private uint _tempBlockNum = 0; // used for constructing the sequence number jump table
public override void ExitBlock([NotNull] FanucGCodeParser.BlockContext context)
{
if (context.sequenceNumber() != null)
{
_seqNumToBlockIdxMap[uint.Parse(context.sequenceNumber().DIGITS().GetText())] = _tempBlockNum;
}
_tempBlockNum++;
base.ExitBlock(context);
}
// Visit a gcode block
public override object VisitBlock([NotNull] FanucGCodeParser.BlockContext context)
{
if (context.blockContent() == null)
{
return(null); // empty block (possibly with sequence number)
}
var statement = context.blockContent().statement();
var expr = context.blockContent().expr();
var comment = context.blockContent().comment();
// are we dealing with a statement, with a set of gcode addresses and parameter? if so, work out what the IMachineToolRuntime command should be, and execute it.
// resolve sub-expressions to doubles or integers. error out if they can't be resolved to these.
if (statement != null)
{
var gcodeStatement = statement.gcode();
if (gcodeStatement.Length > 0)
{
// build a map of gcode prefixes (note multiple codes may be specified in certain cases, eg multiple preparatory 'G' addresses)
var gcodePrefixMap = new Dictionary <string, List <double> >();
foreach (var gcode in statement.gcode())
{
var address = gcode.GCODE_PREFIX().GetText();
if (!gcodePrefixMap.ContainsKey(address))
{
gcodePrefixMap[address] = new List <double>();
}
var resolvedExpr = Visit(gcode.expr());
if (!resolvedExpr.IsNumeric())
{
throw new GCodeException($"Cannot resolve {address} param to numeric type", _stack.Peek().Name, gcode.expr().Start.Line, gcode.expr().Start.Column);
}
gcodePrefixMap[address].Add((double)resolvedExpr);
}
// deal with preparatory codes first
if (gcodePrefixMap.ContainsKey("G"))
{
var prepCodes = gcodePrefixMap["G"];
//...
}
// next get the feedrate
if (gcodePrefixMap.ContainsKey("F"))
{
var feedrate = gcodePrefixMap["F"];
if (feedrate.Count > 1)
{
throw new GCodeException("Cannot specify multiple feedrates in a block", _stack.Peek().Name, context.Start.Line);
}
if (feedrate.Count() == 1)
{
try
{
Runtime.Feedrate = (int)feedrate.First();
}
catch (Exception e)
{
throw new GCodeException("Could not adjust feedrate", _stack.Peek().Name, context.Start.Line, e);
}
}
}
// etc. add all the other possible codes, and then call Runtime methods
}
else
{
// it's a program flow control statement (IF, GOTO etc).
// delegate to other rule handlers to carry out these actions
Visit(statement);
}
}
else if (expr != null)
{
// we have an expression (variable manipulation etc)
// delegate to other rule handlers to carry out these actions
Visit(expr);
}
if (comment != null)
{
// we're dealing with a comment. TRACE it out for a giggle.
Debug.WriteLine(comment.CTRL_OUT_TEXT().GetText());
// TODO: if an alarm has been raised, this is the text for the alarm
}
return(null);
}
