public override List <MachineStep> Convert(GIstruction istruction, State state)
{
double g = -1;
istruction.Parameters.TryGetValue('G', out g);
var step = new MachineStep()
{
Id = GetStepId(),
Name = $"G153 G{g}",
Actions = new List <BaseAction>()
};
switch (g)
{
case 0:
ConvertG0(istruction, state, step);
break;
case 1:
ConvertG1(istruction, state, step);
break;
default:
throw new NotImplementedException($"G153 G{g} not implemented!");
}
SetActionsIds(step);
SetMaxDuration(step);
return((step.Actions.Count() > 0) ? new List <MachineStep>()
{
step
} : null);
}
public override List <MachineStep> Convert(GIstruction istruction, State state)
{
if (istruction.Parameters.TryGetValue('X', out double x))
{
var step = new MachineStep()
{
Id = GetStepId(),
Name = $"G692",
Actions = new List <BaseAction>()
};
state.Axes.SetRapidX(x, step);
SetActionsIds(step);
SetMaxDuration(step);
return(new List <MachineStep>()
{
step
});
}
else
{
return(null);
}
}
public override List <MachineStep> Convert(GIstruction istruction, State state)
{
if (istruction.Parameters.TryGetValue('L', out double ln) && istruction.Parameters.TryGetValue('T', out double t))
{
MachineStep ms = null;
if (t == 1.0)
{
ms = GetMachineStepForBlowing(ln);
}
else if (t == 2.0)
{
ms = GetMachineStepForGlue(ln);
}
else if (t == 3.0)
{
//ms = GetMachineStepForDoweling(ln);
return(GetMachineStepsForDoweling(ln));
}
else
{
throw new ArgumentOutOfRangeException("Invalid doweling operation!");
}
return((ms != null) && (ms.Actions.Count > 0) ? new List <MachineStep>()
{
ms
} : null);
}
else
{
return(null);
}
}
public override List <MachineStep> Convert(GIstruction istruction, State state)
{
var step = new MachineStep()
{
Id = GetStepId(),
Name = $"G0",
Actions = new List <BaseAction>()
};
if (istruction.Parameters != null && istruction.Parameters.Count > 0)
{
if (istruction.Parameters.TryGetValue('X', out double x))
{
state.Axes.SetRapidX(x, step);
}
if (istruction.Parameters.TryGetValue('Y', out double y))
{
state.Axes.SetRapidY(y, step);
}
if (istruction.Parameters.TryGetValue('Z', out double z))
{
state.Axes.SetRapidZ(z, step);
}
SetActionsIds(step);
SetMaxDuration(step);
}
return((step.Actions.Count() > 0) ? new List <MachineStep>()
{
step
} : null);
}
private void ManagePreviousSynchro(GIstruction istruction, State state, List <MachineStep> steps)
{
var step = new MachineStep()
{
Id = GetStepId(),
Name = "G140 - Reset previous",
Actions = new List <BaseAction>()
};
var resetX = istruction.Parameters.Keys.Contains('X') && istruction.Parameters.Keys.Contains('U') && istruction.Parameters.Keys.Contains('I');
var resetY = istruction.Parameters.Keys.Contains('Y') && istruction.Parameters.Keys.Contains('V') && istruction.Parameters.Keys.Contains('J');
var resetZ = istruction.Parameters.Keys.Contains('Z') && istruction.Parameters.Keys.Contains('W') && istruction.Parameters.Keys.Contains('K');
var resetZ2 = istruction.Parameters.Keys.Contains('A') && istruction.Parameters.Keys.Contains('B') && istruction.Parameters.Keys.Contains('K');
if (resetX)
{
state.Axes.ResetGantryX(step);
}
if (resetY)
{
state.Axes.ResetGantryY(step);
}
if (resetZ || resetZ2)
{
state.Axes.ResetGantryZ(step);
state.Axes.ResetGantryZ2(step);
}
if (step.Actions.Count > 0)
{
steps.Add(step);
}
}
public override List <MachineStep> Convert(GIstruction istruction, State state)
{
var step = new MachineStep()
{
Id = GetStepId(),
Name = "G3",
Actions = new List <BaseAction>()
};
