ╔╦╗╔═╗╔╦╗╔═╗ ╔═╗═╗ ╦╔╦╗╦═╗╦ ╦╔╦╗╔═╗ ┌─┐┌─┐┌┬┐┬┌─┐┌┐┌┌─┐
// ║ ║╣ ║║║╠═╝───║╣ ╔╩╦╝ ║ ╠╦╝║ ║ ║║║╣ ├─┤│ │ ││ ││││└─┐
// ╩ ╚═╝╩ ╩╩ ╚═╝╩ ╚═ ╩ ╩╚═╚═╝═╩╝╚═╝ ┴ ┴└─┘ ┴ ┴└─┘┘└┘└─┘
/// <summary>
/// Apply ActionTemperature write action to this cursor.
/// </summary>
/// <param name="action"></param>
/// <returns></returns>
public bool ApplyAction(ActionTemperature action)
{
if (action.relative)
{
this.partTemperature[action.robotPart] += action.temperature;
}
else
{
this.partTemperature[action.robotPart] = action.temperature;
}
return(true);
}
// ╔╦╗╔═╗╔╦╗╔═╗ ╔═╗═╗ ╦╔╦╗╦═╗╦ ╦╔╦╗╔═╗ ┌─┐┌─┐┌┬┐┬┌─┐┌┐┌┌─┐
// ║ ║╣ ║║║╠═╝───║╣ ╔╩╦╝ ║ ╠╦╝║ ║ ║║║╣ ├─┤│ │ ││ ││││└─┐
// ╩ ╚═╝╩ ╩╩ ╚═╝╩ ╚═ ╩ ╩╚═╚═╝═╩╝╚═╝ ┴ ┴└─┘ ┴ ┴└─┘┘└┘└─┘
/// <summary>
/// Apply ActionTemperature write action to this cursor.
/// </summary>
/// <param name="action"></param>
/// <returns></returns>
public bool ApplyAction(ActionTemperature action)
{
if (action.relative)
{
this.partTemperature[action.robotPart] += action.temperature;
}
else
{
this.partTemperature[action.robotPart] = action.temperature;
}
if (_logRelativeActions && action.relative)
{
logger.Verbose("Temperature set to " + this.partTemperature[action.robotPart]);
}
return(true);
}
// ╦ ╦╔╦╗╦╦ ╔═╗
// ║ ║ ║ ║║ ╚═╗
// ╚═╝ ╩ ╩╩═╝╚═╝
internal bool GenerateInstructionDeclaration(
Action action, RobotCursor cursor,
out string declaration)
{
string dec = null;
switch (action.Type)
{
case ActionType.Speed:
dec = string.Format(CultureInfo.InvariantCulture,
"G1 F{0}",
Math.Round(60.0 * cursor.speed, Geometry.STRING_ROUND_DECIMALS_MM));
break;
case ActionType.Translation:
case ActionType.Transformation:
dec = string.Format("G1 {0}{1}",
GetPositionTargetValue(cursor),
cursor.isExtruding ? " " + GetExtrusionTargetValue(cursor) : "");
break;
// Only available in MakerBot? http://reprap.org/wiki/G-code#M70:_Display_message
case ActionType.Message:
ActionMessage am = (ActionMessage)action;
dec = string.Format("M70 P1000 ({0})",
am.message);
break;
// In GCode, this is called "Dwell"
case ActionType.Wait:
ActionWait aw = (ActionWait)action;
dec = string.Format(CultureInfo.InvariantCulture,
"G4 P{0}",
aw.millis);
break;
case ActionType.Comment:
ActionComment ac = (ActionComment)action;
dec = string.Format("{0} {1}",
commChar,
ac.comment);
break;
// Untested, but oh well...
// http://reprap.org/wiki/G-code#M42:_Switch_I.2FO_pin
case ActionType.IODigital:
ActionIODigital aiod = (ActionIODigital)action;
if (!aiod.isDigit)
{
dec = $"{commChar} ERROR on \"{aiod}\": only integer pin names allowed";
}
else
{
dec = $"M42 P{aiod.pinNum} S{(aiod.on ? "1" : "0")}";
}
break;
case ActionType.IOAnalog:
ActionIOAnalog aioa = (ActionIOAnalog)action;
if (!aioa.isDigit)
{
dec = $"{commChar} ERROR on \"{aioa}\": only integer pin names allowed";
}
else if (aioa.value < 0 || aioa.value > 255)
{
dec = $"{commChar} ERROR on \"{aioa.ToString()}\": value out of range [0..255]";
}
else
{
//dec = $"M42 P{aioa.pinNum} S{Math.Round(aioa.value, 0)}";
dec = string.Format(CultureInfo.InvariantCulture,
"M42 P{0} S{1}",
aioa.pinNum,
Math.Round(aioa.value, 0));
}
break;
case ActionType.Temperature:
ActionTemperature at = (ActionTemperature)action;
//dec = $"{tempToGCode[new Tuple<RobotPartType, bool>(at.robotPart, at.wait)]} S{Math.Round(cursor.partTemperature[at.robotPart], Geometry.STRING_ROUND_DECIMALS_TEMPERATURE)}";
dec = string.Format(CultureInfo.InvariantCulture,
"{0} S{1}",
tempToGCode[new Tuple <RobotPartType, bool>(at.robotPart, at.wait)],
Math.Round(cursor.partTemperature[at.robotPart], Geometry.STRING_ROUND_DECIMALS_TEMPERATURE));
break;
case ActionType.Extrusion:
case ActionType.ExtrusionRate:
dec = $"{commChar} {action.ToString()}"; // has no direct G-code, simply annotate it as a comment
break;
case ActionType.Initialization:
ActionInitialization ai = (ActionInitialization)action;
if (ai.initialize == true)
{
StartCodeBoilerplate(cursor);
}
else
{
EndCodeBoilerplate(cursor);
}
break;
case ActionType.CustomCode:
ActionCustomCode acc = action as ActionCustomCode;
if (!acc.isDeclaration)
{
dec = $"{acc.statement}";
}
break;
// If action wasn't implemented before, then it doesn't apply to this device
default:
dec = $"{commChar} ACTION \"{action}\" NOT APPLICABLE TO THIS DEVICE";
break;
//case ActionType.Rotation:
//case ActionType.Zone:
//case ActionType.Joints:
//case ActionType.Attach:
//case ActionType.Detach:
// dec = string.Format("; ACTION \"{0}\" NOT IMPLEMENTED IN THIS DEVICE", action);
// break;
}
// Add trailing comments or ids if speficied
if (ADD_ACTION_STRING && action.Type != ActionType.Comment)
{
dec = string.Format("{0} {1} [{2}]",
dec,
commChar,
action.ToString());
}
else if (ADD_ACTION_ID)
{
dec = string.Format("{0} {1} [{2}]",
dec,
commChar,
action.Id);
}
declaration = dec;
return(dec != null);
}