protected override Rhino.Commands.Result RunCommand(RhinoDoc doc, Rhino.Commands.RunMode mode)
{
pluginObj = ((nishanchiPlugin)this.PlugIn);
RhinoView viewObj = doc.Views.ActiveView;
RhinoViewport viewPortObj = viewObj.ActiveViewport;
Vector3d originalCameraVector = viewPortObj.CameraDirection;
Point3d originalCameraLocation = viewPortObj.CameraLocation;
Mesh meshObj;
Boolean logging = false;
StreamWriter logWriter = null;
String reportString;
String logString;
String printCommandStr;
if (((nishanchiPlugin)this.PlugIn).logEnabled())
{
logWriter = new StreamWriter(((nishanchiPlugin)this.PlugIn).getNewLogFile());
logWriter.WriteLine("Printing...");
logging = true;
}
if (!pluginObj.trackerConnected)
{
RhinoApp.WriteLine("Tracker disconnected");
return Rhino.Commands.Result.Failure;
}
connectKbEvt();
Rhino.Input.Custom.GetObject go = new Rhino.Input.Custom.GetObject();
go.SetCommandPrompt("Select the mesh to print");
go.Get();
Result rc = go.CommandResult();
if (rc != Rhino.Commands.Result.Success)
{
disconnectKbEvt();
return rc;
}
meshObj = new Mesh();
if (go.ObjectCount == 1){
ObjRef tmpRef = new ObjRef(go.Object(0).ObjectId);
meshObj = tmpRef.Mesh();
if (meshObj == null){
disconnectKbEvt();
return rc;
}
}
createNozzles(doc);
cameraPoint = new tPoint(Nozzle.XOffset + 100.0, Nozzle.YOffset, Nozzle.ZOffset + (Nozzle.ZMultiplier * ((numNozzles-1)/2)));
fastrak trackerObj = pluginObj.trackerObj;
int numPoints = 0;
Boolean retval;
RhinoApp.WriteLine(string.Format("Starting continuous mode on the tracker."));
pluginObj.trackerObj.setContinuous();
RhinoApp.WriteLine(string.Format("Printing mode enabled now."));
running = true;
while (running)
{
retval = trackerObj.readFrame();
if (retval)
{
//q0,q1,q2,q3 Quaternion begin
//Compute the rotation matrix
reportString = String.Format("{0},{1},{2}", trackerObj.x, trackerObj.y, trackerObj.z);
logString = String.Format("p,{0},{1},{2},{3},{4},{5},{6},{7}", numPoints, trackerObj.x, trackerObj.y, trackerObj.z, trackerObj.q0, trackerObj.q1, trackerObj.q2, trackerObj.q3);
RhinoApp.WriteLine(reportString);
if (logging)
{
logWriter.WriteLine(logString);
}
rxTxTx = new Point3d(trackerObj.x, trackerObj.y, trackerObj.z);
orientationQuat = new Quaternion(trackerObj.q0, trackerObj.q1, trackerObj.q2, trackerObj.q3);
orientationQuat.GetRotation(out angle, out axis);
rotMat = Transform.Rotation(angle, axis, origin);
// Compute the new positions for the nozzlePoints and also compute the new lines
for (int i = 0; i < numNozzles; i++)
{
nozzles[i].computeTxTx(rotMat, rxTxTx);
}
//And, I move the view around
if ((numPoints % 100) == 0)
{
cameraPoint.computeTxTx(rotMat, rxTxTx);
viewPortObj.SetCameraLocation(cameraPoint.txTx(), true);
viewPortObj.SetCameraDirection(nozzles[4].vector(), true);
viewPortObj.Rotate(Math.PI / 2, nozzles[4].vector(), cameraPoint.txTx());
cameraUpTx = rotMat * cameraUpRx;
viewPortObj.CameraUp = cameraUpTx;
removeNozzleLinesFromDocument(doc);
addNozzleLinesToDocument(doc);
doc.Views.ActiveView.Redraw();
RhinoApp.Wait();
}
//Compute ray intersections
if ((numPoints % 4) == 0)
{
//RhinoApp.WriteLine("Calculating intersections..");
for (int i = 0; i < numNozzles; i++)
{
nozzles[i].rayIntersectionDistance = Intersection.MeshRay(meshObj,nozzles[i].ray());
}
printCommandStr = printCommand();
//RhinoApp.WriteLine(printCommandStr);
if (logging)
{
logString = String.Format("c,{0},{1}", numPoints, printCommandStr);
logWriter.WriteLine(logString);
}
}
numPoints++;
}
}
running = false;
//clean up
removeNozzleLinesFromDocument(doc);
doc.Views.ActiveView.Redraw();
RhinoApp.WriteLine("Removing printHead objects!!");
if (logging)
{
logWriter.Close();
((nishanchiPlugin)this.PlugIn).closeLogFile();
}
//stop the tracker
RhinoApp.WriteLine(string.Format("Stopping continuous mode on the tracker."));
pluginObj.trackerObj.stopContinuous();
disconnectKbEvt();
RhinoApp.WriteLine(string.Format("I guess you don't wanna print anymore, well who cares! Not me!"));
//setup the viewport as it was
viewPortObj.SetCameraLocation(originalCameraLocation, true);
viewPortObj.SetCameraDirection(originalCameraVector, true);
return Rhino.Commands.Result.Success;
}
//This guy doesn't actually do something
//You need it to debug though
public void read100Frames(nishanchiPlugin pluginObj)
{
StreamWriter logWriter = null;
String logString;
bool logging = false;
Stopwatch stopWatch = new Stopwatch();
long millisec;
if (pluginObj.logEnabled())
{
logWriter = new StreamWriter(pluginObj.getNewLogFile());
logWriter.WriteLine("Fastrak usb profiling...");
logging = true;
}
List<string> parts = new List<string>();
for (int i = 0; i <= 1000; i++)
{
stopWatch.Reset();
stopWatch.Start();
string line = serialPort.ReadLine();
stopWatch.Stop();
millisec = stopWatch.ElapsedMilliseconds;
if (logging)
{
logString = String.Format("{0}, {1}, {2}",i,millisec,line);
logWriter.WriteLine(logString);
}
try
{
x = Single.Parse(line.Substring(4, 6));
y = Single.Parse(line.Substring(11, 6));
z = Single.Parse(line.Substring(18, 6));
q0 = Single.Parse(line.Substring(24, 7));
q1 = Single.Parse(line.Substring(31, 7));
q2 = Single.Parse(line.Substring(38, 7));
q3 = Single.Parse(line.Substring(45, 7));
}
catch (Exception e)
{
rhinoPrint("Exception in parsing.." + line);
continue;
}
RhinoApp.WriteLine(String.Format("Here {0},{1},{2},{3},{4},{5},{6}",x,y,z,q0,q1,q2,q3));
RhinoApp.WriteLine(line);
}
logWriter.Close();
pluginObj.closeLogFile();
}
