void emit_linear(GCodeLine line)
{
Debug.Assert(line.code == 1);
double dx = 0, dy = 0;
bool brelx = GCodeUtil.TryFindParamNum(line.parameters, "XI", ref dx);
bool brely = GCodeUtil.TryFindParamNum(line.parameters, "YI", ref dy);
LinearMoveData move = new LinearMoveData(new Vector2d(dx, dy));
if (brelx || brely)
{
listener.LinearMoveToRelative2d(move);
return;
}
double x = 0, y = 0;
bool absx = GCodeUtil.TryFindParamNum(line.parameters, "X", ref x);
bool absy = GCodeUtil.TryFindParamNum(line.parameters, "Y", ref y);
if (absx && absy)
{
listener.LinearMoveToAbsolute2d(move);
return;
}
// [RMS] can we have this??
if (absx || absy)
{
System.Diagnostics.Debug.Assert(false);
}
}
// G92 - Position register: Set the specified axes positions to the given position
// Sets the position of the state machine and the bot. NB: There are two methods of forming the G92 command:
void set_position(GCodeLine line)
{
double x = 0, y = 0, z = 0;
if (GCodeUtil.TryFindParamNum(line.parameters, "X", ref x))
{
CurPosition.x = x;
}
if (GCodeUtil.TryFindParamNum(line.parameters, "Y", ref y))
{
CurPosition.y = y;
}
if (GCodeUtil.TryFindParamNum(line.parameters, "Z", ref z))
{
CurPosition.z = z;
}
}
void emit_arc(GCodeLine line, bool clockwise)
{
double dx = 0, dy = 0;
// either of these might be missing...
bool brelx = GCodeUtil.TryFindParamNum(line.parameters, "XI", ref dx);
bool brely = GCodeUtil.TryFindParamNum(line.parameters, "YI", ref dy);
Debug.Assert(brelx == true && brely == true);
double r = 0;
bool br = GCodeUtil.TryFindParamNum(line.parameters, "R", ref r);
Debug.Assert(br == true);
// [RMS] seems like G5 always has negative radius and G4 positive ??
// (this will tell us)
Debug.Assert((clockwise && r < 0) || (clockwise == false && r > 0));
r = Math.Abs(r);
listener.ArcToRelative2d(new Vector2d(dx, dy), r, clockwise);
}
// G92 - Position register: Set the specified axes positions to the given position
// Sets the position of the state machine and the bot. NB: There are two methods of forming the G92 command:
private void set_position(GCodeLine line)
{
double x = 0, y = 0, z = 0, a = 0;
if (GCodeUtil.TryFindParamNum(line.Parameters, "X", ref x))
{
CurPosition.x = x;
}
if (GCodeUtil.TryFindParamNum(line.Parameters, "Y", ref y))
{
CurPosition.y = y;
}
if (GCodeUtil.TryFindParamNum(line.Parameters, "Z", ref z))
{
CurPosition.z = z;
}
if (GCodeUtil.TryFindParamNum(line.Parameters, "A", ref a))
{
ExtrusionA = a;
listener.CustomCommand(
(int)CustomListenerCommands.ResetExtruder, GCodeUtil.Extrude(a));
// reset our state
in_travel = in_extrude = in_retract = false;
}
// E is "current" stepper (A for single extruder)
double e = 0;
if (GCodeUtil.TryFindParamNum(line.Parameters, "E", ref e))
{
ExtrusionA = e;
listener.CustomCommand(
(int)CustomListenerCommands.ResetExtruder, GCodeUtil.Extrude(e));
// reset our state
in_travel = in_extrude = in_retract = false;
}
}
void emit_linear(GCodeLine line)
{
Debug.Assert(line.code == 0 || line.code == 1);
double x = GCodeUtil.UnspecifiedValue,
y = GCodeUtil.UnspecifiedValue,
z = GCodeUtil.UnspecifiedValue;
bool found_x = GCodeUtil.TryFindParamNum(line.parameters, "X", ref x);
bool found_y = GCodeUtil.TryFindParamNum(line.parameters, "Y", ref y);
bool found_z = GCodeUtil.TryFindParamNum(line.parameters, "Z", ref z);
Vector3d newPos = (UseRelativePosition) ? Vector3d.Zero : CurPosition;
if (found_x)
{
newPos.x = x;
}
if (found_y)
{
newPos.y = y;
}
if (found_z)
{
newPos.z = z;
}
if (UseRelativePosition)
{
CurPosition += newPos;
}
else
{
CurPosition = newPos;
}
// F is feed rate (this changes?)
