// Use this for initialization
void Start()
{
/*
* tryCreate = (GameObject)Resources.Load("EmptyObject");
* Instantiate(tryCreate);
* tryCreate.transform.name = "tryCreate";
*/
NCCodeFormat_Script = GameObject.Find("MainScript").GetComponent <NCCodeFormat>();
ProgramModule_Script = GameObject.Find("MainScript").GetComponent <ProgramModule>();
CooSystem_Script = GameObject.Find("MainScript").GetComponent <CooSystem>();
Main = GameObject.Find("MainScript").GetComponent <ControlPanel>();
Auto_Script = GameObject.Find("AutoMove").GetComponent <AutoMoveModule>();
Move_Script = GameObject.Find("move_control").GetComponent <MoveControl>();
SpindleControl_script = GameObject.Find("spindle_control").GetComponent <SpindleControl>();
PathLineDraw_Script = GameObject.Find("Main Camera").GetComponent <PathLineDraw>();
AutoToolChange_Script = GameObject.Find("ToolChange").GetComponent <AutoToolChangeModule>();
Warnning_Script = gameObject.GetComponent <Warnning>();
Softkey_Script = gameObject.GetComponent <SoftkeyModule>();
CooZeroPoint = new Vector3(0, 0, 0);
singleStepEnd = 100;
CurrentModal = new ModalCode_Fanuc_M();
// CurrentModal.RotateSpeed = 3000;
GameObject ForCuttingWork = GameObject.Find("GameObject");
if (ForCuttingWork == null)
{
Debug.LogError("请添加空物体GameObject！");
return;
}
ForCuttingWork.name = "CuttingWork";
ForCuttingWork.AddComponent <CuttingWork>();
CuttingWork_Script = ForCuttingWork.GetComponent <CuttingWork>();
}
void CloneTest()
{
ModalCode_Fanuc_M original_class = new ModalCode_Fanuc_M();
Debug.Log( "original1: "+original_class.Modal_Code[10]);
original_class.Modal_Code[10] = "G1111";
Debug.Log("original2: "+original_class.Modal_Code[10]);
ModalCode_Fanuc_M copy1 = new ModalCode_Fanuc_M(original_class);
Debug.Log("copy1: "+copy1.Modal_Code[10]);
copy1.Modal_Code[10] = "copy";
Debug.Log("compare: " + original_class.Modal_Code[10] + copy1.Modal_Code[10]);
}
/// <summary>
/// 实现复制的初始化 <see cref="ModalCode_Fanuc_M"/> class.
/// </summary>
/// <param name='aim_class'>
/// 复制的目标对象
/// </param>
public ModalCode_Fanuc_M(ModalCode_Fanuc_M aim_class)
{
_modal_code = new string[] { "G00", "G94", "G80", "G17", "G21", "G98", "G90", "G40", "G50", "G22",
"G49", "G67", "G97", "G54", "G64", "G69", "G15", "G40.1", "G25", "G160", "G13.1", "G50.1",
"G54.2", "G80.5" };
Slash = aim_class.Slash;
Feedrate = aim_class.Feedrate;
RotateSpeed = aim_class.RotateSpeed;
code_location = new Dictionary <string, int>();
LocationInitialize();
D_Value = aim_class.D_Value;
H_Value = aim_class.H_Value;
CooZero = aim_class.CooZero;
ReferencePoint = aim_class.ReferencePoint;
referenceFlag[0] = aim_class.referenceFlag[0];
referenceFlag[1] = aim_class.referenceFlag[1];
referenceFlag[2] = aim_class.referenceFlag[2];
for (int i = 0; i < aim_class.Modal_Code.Length; i++)
{
_modal_code[i] = aim_class.Modal_Code[i];
}
}
public bool G_Check(string g_str, int row_index, ref DataStore step_compile_data, ref ModalCode_Fanuc_M modal_state)
{
_errorMessage = "";
if(satisfactoryG_T.IndexOf(g_str) == -1)
{
_errorMessage = "(Line:" + row_index + "): " + "系统中不存在该G指令: " + g_str;
return false;
}
else
return true;
}
public bool G_Check(string g_str, int row_index, ref DataStore step_compile_data, ref ModalCode_Fanuc_M modal_state)
{
_errorMessage = "";
if(satisfactoryG_M.IndexOf(g_str) == -1)
{
_errorMessage = "(Line:" + row_index + "): " + "系统中不存在该G指令: " + g_str;
return false;
}
else
{
try
{
