/// <summary>
/// Execute RepRap G92 command.
/// </summary>
/// <param name="repRapLine"></param>
public void ProcessG92Command(string[] repRapLine)
{
//Read through the GCode line and parse coordinate values.
for (int phrase = 1; phrase < repRapLine.Length; phrase++)
{
switch (repRapLine[phrase][0])
{
case 'X':
_parametersModel.XCoord.NewCoord(GCodeStringParsing.ParseDouble(repRapLine[phrase]));
break;
case 'Y':
_parametersModel.YCoord.NewCoord(GCodeStringParsing.ParseDouble(repRapLine[phrase]));
break;
case 'Z':
_parametersModel.ZCoord.NewCoord(GCodeStringParsing.ParseDouble(repRapLine[phrase]));
break;
case 'E':
_parametersModel.ERepRapCoord.NewCoord(GCodeStringParsing.ParseDouble(repRapLine[phrase]));
break;
}
}
}
/// <summary>
/// Retrieve a list of T commands from RepRap g-code.
/// </summary>
/// <returns></returns>
public void UpdateRepRapIDList()
{
//Return parameter.
_printViewModel.AvailibleRepRapIDList = new ObservableCollection <string>();
//Delimit the g-code string by lines then spaces.
string[][] repRapGCodeArr = GCodeStringParsing.GCodeTo2DArr(_gCodeFileManagerModel.UploadedGCodeModel.GCodeStr);
//Move through each g-code line.
if (repRapGCodeArr != null)
{
for (int line = 0; (line < repRapGCodeArr.Length) && (repRapGCodeArr != null); line++)
{
if (repRapGCodeArr[line] != null &&
!String.IsNullOrWhiteSpace(repRapGCodeArr[line][0]))
{
//Remove comments from the g-code line.
string[] uncommentedRepRapLine = GCodeStringParsing.RemoveGCodeComments(repRapGCodeArr[line]);
if ((uncommentedRepRapLine != null) &&
(uncommentedRepRapLine.Length != 0) &&
(!String.IsNullOrWhiteSpace(uncommentedRepRapLine[0])) &&
(uncommentedRepRapLine[0][0] == 'T'))
{
_printViewModel.AvailibleRepRapIDList.Add(uncommentedRepRapLine[0]);
}
}
}
}
_printViewModel.RepRapIDCount = _printViewModel.AvailibleRepRapIDList.Count;
_printViewModel.UpdateAvailibleRepRapIDList();
}
/// <summary>
/// Reads the coordinate values in a movement or print command.
/// </summary>
/// <param name="convertedGCodeLine"></param>
/// <param name="gCodeIndex"></param>
/// <param name="materialModel"></param>
/// <returns></returns>
private MovementModel ReadCoord(string convertedGCodeLine, int gCodeIndex, MaterialModel materialModel)
{
//G Commands from Converted GCode are in relative positions.
string[] gCodePhrases = GCodeStringParsing.GCodeTo2DArr(convertedGCodeLine)[0];
double xDistance = 0;
double yDistance = 0;
double zDistance = 0;
double eDistance = 0;
//Read the coordinates from the GCode.
for (int phrase = 1; phrase < gCodePhrases.Length; phrase++)
{
switch (gCodePhrases[phrase][0])
{
case 'X':
int xSteps = (int)GCodeStringParsing.ParseDouble(gCodePhrases[phrase]);
AxisModel xAxisModel = _printerModel.AxisModelList[0];
xDistance = G00Calculator.StepsToDistance(xSteps, xAxisModel.MmPerStep, xAxisModel.IsDirectionInverted);
break;
case 'Y':
int ySteps = (int)GCodeStringParsing.ParseDouble(gCodePhrases[phrase]);
AxisModel yAxisModel = _printerModel.AxisModelList[1];
yDistance = G00Calculator.StepsToDistance(ySteps, yAxisModel.MmPerStep, yAxisModel.IsDirectionInverted);
break;
case 'Z':
int zSteps = (int)GCodeStringParsing.ParseDouble(gCodePhrases[phrase]);
AxisModel zAxisModel = _printerModel.FindAxis(materialModel.PrintheadModel.AttachedZAxisModel.Name);
zDistance = G00Calculator.StepsToDistance(zSteps, zAxisModel.MmPerStep, zAxisModel.IsDirectionInverted);
break;
case 'E':
int eSteps = (int)GCodeStringParsing.ParseDouble(gCodePhrases[phrase]);
MotorizedPrintheadTypeModel motorizedPrintheadTypeModel = (MotorizedPrintheadTypeModel)materialModel.PrintheadModel.PrintheadTypeModel;
eDistance = G00Calculator.StepsToDistance(eSteps, motorizedPrintheadTypeModel.MmPerStep, motorizedPrintheadTypeModel.IsDirectionInverted);
break;
default:
//Do nothing.