istruction.Parameters.TryGetValue('X', out double x);
istruction.Parameters.TryGetValue('Y', out double y);
istruction.Parameters.TryGetValue('I', out double i);
istruction.Parameters.TryGetValue('J', out double j);
if (istruction.Parameters.TryGetValue('F', out double v))
{
state.FeedSpeed = (int)v;
}
state.Axes.SetPosition(step, state.FeedSpeed, x, y, i, j, false);
SetActionsIds(step);
return((step.Actions.Count() > 0) ? new List <MachineStep>()
{
step
} : null);
}
private static void ConvertG1(GIstruction istruction, State state, MachineStep step)
{
var x = new Nullable <double>();
var y = new Nullable <double>();
var z = new Nullable <double>();
double v = 0.0;
if (istruction.Parameters.TryGetValue('X', out v))
{
x = v;
}
if (istruction.Parameters.TryGetValue('Y', out v))
{
y = v;
}
if (istruction.Parameters.TryGetValue('Z', out v))
{
z = v;
}
if (istruction.Parameters.TryGetValue('F', out v))
{
state.FeedSpeed = (int)v;
}
state.Axes.SetPosition(step, state.FeedSpeed, x, y, z, false);
}
public override List <MachineStep> Convert(GIstruction istruction, State state)
{
state.Axes.OX = istruction.Parameters['X'];
state.Axes.OY = istruction.Parameters['Y'];
state.Axes.OZ = istruction.Parameters['Z'];
return(null);
}
public override List <MachineStep> Convert(GIstruction istruction, State state)
{
var step = new MachineStep()
{
Id = GetStepId(),
Name = $"G0",
Actions = new List <BaseAction>()
};
if (istruction.Parameters != null && istruction.Parameters.Count > 0)
{
if (state.Axes.M.IsIdentity() || state.Axes.M.IsIdentityFlipped())
{
if (istruction.Parameters.TryGetValue('X', out double x))
{
state.Axes.SetRapidX(x, step);
}
if (istruction.Parameters.TryGetValue('Y', out double y))
{
state.Axes.SetRapidY(y, step);
}
if (istruction.Parameters.TryGetValue('Z', out double z))
{
state.Axes.SetRapidZ(z, step);
}
}
else
{
double?nx = null;
double?ny = null;
double?nz = null;
if (istruction.Parameters.TryGetValue('X', out double x))
{
nx = x;
}
if (istruction.Parameters.TryGetValue('Y', out double y))
{
ny = y;
}
if (istruction.Parameters.TryGetValue('Z', out double z))
{
nz = z;
}
state.Axes.SetRapid(nx, ny, nz, step);
}
SetActionsIds(step);
SetMaxDuration(step);
}
return((step.Actions.Count() > 0) ? new List <MachineStep>()
{
step
} : null);
}
public virtual List <MachineStep> Convert(GIstruction istruction, T state)
{
if (istruction == null)
{
throw new ArgumentNullException($"The istruction is not type {typeof(GIstruction).Name}");
}
Debug.WriteLine($"Convert method for G{istruction.Istruction} not implemented!");
return(null);
}
private void OnGIstructionMessage(GIstructionMessage msg)
{
var istruction = new GIstruction(msg.Istruction, msg.Coordinates.ToDictionary(c => c.Key[0], c => c.Value))
{
LineNumber = msg.Step
};
var steps = _converterManager.Convert(istruction);
if ((steps != null) && (steps.Count > 0))
{
MachineSteps.AddRange(steps);
}
}
public override List <MachineStep> Convert(GIstruction istruction, State state)
{
if (istruction.Parameters.TryGetValue('L', out double length))
{
state.Axes.L = length;
}
if (istruction.Parameters.TryGetValue('R', out double radius))
{
state.Axes.R = radius;
}
return(null);
}
public override List <MachineStep> Convert(GIstruction istruction, State state)
{
var steps = new List <MachineStep>();
for (int i = 0; i < state.ToolChange.NumSteps; i++)
{
bool openToolStore = (i == 0);
bool closeToolStore = (i == state.ToolChange.NumSteps - 1);
steps.AddRange(CreateToolchangeStep(state, i, openToolStore, closeToolStore));