float g_value = (float)Convert.ToDouble(g_str.Trim('G'));
if(g_value < 10f)
g_str = "G0" + g_value.ToString();
}
catch
{
_errorMessage = "(Line:" + row_index + "): " + "系统中不存在该G指令: " + g_str;
return false;
}
int modal_index = modal_state.ModalIndex(g_str);
//立即执行G代码（非模态G代码）
if(modal_index == -1)
{
switch(g_str)
{
case "G04":
case "G28":
step_compile_data.immediate_execution.Add(g_str);
break;
default:
//Todo: 有很多未完成的功能
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持该G代码: " + g_str;
return false;
}
}
//模态代码
else
{//1 level
switch(modal_index)
{
case 0:
step_compile_data.motion_string = g_str;
break;
case 1:
if(g_str != "G94")
{
_errorMessage = "(Line:" + row_index + "): " + "目前系统只支持G94(每分钟进给)，暂不支持" + g_str;
return false;
}
break;
case 2:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持09组G代码";
return false;
case 3:
if(g_str != "G17")
{
_errorMessage = "(Line:" + row_index + "): " + "目前系统只支持G17(XY平面选择)，暂不支持" + g_str;
return false;
}
break;
case 4:
if(g_str != "G21")
{
_errorMessage = "(Line:" + row_index + "): " + "目前系统只支持G21(公制输入)，暂不支持" + g_str;
return false;
}
break;
case 5:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持10组固定循环G代码";
return false;
case 6:
//G90、G91 绝对、增量
//Todo:
break;
case 7:
//G40, G41, G42 刀具半径补偿
//Todo: 坐标会发生一些变化
step_compile_data.immediate_execution.Add(g_str);
break;
case 8:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持11组比例缩放G代码";
return false;
case 9:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持04组存储形成检测功能G代码";
return false;
case 10:
//G43, G44, G49 刀具长度补偿
//Todo: 坐标会发生一些变化
step_compile_data.immediate_execution.Add(g_str);
break;
case 11:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持12组宏模态调用G代码";
return false;
case 12:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持13组周速恒定控制G代码";
return false;
case 13:
//G54, G54.1, G55, G56, G57, G58, G59
//Todo: 坐标会发生一些变化
step_compile_data.immediate_execution.Add(g_str);
break;
case 14:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持15组G代码";
return false;
case 15:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持16组坐标旋转方式G代码";
return false;
case 16:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持17组极坐标指令G代码";
return false;
case 17:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持18组法线方向控制G代码";
return false;
case 18:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持G25代码";
return false;
case 19:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持20组横向进磨控制（磨床用）G代码";
return false;
case 20:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持G13.1代码";
return false;
case 21:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持22组可编程镜像G代码";
return false;
case 22:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持G54.2代码";
return false;
case 23:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持G80.5代码";
return false;
default:
break;
}
//模态代码改变
if(modal_state.Modal_Code[modal_index] != g_str)
{
step_compile_data.modal_index.Add(modal_index);
step_compile_data.modal_string.Add(g_str);
modal_state.SetModalCode(g_str, modal_index);
}
step_compile_data.G_code.Add(g_str);
}//1 level
return true;
}
}
private bool G_Check(string code_str, int row_index, ref DataStore step_compile_data, ref ModalCode_Fanuc_M modal_state)
{
_errorMessage = "";
bool temp_flag = this.g_code_check.G_Check(code_str, row_index, ref step_compile_data, ref modal_state);
_errorMessage = this.g_code_check.ErrorMessage;
return temp_flag;
}
/// <summary>
