public GCodeLine(string l, GCodeLine prevLn)
{
inputLine = localLine = l;
CNCPoint curPosition = prevLn.ToPosition;
FromPosition = curPosition;
if (inputLine.Trim().StartsWith("("))
{
}
//Remove line number, if presents
RemoveLineNumber();
//Remove comments
RemoveComments();
curX = curPosition.x.ToString();
curY = curPosition.y.ToString();
curZ = curPosition.z.ToString();
ParseCoord();
ProcessCommand();
this.prev = prevLn;
prevLn.next = this;
LineNum = GetCurrentLineNumber();
}
/// <summary>
/// Start to run a GCode file, if the file has been loaded
/// </summary>
public void StartFile()
{
if (this.gcodeFile == null)
{
return;
}
gCodeArgs.FileStatus = FileStatus.Running;
//GCodeLine startLine = gcodeFile.GetStartLine();
//Send(startLine.inputLine);
GCodeLine startLn = gcodeFile.ReadNextGCodeLine();
gcodeFile.CurrentLine++;
if (startLn == null)
{
string filePath = gcodeFile.FilePath;
OpenGCode(filePath);
startLn = gcodeFile.ReadNextGCodeLine();
}
if (startLn.IsSupported)
{
Send(startLn.inputLine);
}
else
{
Send("?");
}
}
public GCodeLine Head()
{
GCodeLine head = this;
while (head.prev != null)
{
head = head.prev;
}
return(head);
}
public GCodeLine NextSupportedLine()
{
GCodeLine ln = curLine.next;
while (ln != null && !ln.IsSupported)
{
ln = ln.next;
}
curLine = ln;
return(curLine);
}
public GCodeLine GetStartLine()
{
GCodeLine line = curLine;
while (!line.IsSupported)
{
line = line.next;
}
curLine = line;
return(curLine);
}
/// <summary>
/// Get next line from GCode file and send it to grbl port
/// </summary>
private void SendNextLineNew()
{
//
if (IsPause)
{
return;
}
//string line = gcodeFile.NextLine();
//GCodeLine gcodeline = gcodeFile.NextSupportedLine();
GCodeLine gcodeline = gcodeFile.ReadNextGCodeLine();
//GCodeLine gcodeline = gcodeFile.NextSupportedLine();
if (gcodeline != null)
{
Send(gcodeline.inputLine);
gCodeArgs.gcode = gcodeline.inputLine;
gCodeArgs.CurrentLine = gcodeFile.CurrentLineNum;
gCodeArgs.TotalLine = gcodeFile.TotalLines;
GCodeStatusUpdate(this, gCodeArgs);
}
else
{
gCodeArgs.FileStatus = FileStatus.Stopped;
GCodeStatusUpdate(this, gCodeArgs);
}
//if (!line.Trim().Equals("EOF") && line.Trim().Length > 0)
//{
// logger.Info("Sending Line .......");
// Send(line);
// gcodeFile.CurrentLine++;
// gCodeArgs.gcode = line;
// gCodeArgs.CurrentLine = gcodeFile.CurrentLine;
// gCodeArgs.TotalLine = gcodeFile.TotalLines;
// GCodeStatusUpdate(this, gCodeArgs);
//}
//else if (line.Trim().Equals("EOF"))
//{
// logger.Info("End of File ......");
// IsFile = false;
//}
//else if (line.Trim().Length == 0)
//{
// logger.Info("Empty Line ....");
// return;
//}
//else
//{
// logger.Info("Unknown ......................");
//}
}
public int Count()
{
int cnt = 1;
GCodeLine p = this.next;
while (p != null)
{
cnt++;
p = p.next;
}
return(cnt);
}
public void PrintAll()
{
GCodeLine cur = this.Head();
Console.WriteLine(cur.Count());
//Console.WriteLine(cur.PrintPosition());
while (cur.next != null)
{
cur = cur.next;
Console.WriteLine(cur.PrintPosition());
}
}
/// <summary>
/// Load GCode from a file
/// </summary>
/// <param name="fileName"></param>
/// <returns></returns>
public static List <GCodeLine> LoadFromFile(string fileName)
{
int idx = 0;
List <GCodeLine> list = new List <GCodeLine>();
//Create a fist line to setup initial positions, in case no information from grbl
GCodeLine firstLn = new GCodeLine()
{
Index = idx
};
firstLn.SetInitialPosition();
list.Add(firstLn);
//Start reading file
string ln = string.Empty;
StreamReader sr = new StreamReader(fileName);
while ((ln = sr.ReadLine()) != null)
{
try
{
idx++;
//Create a GCode Line
