public void QueueTravel(IntPoint positionToMoveTo)
{
GCodePath path = GetLatestPathWithConfig(travelConfig);
if (forceRetraction)
{
path.Retract = true;
forceRetraction = false;
}
else if (outerPerimetersToAvoidCrossing != null)
{
Polygon pointList = new Polygon();
if (outerPerimetersToAvoidCrossing.CreatePathInsideBoundary(LastPosition, positionToMoveTo, pointList))
{
long lineLength_um = 0;
// we can stay inside so move within the boundary
for (int pointIndex = 0; pointIndex < pointList.Count; pointIndex++)
{
path.points.Add(new IntPoint(pointList[pointIndex], CurrentZ)
{
Width = 0
});
if (pointIndex > 0)
{
lineLength_um += (pointList[pointIndex] - pointList[pointIndex - 1]).Length();
}
}
// If the internal move is very long (20 mm), do a retraction anyway
if (lineLength_um > retractionMinimumDistance_um)
{
path.Retract = true;
}
}
else
{
if ((LastPosition - positionToMoveTo).LongerThen(retractionMinimumDistance_um))
{
// We are moving relatively far and are going to cross a boundary so do a retraction.
path.Retract = true;
}
}
}
else if (alwaysRetract)
{
if ((LastPosition - positionToMoveTo).LongerThen(retractionMinimumDistance_um))
{
path.Retract = true;
}
}
path.points.Add(new IntPoint(positionToMoveTo, CurrentZ)
{
Width = 0,
});
LastPosition = positionToMoveTo;
}
public void writeTravel(IntPoint positionToMoveTo)
{
GCodePath path = getLatestPathWithConfig(travelConfig);
if (forceRetraction)
{
if (!(lastPosition - positionToMoveTo).ShorterThen(retractionMinimumDistance))
{
path.retract = true;
}
forceRetraction = false;
}
else if (avaidCrossingPerimeters != null)
{
List <IntPoint> pointList = new List <IntPoint>();
if (avaidCrossingPerimeters.CreatePathInsideBoundary(lastPosition, positionToMoveTo, pointList))
{
long lineLength = 0;
// we can stay inside so move within the boundary
for (int pointIndex = 0; pointIndex < pointList.Count; pointIndex++)
{
path.points.Add(pointList[pointIndex]);
if (pointIndex > 0)
{
lineLength += (pointList[pointIndex] - pointList[pointIndex - 1]).Length();
}
}
// If the internal move is very long (20 mm), do a retration anyway
if (lineLength > (20 * 1000))
{
path.retract = true;
}
}
else
{
if (!(lastPosition - positionToMoveTo).ShorterThen(retractionMinimumDistance))
{
// We are moving relatively far and are going to cross a boundary so do a retraction.
path.retract = true;
}
}
}
else if (alwaysRetract)
{
if (!(lastPosition - positionToMoveTo).ShorterThen(retractionMinimumDistance))
{
path.retract = true;
}
}
path.points.Add(positionToMoveTo);
lastPosition = positionToMoveTo;
}