double f = 0;
bool haveF = GCodeUtil.TryFindParamNum(line.parameters, "F", ref f);
LinearMoveData move = new LinearMoveData(
newPos,
(haveF) ? f : GCodeUtil.UnspecifiedValue);
bool is_travel = (line.code == 0);
if (is_travel)
{
if (in_travel == false)
{
listener.BeginTravel();
in_travel = true;
in_cut = false;
}
}
else
{
if (in_cut == false)
{
listener.BeginCut();
in_travel = false;
in_cut = true;
}
}
move.source = line;
Debug.Assert(in_travel || in_cut);
listener.LinearMoveToAbsolute3d(move);
}
protected virtual void EmitLinear(GCodeLine line)
{
Debug.Assert(line.Code == 0 || line.Code == 1);
double x = GCodeUtil.UnspecifiedValue,
y = GCodeUtil.UnspecifiedValue,
z = GCodeUtil.UnspecifiedValue;
bool found_x = GCodeUtil.TryFindParamNum(line.Parameters, "X", ref x);
bool found_y = GCodeUtil.TryFindParamNum(line.Parameters, "Y", ref y);
bool found_z = GCodeUtil.TryFindParamNum(line.Parameters, "Z", ref z);
Vector3d newPos = (UseRelativePosition) ? Vector3d.Zero : CurPosition;
if (found_x)
{
newPos.x = x;
}
if (found_y)
{
newPos.y = y;
}
if (found_z)
{
newPos.z = z;
}
if (UseRelativePosition)
{
CurPosition += newPos;
}
else
{
CurPosition = newPos;
}
// F is feed rate (this changes?)
double f = 0;
bool haveF = GCodeUtil.TryFindParamNum(line.Parameters, "F", ref f);
// A is extrusion stepper. E is also "current" stepper.
double a = 0;
bool haveA = GCodeUtil.TryFindParamNum(line.Parameters, "A", ref a);
if (haveA == false)
{
haveA = GCodeUtil.TryFindParamNum(line.Parameters, "E", ref a);
}
if (UseRelativeExtruder)
{
a = ExtrusionA + a;
}
LinearMoveData move = new LinearMoveData(
newPos,
(haveF) ? f : GCodeUtil.UnspecifiedValue,
(haveA) ? GCodeUtil.Extrude(a) : GCodeUtil.UnspecifiedPosition);
if (haveA == false)
{
// if we do not have extrusion, this is a travel move
if (in_travel == false)
{
listener.BeginTravel();
in_travel = true;
in_extrude = false;
}
}
else if (in_retract)
{
// if we are in retract, we stay in until we see forward movement
Debug.Assert(in_travel);
Debug.Assert(a <= LastRetractA + 0.001);
if (MathUtil.EpsilonEqual(a, LastRetractA, 0.00001))
{
in_retract = false;
listener.BeginDeposition();
in_extrude = true;
in_travel = false;
ExtrusionA = a;
}
}
else if (a < ExtrusionA)
{
// if extrusion moved backwards, we need to enter travel
in_retract = true;
LastRetractA = ExtrusionA;
ExtrusionA = a;
if (in_travel == false)
{
listener.BeginTravel();
in_travel = true;
in_extrude = false;
}
}
else
{
// if we are in travel, we need to begin extruding
if (in_travel)
{
listener.BeginDeposition();
in_travel = false;
in_extrude = true;
}
if (in_extrude == false)
{ // handle initialization cases
listener.BeginDeposition();
in_extrude = true;
}
ExtrusionA = a;
}
move.source = line;
Debug.Assert(in_travel || in_extrude);
listener.LinearMoveToAbsolute3d(move);
}