}
return((steps.Count() > 0) ? steps : null);
}
public override List <MachineStep> Convert(GIstruction istruction, State state)
{
if (istruction.Parameters.TryGetValue('S', out double s))
{
if (s == 0.0)
{
state.Axes.M.Reset();
}
else if (s == 1.0)
{
if (istruction.Parameters.TryGetValue('I', out double i) &&
istruction.Parameters.TryGetValue('J', out double j) &&
istruction.Parameters.TryGetValue('K', out double k) &&
istruction.Parameters.TryGetValue('P', out double p) &&
istruction.Parameters.TryGetValue('Q', out double q) &&
istruction.Parameters.TryGetValue('R', out double r) &&
istruction.Parameters.TryGetValue('U', out double u) &&
istruction.Parameters.TryGetValue('V', out double v) &&
istruction.Parameters.TryGetValue('W', out double w) &&
istruction.Parameters.TryGetValue('M', out double m) &&
istruction.Parameters.TryGetValue('N', out double n) &&
istruction.Parameters.TryGetValue('O', out double o))
{
state.Axes.M.I = i;
state.Axes.M.J = j;
state.Axes.M.K = k;
state.Axes.M.P = p;
state.Axes.M.Q = q;
state.Axes.M.R = r;
state.Axes.M.U = u;
state.Axes.M.V = v;
state.Axes.M.W = w;
state.Axes.M.M = m;
state.Axes.M.N = n;
state.Axes.M.O = o;
}
else
{
throw new ArgumentException("Invalid parameters set in G305!");
}
}
else
{
throw new ArgumentException("Parameter S in G305 invalid value!");
}
}
return(null);
}
private List <MachineStep> Convert(GIstruction istruction)
{
if (istruction == null)
{
throw new ArgumentNullException($"The istruction is not type {typeof(GIstruction).Name}");
}
if (_gIstructionConverters.TryGetValue(istruction.Istruction, out BaseIstructionConverter <State> c))
{
return(c.Convert(istruction, _state));
}
else
{
return(null);
}
}
public override List <MachineStep> Convert(GIstruction istruction, State state)
{
if (!IsSynchro(istruction))
{
var steps = new List <MachineStep>();
ManagePreviousSynchro(istruction, state, steps);
AddSynchroSteps(istruction, state, steps);
return(steps);
}
else
{
return(null);
}
}
private void ManageWaiter(GIstruction istruction, State state, List <MachineStep> steps)
{
var step = new MachineStep()
{
Id = GetStepId(),
Name = "G140 - Synchro",
Actions = new List <BaseAction>()
};
step.Actions.Add(new ChannelWaiterAction()
{
Name = "Waiter", Description = "Channel waiter", ChannelToWait = 1
});
steps.Add(step);
}
public override List <MachineStep> Convert(GIstruction istruction, State state)
{
if (istruction.Parameters.TryGetValue('G', out double g))
{
var step = new MachineStep()
{
Id = GetStepId(),
Name = $"G141 G{g}",
Actions = new List <BaseAction>()
};
if (g == 1.0)
{
state.Axes.ResetGantryX(step);
}
else if (g == 2.0)
{
state.Axes.ResetGantryY(step);
}
else if (g == 3.0)
{
state.Axes.ResetGantryZ(step);
}
else if (g == 4.0)
{
state.Axes.ResetGantryZ2(step);
}
else
{
state.Axes.ResetGantryX(step);
state.Axes.ResetGantryY(step);
state.Axes.ResetGantryZ(step);
state.Axes.ResetGantryZ2(step);
}
SetActionsIds(step);
return((step.Actions.Count > 0) ? new List <MachineStep>()
{
step
} : null);
}
else
{
return(null);
}
}
private void ManageNotOperation(GIstruction istruction, State state, List <MachineStep> steps)
{
if (steps.Count == 0)
{
var step = new MachineStep()
{
Id = GetStepId(),
Name = "G140 - NOP",
Actions = new List <BaseAction>()
};
step.Actions.Add(new NotOperationAction()
{
Name = "NOP", Description = "NOP to start"
});
steps.Add(step);
}
}
public static BaseIstruction Create(string data, int lineNumber)