/// 克隆当前系统中的模态信息
/// </summary>
/// <param name='current_modal'>
/// 当前系统中的模态信息
/// </param>
public void ModalClone(ModalCode_Fanuc_M current_modal)
{
for(int i = 0; i < current_modal.Modal_Code.Length; i++)
{
ModalState.Modal_Code[i] = current_modal.Modal_Code[i];
}
}
public LexicalCheck()
{
_errorMessage = "";
_compileInfo = new List<string>();
ModalState = new ModalCode_Fanuc_M();
/*
CheckFunc = new Dictionary<int, Func<string, int, bool>>();
CheckFunc.Add((int)FuncSelect.G_Check, G_Check);
CheckFunc.Add((int)FuncSelect.M_Check, M_Check);
CheckFunc.Add((int)FuncSelect.F_Check, F_Check);
CheckFunc.Add((int)FuncSelect.I_Check, I_Check);
CheckFunc.Add((int)FuncSelect.Slash_Check, Slash_Check);
*/
}
public bool G_Check(string g_str, int row_index, ref DataStore step_compile_data, ref ModalCode_Fanuc_M modal_state)
{
_errorMessage = "";
if(satisfactoryG_M.IndexOf(g_str) == -1)
{
_errorMessage = "(Line:" + row_index + "): " + "系统中不存在该G指令: " + g_str;
return false;
}
else
{
try
{
float g_value = (float)Convert.ToDouble(g_str.Trim('G'));
if(g_value < 10f)
g_str = "G0" + g_value.ToString();
}
catch
{
_errorMessage = "(Line:" + row_index + "): " + "系统中不存在该G指令: " + g_str;
return false;
}
int modal_index = modal_state.ModalIndex(g_str);
//立即执行G代码（非模态G代码）
if(modal_index == -1)
{
switch(g_str)
{
case "G04":
step_compile_data.ImmediateAdd((char)ImmediateMotionType.Pause);
break;
case "G28":
step_compile_data.ImmediateAdd((char)ImmediateMotionType.AutoReturnRP);
break;
default:
//Todo: 有很多未完成的功能
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持该G代码: " + g_str;
return false;
}
}
//模态代码
else
{//1 level
switch(modal_index)
{
case 0:
if(g_str == "G00")
step_compile_data.motion_type = (int)MotionType.DryRunning;
else if(g_str == "G01")
step_compile_data.motion_type = (int)MotionType.Line;
else if(g_str == "G02")
step_compile_data.motion_type = (int)MotionType.Circular02;
else
step_compile_data.motion_type = (int)MotionType.Circular03;
break;
case 1:
if(g_str != "G94")
{
_errorMessage = "(Line:" + row_index + "): " + "目前系统只支持G94(每分钟进给)，暂不支持" + g_str;
return false;
}
break;
case 2:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持09组G代码";
return false;
case 3:
if(g_str != "G17")
{
_errorMessage = "(Line:" + row_index + "): " + "目前系统只支持G17(XY平面选择)，暂不支持" + g_str;
return false;
}
break;
case 4:
if(g_str != "G21")
{
_errorMessage = "(Line:" + row_index + "): " + "目前系统只支持G21(公制输入)，暂不支持" + g_str;
return false;
}
break;
case 5:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持10组固定循环G代码";
return false;
case 6:
//G90、G91 绝对、增量
//Todo:
break;
case 7:
//G40, G41, G42 刀具半径补偿
//Todo: 坐标会发生一些变化
if(g_str == "G40")
step_compile_data.ImmediateAdd((char)ImmediateMotionType.RadiusCompensationCancel);
else if(g_str == "G41")
step_compile_data.ImmediateAdd((char)ImmediateMotionType.RadiusCompensationLeft);
else
step_compile_data.ImmediateAdd((char)ImmediateMotionType.RadiusCompensationRight);
break;
case 8:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持11组比例缩放G代码";
return false;
case 9:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持04组存储形成检测功能G代码";
return false;
case 10:
//G43, G44, G49 刀具长度补偿
//Todo: 坐标会发生一些变化
if(g_str == "G43")
step_compile_data.ImmediateAdd((char)ImmediateMotionType.LengthCompensationPositive);
else if(g_str == "G44")
step_compile_data.ImmediateAdd((char)ImmediateMotionType.LengthCompensationNegative);
else