break;
}
}
MovementModel movementModel = new MovementModel(xDistance, yDistance, zDistance, eDistance, gCodeIndex, materialModel, _printerModel);
return(movementModel);
}
/// <summary>
/// Interpret a command series and return an array of commands
/// </summary>
/// <param name="commandSeries"></param>
/// <returns></returns>
public List <string> InterpretCommandSet(string commandSet)
{
//Remove comments before processing.
commandSet = GCodeStringParsing.RemoveGCodeComments(commandSet);
//The first character of the command set is reserved for the command set serial character.
if ((commandSet.Length >= 7) &&
(commandSet.Substring(1, 6) == "Center"))
{
return(InterpretCenterAxes(commandSet));
}
else if ((commandSet.Length >= 7) &&
(commandSet.Substring(1, 6) == "Origin"))
{
return(InterpretSetOrigin(commandSet));
}
else if ((commandSet.Length >= 13) &&
(commandSet.Substring(1, 12) == "SetMinMaxPos"))
{
return(InterpretSetMinMaxPosition(commandSet));
}
else if ((commandSet.Length >= 9) &&
(commandSet.Substring(1, 8) == "RetractZ"))
{
return(InterpretRetractZ(commandSet));
}
else if ((commandSet.Length >= 6) &&
(commandSet.Substring(1, 5) == "Pause"))
{
return(InterpretPause(commandSet));
}
else if ((commandSet.Length >= 11) &&
(commandSet.Substring(1, 10) == "PrintPause"))
{
return(InterpretPrintPause(commandSet));
}
else if ((commandSet.Length >= 15) &&
(commandSet.Substring(1, 14) == "SwitchMaterial"))
{
return(InterpretSwitchMaterial(commandSet));
}
return(null);
}
/// <summary>
/// Interpret a center axes command set and return an array of commands.
/// </summary>
/// <param name="commandSet"></param>
/// <returns></returns>
private List <string> InterpretCenterAxes(string commandSet)
{
//Command set to be returned.
List <string> returnCommands = new List <string>();
AxisModel xAxisModel = _printerModel.AxisModelList[0];
AxisModel yAxisModel = _printerModel.AxisModelList[1];
RealTimeStatusAxisModel xRealTimeStatusAxisModel = _realTimeStatusDataModel.XRealTimeStatusAxisModel;
RealTimeStatusAxisModel yRealTimeStatusAxisModel = _realTimeStatusDataModel.YRealTimeStatusAxisModel;
double xNewPosition = xRealTimeStatusAxisModel.Position;
double yNewPosition = yRealTimeStatusAxisModel.Position;
//mmPerStep for each actuator.
double xmmPerStep = 0;
double ymmPerStep = 0;
//InvertDirection for each actuator.
bool xInvertDirection = (xAxisModel.IsDirectionInverted == false) ? false : true;
bool yInvertDirection = (yAxisModel.IsDirectionInverted == false) ? false : true;
//Distances from the center.
double xDistanceFromCenter = 0;
double yDistanceFromCenter = 0;
string[] gCodePhrases = GCodeStringParsing.GCodeTo2DArr(commandSet)[0];
foreach (string phrase in gCodePhrases)
{
switch (phrase[0])
{
case 'X':
xDistanceFromCenter = GCodeStringParsing.ParseDouble(phrase);
break;
case 'Y':
yDistanceFromCenter = GCodeStringParsing.ParseDouble(phrase);
break;
default:
//Do nothing.
break;
}
}
//Centering the actuator involves:
// 1. Finding the median position directly in the center of the max and min position.
// 2. Finding the distance between median position and the current position.
// 3. Executing that difference worth of movement.
if (commandSet.Contains("X"))
{
xNewPosition = (xAxisModel.MaxPosition - xAxisModel.MinPosition) / 2 + xAxisModel.MinPosition + xDistanceFromCenter;
xmmPerStep = xAxisModel.MmPerStep;
}
if (commandSet.Contains("Y"))
{
yNewPosition = (yAxisModel.MaxPosition - yAxisModel.MinPosition) / 2 + yAxisModel.MinPosition + yDistanceFromCenter;
ymmPerStep = yAxisModel.MmPerStep;
}
double unused = 0;
returnCommands.Add(GCodeLinesConverter.GCodeLinesListToString(
WriteG00.WriteAxesMovement(
xmmPerStep, ymmPerStep, 0,
xNewPosition - xRealTimeStatusAxisModel.Position, yNewPosition - yRealTimeStatusAxisModel.Position, 0,
xInvertDirection, yInvertDirection, false,
ref unused, ref unused, ref unused)));
return(returnCommands);
}