{
BaseIstruction istruction = null;
var indexRegEx = new Regex("G\\d+");
if (indexRegEx.IsMatch(data))
{
var matchStr = indexRegEx.Match(data).Value;
var sIndex = matchStr.Remove(0, 1);
if (int.TryParse(sIndex, out int index))
{
var parameters = ParseParameters(data.Replace(matchStr, string.Empty));
istruction = new GIstruction(index, parameters);
istruction.LineNumber = lineNumber;
}
}
return(istruction);
}
public override List <MachineStep> Convert(GIstruction istruction, State state)
{
var step = new MachineStep()
{
Id = GetStepId(),
Name = $"G1",
Actions = new List <BaseAction>()
};
var x = new Nullable <double>();
var y = new Nullable <double>();
var z = new Nullable <double>();
double v = 0.0;
if (istruction.Parameters.TryGetValue('X', out v))
{
x = v;
}
if (istruction.Parameters.TryGetValue('Y', out v))
{
y = v;
}
if (istruction.Parameters.TryGetValue('Z', out v))
{
z = v;
}
if (istruction.Parameters.TryGetValue('F', out v))
{
state.FeedSpeed = (int)v;
}
state.Axes.SetPosition(step, state.FeedSpeed, x, y, z);
SetActionsIds(step);
return((step.Actions.Count() > 0) ? new List <MachineStep>()
{
step
} : null);
}
public override List <MachineStep> Convert(GIstruction istruction, State state)
{
var step = new MachineStep()
{
Id = GetStepId(),
Name = "G210",
Actions = new List <BaseAction>()
};
var x = new Nullable <double>();
var y = new Nullable <double>();
var z = new Nullable <double>();
if (istruction.Parameters.TryGetValue('X', out double v))
{
x = v;
}
if (istruction.Parameters.TryGetValue('Y', out v))
{
y = v;
}
if (istruction.Parameters.TryGetValue('Z', out v))
{
z = v;
}
// la tastatura azzera la G161
state.Axes.OX = 0.0;
state.Axes.OY = 0.0;
//state.Axes.OZ = 0.0; // dalle prove fatte sembra che sulla Z debba rimanere l'effetto G161 (???)
state.Axes.SetPosition(step, 500, x, y, z);
return((step.Actions.Count() > 0) ? new List <MachineStep>()
{
step
} : null);
}
private static void ConvertG0(GIstruction istruction, State state, MachineStep step)
{
if (state.Axes.GantryX == StateData.Gantry.None)
{
var moveX = istruction.Parameters.TryGetValue('X', out double x);
var moveU = istruction.Parameters.TryGetValue('U', out double u);
if (moveX && moveU)
{
state.Axes.SetXU(x, u, step, false);
}
else if (moveX)
{
state.Axes.SetX(x, step, false);
}
else if (moveU)
{
state.Axes.SetU(u, step, false);
}
}
else
{
if (istruction.Parameters.TryGetValue('X', out double x))
{
state.Axes.SetRapidX(x, step, false);
}
}
if (state.Axes.GantryY == StateData.Gantry.None)
{
var moveY = istruction.Parameters.TryGetValue('Y', out double y);
var moveV = istruction.Parameters.TryGetValue('V', out double v);
if (moveY && moveV)
{
state.Axes.SetYV(y, v, step, false);
}
else if (moveY)
{
state.Axes.SetY(y, step, false);
}
else if (moveV)
{
state.Axes.SetV(v, step, false);
}
}
else
{
if (istruction.Parameters.TryGetValue('Y', out double y))
{
state.Axes.SetRapidY(y, step, false);
}
}
if ((state.Axes.GantryZ == StateData.Gantry.None) && (state.Axes.GantryZ2 == StateData.Gantry.None))
{
var moveZ = istruction.Parameters.TryGetValue('Z', out double z);
var moveW = istruction.Parameters.TryGetValue('W', out double w);
var moveA = istruction.Parameters.TryGetValue('A', out double a);
var moveB = istruction.Parameters.TryGetValue('B', out double b);
if (moveZ && moveW && moveA && moveB)
{
state.Axes.SetZWAB(z, w, a, b, step, false);
}
else if (moveZ && moveW)
{
state.Axes.SetZW(z, w, step, false);
}
else if (moveA && moveB)