step_compile_data.ImmediateAdd((char)ImmediateMotionType.LengthCompensationCancel);
break;
case 11:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持12组宏模态调用G代码";
return false;
case 12:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持13组周速恒定控制G代码";
return false;
case 13:
//G54, G54.1, G55, G56, G57, G58, G59
//Todo: 坐标会发生一些变化
if(g_str == "G54.1")
{
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持G54.1追加工件坐标系功能";
return false;
}
else if(g_str == "G54")
step_compile_data.ImmediateAdd((char)ImmediateMotionType.G54);
else if(g_str == "G55")
step_compile_data.ImmediateAdd((char)ImmediateMotionType.G55);
else if(g_str == "G56")
step_compile_data.ImmediateAdd((char)ImmediateMotionType.G56);
else if(g_str == "G57")
step_compile_data.ImmediateAdd((char)ImmediateMotionType.G57);
else if(g_str == "G58")
step_compile_data.ImmediateAdd((char)ImmediateMotionType.G58);
else
step_compile_data.ImmediateAdd((char)ImmediateMotionType.G59);
break;
case 14:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持15组G代码";
return false;
case 15:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持16组坐标旋转方式G代码";
return false;
case 16:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持17组极坐标指令G代码";
return false;
case 17:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持18组法线方向控制G代码";
return false;
case 18:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持G25代码";
return false;
case 19:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持20组横向进磨控制（磨床用）G代码";
return false;
case 20:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持G13.1代码";
return false;
case 21:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持22组可编程镜像G代码";
return false;
case 22:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持G54.2代码";
return false;
case 23:
_errorMessage = "(Line:" + row_index + "): " + "目前系统暂不支持G80.5代码";
return false;
default:
break;
}
//模态代码改变
if(modal_state.Modal_Code[modal_index] != g_str)
{
step_compile_data.modal_index.Add(modal_index);
step_compile_data.modal_string.Add(g_str);
modal_state.SetModalCode(g_str, modal_index);
}
step_compile_data.G_code.Add(g_str);
}//1 level
return true;
}
}
/// <summary>
/// 实现复制的初始化 <see cref="ModalCode_Fanuc_M"/> class.
/// </summary>
/// <param name='aim_class'>
/// 复制的目标对象
/// </param>
public ModalCode_Fanuc_M(ModalCode_Fanuc_M aim_class)
{
_modal_code = new string[]{"G00", "G94", "G80", "G17", "G21", "G98", "G90", "G40", "G50", "G22",
"G49", "G67", "G97", "G54", "G64", "G69", "G15", "G40.1", "G25", "G160", "G13.1", "G50.1",
"G54.2", "G80.5"};
code_location = new Dictionary<string, int>();
LocationInitialize();
for(int i = 0; i < aim_class.Modal_Code.Length; i++)
{
_modal_code[i] = aim_class.Modal_Code[i];
}
}
public int CircleArguJudge(ref string error_string, ModalCode_Fanuc_M modal_state, ref Vector3 ijk_coo, ref float rValue)
{
//终点坐标在原地
if (xyz_state[0] == false && xyz_state[1] == false && xyz_state[2] == false)
{
//若R有赋值，返回0停在原地
if (ijk_state[3])
{
return(0);
}
//若R和IJK都没有赋值，返回0停在原地
else if (ijk_state[0] == false && ijk_state[1] == false && ijk_state[2] == false)
{
return(0);
}
else
{
//三种平面下的判断及圆心增量坐标获取，如果返回1则为整圆情况
switch (modal_state.PlaneCheck())
{
case (int)CheckInformation.XYPlane:
if (ijk_state[2])
{
error_string = "平面选择与输入坐标不符";
return(-1);
}
else
{
ijk_coo = new Vector3(i_value, j_value, 0);
return(1);
}
case (int)CheckInformation.ZXPlane:
if (ijk_state[1])
{
error_string = "平面选择与输入坐标不符";
return(-1);
}
else
{
ijk_coo = new Vector3(i_value, 0, k_value);
