IEnumerator StartMovementAroundPath(List <gcLine> gcodePath)
{
int c = 0;
while (c < gcodePath.Count)
{
if (DoneWithLine)
{
DoneWithLine = false;
if (!Cnc_Settings.RelativeMovement || c == 0)
{
StartCoroutine(Move(gcodePath[c]));
}
else
{
gcLine relativeLine = new gcLine();
relativeLine = gcodePath[c];
relativeLine.X = gcodePath[c].X - gcodePath[c - 1].X;
relativeLine.Y = gcodePath[c].Y - gcodePath[c - 1].Y;
relativeLine.Z = gcodePath[c].Z - gcodePath[c - 1].Z;
StartCoroutine(Move(relativeLine));
}
}
yield return(new WaitUntil(() => DoneWithLine == true));
c++;
}
yield return(null);
}
IEnumerator Move(gcLine moveTo)
{
float distanceThreshold = 0.1f;
CncCartDouble position = new CncCartDouble();
position.x = (double)moveTo.X;
position.y = (double)moveTo.Y;
position.z = (double)moveTo.Z;
CncCartBool Cncbool = new CncCartBool();
Cncbool.x = 1;
Cncbool.y = 1;
Cncbool.z = 1;
Cncbool.a = 1;
Cncbool.b = 1;
Cncbool.c = 1;
while (Vector3.Distance(HeadPosition, new Vector3((float)moveTo.X, (float)moveTo.Y, (float)moveTo.Z)) < distanceThreshold)
{
g_JoggingFunctions.MoveTo(position, Cncbool, (double)moveTo.F);
yield return(null);
}
DoneWithLine = true;
Moving = false;
movee = false;
yield return(null);
}
internal void ParseFromGcodeFile()
{ //Initializing arrays to fill
int c = -1; // counter for line number
foreach (string line in fileLinebyLine)
{
gcLine gcl = new gcLine();
gcl.linenr = c++;
gcl.G = int.Parse(getValue(line, "G", " "));
gcl.X = float.Parse(getValue(line, "X", " "));
gcl.Y = float.Parse(getValue(line, "Y", " "));
gcl.Z = float.Parse(getValue(line, "Z", " "));
gcl.F = float.Parse(getValue(line, "F", " "));
gcl.I = float.Parse(getValue(line, "I", " "));
gcl.J = float.Parse(getValue(line, "J", " "));
gcl.K = float.Parse(getValue(line, "K", " "));
gcl.L = float.Parse(getValue(line, "L", " "));
gcl.N = float.Parse(getValue(line, "B", " "));
gcl.P = float.Parse(getValue(line, "P", " "));
gcl.R = float.Parse(getValue(line, "R", " "));
gcl.S = float.Parse(getValue(line, "S", " "));
gcl.T = float.Parse(getValue(line, "T", " "));
lineList.Add(gcl);
}
lineList = fill(lineList);
FileLoaded = true;
Linebuilder.buildlinesFromGcode();
}
gcLine createRandomizedStretchLine(gcLine gcl, lineInfo lineinf)
{
lineinf.x = Random.Range(-(Cnc_Settings.WidthInMM / 2), (float)gcl.X);
return(new gcLine
{
G = gcl.G,
F = gcl.F,
X = lineinf.x,
Y = lineinf.y,
Z = gcl.Z
});
}
public List <gcLine> ExportLinesToGcode(List <gcLine> gCodeLines)
{
List <gcLine> toExport = new List <gcLine>();
for (int i = 0; i < gCodeLines.Count; i++)
{
gcLine line = new gcLine();
line = gCodeLines[i];
line.AUX1 = LinePlaceHolder.transform.GetChild(i).GetComponent <LineRenderer>().enabled;
toExport.Add(line);
}
Dictionary <int, List <gcLine> > delayLines = new Dictionary <int, List <gcLine> >();
for (int i = 0; i < gCodeLines.Count; i++)