GCodeLine gcodeLn = new GCodeLine(ln)
{
Index = idx
};
if (gcodeLn.comment.Length > 0)
{
continue;
}
list.Add(gcodeLn);
//Create linked list
GCodeLine prevCode = list[list.Count - 2];
gcodeLn.prev = prevCode;
prevCode.next = gcodeLn;
if (gcodeLn.IsPositionCode)
{
//gcodeLn.CalculateTravelDist();
//gcodeLn.GetCurrentDir();
}
}
catch (Exception ex)
{
Console.WriteLine(ex.Message + "<<" + ln + ">>");
}
}
return(list);
}
public int GetCurrentLineNumber()
{
int cnt = 1;
GCodeLine tempL = this;
while (tempL.prev != null)
{
tempL = tempL.prev;
cnt++;
}
return(cnt);
}
public int PositionCount()
{
int cnt = 0;
GCodeLine p = this;
while (p != null)
{
if (p.isPosition)
{
cnt++;
}
p = p.Next();
}
return(cnt);
}
public int CurrentZDir()
{
int dir = 0;
GCodeLine p = this.prev;
while (p != null)
{
if (p.zDir != 0)
{
dir = p.zDir;
break;
}
p = p.prev;
}
return(dir);
}
public GCodeLine ReadNextGCodeLine()
{
GCodeLine gcodeLn = null;
string ln = stream_in.ReadLine();
if (ln == null)
{
ln = "EOF";
CurrentLineNum++;
}
else
{
gcodeLn = new GCodeLine(ln);
CurrentLineNum++;
}
return(gcodeLn);
}
/// <summary>
/// Open the gcode file
/// </summary>
/// <param name="filename"></param>
public void OpenFile(string filename)
{
//Set the file name
_filename = filename;
//If the file exist
if (File.Exists(filename))
{
gcodeLines = new List <GCodeLine>();
///Open the file and get the line count
using (StreamReader sr = new StreamReader(_filename))
{
string content = sr.ReadToEnd();
sr.Close();
string[] lns = content.Split('\n');
lines = new List <string>();
foreach (string ln in lns)
{
AddGCodeLine(ln);
lines.Add(ln.Trim());
}
TotalLines = lns.Length;
CurrentLineNum = 0;
content = string.Empty;
sr.Close();
}
curLine = gcodeLines[0];
//stream = new FileStream(filename, FileMode.Open, FileAccess.Read);
//fileLength = stream.Length;
Status = GCodeFileStatusEnum.Loaded;
}
else
{
Status = GCodeFileStatusEnum.Error;
}
ResetSeek();
}
public BoundingBox GetBoundingBox()
{
BoundingBox bbox = new BoundingBox()
{
XMax = -1000, XMin = 1000, YMax = -1000, YMin = 1000, ZMax = -1000, ZMin = 1000
};
GCodeLine curLn = this;
while (curLn != null)
{
CNCPoint toPt = curLn.ToPosition;
if (toPt.x < bbox.XMin)
{
bbox.XMin = toPt.x;
}
if (toPt.x > bbox.XMax)
{
bbox.XMax = toPt.x;
}
if (toPt.y < bbox.YMin)
{
bbox.YMin = toPt.y;
}
if (toPt.y > bbox.YMax)
{
bbox.YMax = toPt.y;
}
if (toPt.z < bbox.ZMin)
{
bbox.ZMin = toPt.z;
}
if (toPt.z > bbox.ZMax)
{
bbox.ZMax = toPt.z;
}
curLn = curLn.next;
}
return(bbox);
}
public void AddGCodeLine(string ln)
{
if (gcodeLines == null)
{
gcodeLines = new List <GCodeLine>();
}
ln = ln.Trim();
if (gcodeLines.Count == 0)
{
GCodeLine newLn = new GCodeLine(ln.Trim());
newLn.SetInitialPosition();
gcodeLines.Add(newLn);
}
else
{
GCodeLine prevLn = gcodeLines[gcodeLines.Count - 1];
GCodeLine newLn = new GCodeLine(ln.Trim(), prevLn);
gcodeLines.Add(newLn);
}
}
public void GetBoundaryBox(out float xmin, out float xmax, out float ymin, out float ymax)
{
xmin = 0;
xmax = 0;
ymin = 0;
ymax = 0;
GCodeLine head = this.Head();
while (head != null)
{
if (!head.isPosition)
{
head = head.next;
continue;
}
float xd = float.Parse(head.x);
float yd = float.Parse(head.y);
float zd = float.Parse(head.z);
if (xd < xmin)
{
xmin = xd;
}
if (xd > xmax)
{
xmax = xd;
}
if (yd < ymin)
{
ymin = yd;
}
if (yd > ymax)
{
ymax = yd;
}
head = head.next;
}
}
public GCodeLine AddGCodeLine(string l)
{
GCodeLine newLine = new GCodeLine(l, this);
return(newLine);
}
private double CalDistance(GCodeLine p1, GCodeLine p2)
{
return(Math.Sqrt(Math.Pow(p2.X - p1.X, 2) + Math.Pow(p2.Y - p1.Y, 2) + Math.Pow(p2.Z - p1.Z, 2)));
}