return(1);
}
case (int)CheckInformation.YZPlane:
if (ijk_state[0])
{
error_string = "平面选择与输入坐标不符";
return(-1);
}
else
{
ijk_coo = new Vector3(0, j_value, k_value);
return(1);
}
default:
error_string = "平面选择错误，不存在这样的平面";
return(-1);
}
}
}
//有终点坐标
else
{
//三种平面下的判断及圆心增量坐标和Display坐标（增量或最终值），如果返回2则为IJK，返回3则为R
switch (modal_state.PlaneCheck())
{
case (int)CheckInformation.XYPlane:
if (xyz_state[2])
{
error_string = "平面选择与输入坐标不符";
return(-1);
}
else
{
//有R在
if (ijk_state[3])
{
rValue = r_value;
return(3);
}
//没有R
else
{
if (ijk_state[2])
{
error_string = "平面选择与输入坐标不符";
return(-1);
}
else
{
ijk_coo = new Vector3(i_value, j_value, 0);
return(2);
}
}
}
case (int)CheckInformation.ZXPlane:
if (xyz_state[1])
{
error_string = "平面选择与输入坐标不符";
return(-1);
}
else
{
//有R在
if (ijk_state[3])
{
rValue = r_value;
return(3);
}
//没有R
else
{
if (ijk_state[1])
{
error_string = "平面选择与输入坐标不符";
return(-1);
}
else
{
ijk_coo = new Vector3(i_value, 0, k_value);
return(2);
}
}
}
case (int)CheckInformation.YZPlane:
if (xyz_state[0])
{
error_string = "平面选择与输入坐标不符";
return(-1);
}
else
{
//有R在
if (ijk_state[3])
{
rValue = r_value;
return(3);
}
//没有R
else
{
if (ijk_state[0])
{
error_string = "平面选择与输入坐标不符";
return(-1);
}
else
{
ijk_coo = new Vector3(0, j_value, k_value);
return(2);
}
}
}
default:
error_string = "平面选择错误，不存在这样的平面";
return(-1);
}
}
}
public int CircleArguJudge(ref string error_string, ModalCode_Fanuc_M modal_state, ref Vector3 ijk_coo, ref Vector3 xyz_coo, ref float rValue)
{
//终点坐标在原地
if(xyz_state[0] == false && xyz_state[1] == false && xyz_state[2] == false)
{
//若R有赋值，返回0停在原地
if(ijk_state[3])
return 0;
//若R和IJK都没有赋值，返回0停在原地
else if(ijk_state[0] == false && ijk_state[1] == false && ijk_state[2] == false)
return 0;
else
{
//三种平面下的判断及圆心增量坐标获取，如果返回1则为整圆情况
switch(modal_state.Modal_Code[3])
{
case "G17":
if(ijk_state[2])
{
error_string = "平面选择与输入坐标不符";
return -1;
}
else
{
ijk_coo = new Vector3(i_value, j_value, 0);
return 1;
}
case "G18":
if(ijk_state[1])
{
error_string = "平面选择与输入坐标不符";
return -1;
}
else
{
ijk_coo = new Vector3(i_value, 0, k_value);
return 1;
}
case "G19":
if(ijk_state[0])
{
error_string = "平面选择与输入坐标不符";
return -1;
}
else
{
ijk_coo = new Vector3(0, j_value, k_value);
return 1;
}
default:
error_string = "平面选择错误，不存在这样的平面";
return -1;
}
}
}
//有终点坐标
else
{
//三种平面下的判断及圆心增量坐标和Display坐标（增量或最终值），如果返回2则为IJK，返回3则为R
switch(modal_state.Modal_Code[3])
{
case "G17":
if(xyz_state[2])
{
error_string = "平面选择与输入坐标不符";
return -1;
}
else
{
xyz_coo = new Vector3(x_value, y_value, 0);
//有R在
if(ijk_state[3])
{
rValue = r_value;
return 3;
}
//没有R
else
{
if(ijk_state[2])
{
error_string = "平面选择与输入坐标不符";
return -1;
}
else
{
ijk_coo = new Vector3(i_value, j_value, 0);
return 2;
}
}
}
case "G18":
if(xyz_state[1])
{
error_string = "平面选择与输入坐标不符";
return -1;
}
else
{
xyz_coo = new Vector3(x_value, 0, z_value);
//有R在
if(ijk_state[3])
{
rValue = r_value;
return 3;
}
//没有R
else
{
if(ijk_state[1])
{
error_string = "平面选择与输入坐标不符";
return -1;
}
else
{
ijk_coo = new Vector3(i_value, 0, k_value);
return 2;
}
}
}
case "G19":
if(xyz_state[0])
{
error_string = "平面选择与输入坐标不符";
return -1;
}
else
{
xyz_coo = new Vector3(0, y_value, z_value);
//有R在
if(ijk_state[3])
{
rValue = r_value;
return 3;
}
//没有R
else
{
if(ijk_state[0])
{
error_string = "平面选择与输入坐标不符";
return -1;
}
else
{
ijk_coo = new Vector3(0, j_value, k_value);
return 2;
}
}
}
default:
error_string = "平面选择错误，不存在这样的平面";
return -1;
}
}
}