{
if (i > 0 && i < gCodeLines.Count - 1)
{
if (gCodeLines[i].G != 4 && gCodeLines[i + 1].G != 4)
{
if (gCodeLines[i].AUX1 != gCodeLines[i + 1].AUX1)
{ // indrukken van spuit +- 0.5f ,
// loslaten -0.2f
gcLine auxline = new gcLine();
auxline.AUX1 = gCodeLines[i + 1].AUX1;
gcLine delayline = new gcLine();
delayline.linenr = i;
delayline.G = 4;
delayline.P = 0.5f;
List <gcLine> delayAuxlines = new List <gcLine>();
delayAuxlines.Add(delayline);
delayAuxlines.Add(auxline);
delayAuxlines.Add(delayline);
delayLines.Add(i, delayAuxlines);
}
}
}
}
foreach (KeyValuePair <int, List <gcLine> > delayline in delayLines)
{
toExport.InsertRange(delayline.Key, delayline.Value);
}
return(toExport);
}
internal void GenerateGcodeFromPath()
{
List <Coords> coords = OriginalCoords;
if (coords.Count == 0)
{
return;
}
bool notsafe = false;
List <gcLine> gcodeFromPath = new List <gcLine>();
gcodeFromPathToExport.Clear();
if (centerPath)
{
float midxPath = coords.Min(x => x.X) + ((coords.Max(x => x.X) - coords.Min(x => x.X)) / 2);
float midyPath = coords.Min(x => x.Y) + ((coords.Max(x => x.Y) - coords.Min(x => x.Y)) / 2);
float deltaX = MiddlePointGcode.transform.position.x - midxPath;
float deltaY = MiddlePointGcode.transform.position.y - midyPath;
foreach (Coords coord in coords)
{
coord.X += deltaX;
coord.Y += deltaY;
}
}
// Create gcode from the path you want to draw.. without any manipulations like stretching
for (int i = 0; i < coords.Count; i++)
{
if (i == 0 || i == coords.Count - 1)
{
gcLine gcl = new gcLine();
gcl.X = float.Parse((coords[i].X).ToString("F4"));
gcl.Y = float.Parse((coords[i].Y).ToString("F4"));
gcl.Z = float.Parse((coords[i].Z).ToString("F4"));
gcl.F = StandardFeed;
gcl.G = 1;
gcl.AUX1 = (bool)coords[i].Travel == true ? AUXOnInTravels : AUXOnInFigures;
gcodeFromPath.Add(gcl);
}
else
{
gcLine gcl = new gcLine();
gcl.X = float.Parse((coords[i].X).ToString("F4"));
gcl.Y = float.Parse((coords[i].Y).ToString("F4"));
gcl.Z = float.Parse((coords[i].Z).ToString("F4"));
gcl.F = StandardFeed;
gcl.G = 1;
gcl.AUX1 = (bool)coords[i].Travel == true ? AUXOnInTravels : AUXOnInFigures;
gcodeFromPath.Add(gcl);
}
}
gcodeFromPath = fill(gcodeFromPath);
if (Cnc_Settings.ScaleToMax)
{
scaleToUseHorizontal = Cnc_Settings.ScaleFactorForMax;
scaleToUseVertical = Cnc_Settings.ScaleFactorForMax;
}
float midPointX = MiddlePointGcode.transform.position.x;
float midPointY = MiddlePointGcode.transform.position.y;
float midPointZ = MiddlePointGcode.transform.position.z;
if (StretchLines)
{
List <gcLine> gcLinesBackup = new List <gcLine>(gcodeFromPath);
gcodeFromPath.Clear();
Dictionary <int, gcLine> StretchLineToAdd = new Dictionary <int, gcLine>();
float lastknownFeed = 0;
for (int i = 0; i < gcLinesBackup.Count - 1; i++)
{
// y = a*x+b
// a = deltax/deltay
// b = (insert 1 coordinate)..
gcodeFromPath.Add(gcLinesBackup[i]);
if (i > 1 && i < gcLinesBackup.Count - 2 && i % 2 != 0)
{
for (int j = 0; j < 2; j++)
{
gcLine randomLineA = createRandomizedStretchLine(gcLinesBackup[i + j], lineInfoList[i + j]);
randomLineA.X -= coords.Max(x => x.X) - coords.Min(x => x.X);
randomLineA.Y -= coords.Max(x => x.Y) - coords.Min(x => x.Y);
coords.Add(new Coords {
X = (float)randomLineA.X, Y = (float)randomLineA.Y, Z = (float)gcLinesBackup[i + j].Z
});
gcodeFromPath.Add(randomLineA);
}
}
gcodeFromPath.Add(gcLinesBackup[i]);
}
}
if (StartFromHome)
{
gcLine gcl = new gcLine();
gcl.G = 1;
gcl.X = HomePositionObj.transform.position.x;
gcl.Y = HomePositionObj.transform.position.y;
gcl.Z = HomePositionObj.transform.position.z;
gcl.AUX1 = AUXOnInTravels;
gcodeFromPath.Insert(0, gcl);
}
if (ReturnToHome)
{
gcLine gcl = new gcLine();
gcl.G = 1;
gcl.X = HomePositionObj.transform.position.x;
gcl.Y = HomePositionObj.transform.position.y;
gcl.Z = HomePositionObj.transform.position.z;
gcl.AUX1 = AUXOnInTravels;
gcodeFromPath.Insert(gcodeFromPath.Count - 1, gcl);
}
minX = coords.Min(i => i.X);
maxX = coords.Max(i => i.X);
minY = coords.Min(i => i.Y);
maxY = coords.Max(i => i.Y);
float minZ = coords.Min(i => i.Z);
float maxZ = coords.Max(i => i.Z);
float midX = maxX - minX;
float midY = maxY - minY;
float midZ = maxZ - minZ;
minScaleHorizontal = Mathf.Floor((Cnc_Settings.WidthInMM / 2 - Cnc_Settings.HorizontalPaddingInMM) / (minX));
maxScaleHorizontal = Mathf.Floor((Cnc_Settings.WidthInMM / 2 - Cnc_Settings.HorizontalPaddingInMM) / (maxX));
minScaleVertical = Mathf.Floor((Cnc_Settings.HeightInMM / 2 - Cnc_Settings.VerticalPaddingInMM) / minY);
maxScaleVertical = Mathf.Floor((Cnc_Settings.HeightInMM / 2 - Cnc_Settings.VerticalPaddingInMM) / maxY);
float[] allscales = { minScaleHorizontal, maxScaleHorizontal, minScaleVertical, maxScaleVertical };
float safeToScale = Mathf.Floor(allscales.Min(x => Mathf.Abs(x)));
Cnc_Settings.ScaleFactorForMax = safeToScale;
if (!Interaction_Controller.scaleSet)
{
Interaction_Controller.updateScaleSliders(maxScaleHorizontal, maxScaleVertical, scaleToUseHorizontal, scaleToUseVertical);
scaleToUseHorizontal = safeToScale * (Cnc_Settings.defaultScalePercentage / 100);
scaleToUseVertical = safeToScale * (Cnc_Settings.defaultScalePercentage / 100);
}
foreach (gcLine gcl in gcodeFromPath)
{
gcl.X *= scaleToUseHorizontal;
gcl.Y *= scaleToUseVertical;
gcl.X += midPointX;
gcl.Y += midPointY;
if (Mathf.Abs((float)gcl.X) > Mathf.Abs(((Cnc_Settings.WidthInMM - (Cnc_Settings.HorizontalPaddingInMM * 2)) / 2)) || Mathf.Abs((float)gcl.Y) > Mathf.Abs(((Cnc_Settings.HeightInMM - (Cnc_Settings.VerticalPaddingInMM * 2)) / 2)))
{
notsafe = true;
}
}
if (notsafe)
{
Debug.LogError("Code was not safe. Either reached the X or Y limit");
}
else
{
gcodeFromPathToExport = gcodeFromPath;
Interaction_Controller.UpdateMinMaxValues();
Linebuilder.showOutLinesFromPoints(gcodeFromPath);
gameObject.GetComponent <FileController>().writeFile(gcodeFromPath, "examp");
}
}