{
state.Axes.SetAB(a, b, step, false);
}
else if (moveZ)
{
state.Axes.SetZ(z, step, false);
}
else if (moveW)
{
state.Axes.SetW(w, step, false);
}
else if (moveA)
{
state.Axes.SetA(a, step, false);
}
else if (moveB)
{
state.Axes.SetB(b, step, false);
}
}
else
{
if (istruction.Parameters.TryGetValue('Z', out double z))
{
state.Axes.SetRapidZ(z, step, false);
}
}
}
private bool IsSynchro(GIstruction istruction)
{
return((istruction.Parameters != null) && istruction.Parameters.Keys.Contains('S'));
}
private void AddSynchroSteps(GIstruction istruction, State state, List <MachineStep> steps)
{
var moveStepXY = new MachineStep()
{
Id = GetStepId(), Name = "G140 - Move XY", Actions = new List <BaseAction>()
};
var moveStepZ = new MachineStep()
{
Id = GetStepId(), Name = "G140 - Move Z", Actions = new List <BaseAction>()
};
var synStep = new MachineStep()
{
Id = GetStepId(), Name = "G140 - Gantry", Actions = new List <BaseAction>()
};
bool invertOrder = false;
if (istruction.Parameters.Keys.Contains('H'))
{
var h = istruction.Parameters['H'];
if (h == 2.0)
{
invertOrder = true;
}
}
if (istruction.Parameters.Keys.Contains('X') && istruction.Parameters.Keys.Contains('U') && istruction.Parameters.Keys.Contains('I'))
{
var x = istruction.Parameters['X'];
var u = istruction.Parameters['U'];
var i = istruction.Parameters['I'];
var vs = false;
if (x == _parkValue)
{
state.Axes.GetParkX(ref x); vs = true;
}
if (u == _parkValue)
{
state.Axes.GetParkU(ref u); vs = true;
}
state.Axes.SetXU(x, u, moveStepXY, false);
state.Axes.SetGantryX(i, synStep, vs);
}
if (istruction.Parameters.Keys.Contains('Y') && istruction.Parameters.Keys.Contains('V') && istruction.Parameters.Keys.Contains('J'))
{
var y = istruction.Parameters['Y'];
var v = istruction.Parameters['V'];
var j = istruction.Parameters['J'];
var vs = false;
if (y == _parkValue)
{
state.Axes.GetParkY(ref y); vs = true;
}
if (v == _parkValue)
{
state.Axes.GetParkV(ref v); vs = true;
}
state.Axes.SetYV(y, v, moveStepXY, false);
state.Axes.SetGantryY(j, synStep, vs);
}
if (istruction.Parameters.Keys.Contains('K'))
{
var parkZ = false;
var parkW = false;
var parkA = false;
var parkB = false;
if (istruction.Parameters.Keys.Contains('Z') && istruction.Parameters.Keys.Contains('W'))
{
var z = istruction.Parameters['Z'];
var w = istruction.Parameters['W'];
if (z == _parkValue)
{
state.Axes.GetParkZ(ref z); parkZ = true;
}
if (w == _parkValue)
{
state.Axes.GetParkW(ref w); parkW = true;
}
state.Axes.SetZW(z, w, moveStepZ, false);
}
if (istruction.Parameters.Keys.Contains('A') && istruction.Parameters.Keys.Contains('B'))
{
var a = istruction.Parameters['A'];
var b = istruction.Parameters['B'];
if (a == _parkValue)
{
state.Axes.GetParkA(ref a); parkA = true;
}
if (b == _parkValue)
{
state.Axes.GetParkB(ref b); parkB = true;
}
state.Axes.SetAB(a, b, moveStepZ, false);
}
var k = istruction.Parameters['K'];
var vs = false;
if (((k == 1) || (k == 2)) && (parkZ || parkW))
{
vs = true;
}
else if (((k == 3) || (k == 4)) && (parkA || parkB))
{
vs = true;
}
state.Axes.SetGantryZ(k, synStep, vs);
}
SetActionsIds(moveStepXY);
SetActionsIds(moveStepZ);
SetActionsIds(synStep);
if (invertOrder)
{
if (moveStepZ.Actions.Count > 0)
{
steps.Add(moveStepZ);
}
if (moveStepXY.Actions.Count > 0)
{
steps.Add(moveStepXY);
}
}
else
{
if (moveStepXY.Actions.Count > 0)
{
steps.Add(moveStepXY);
}
if (moveStepZ.Actions.Count > 0)
{
steps.Add(moveStepZ);
}
}
if (synStep.Actions.Count > 0)
{
steps.Add(synStep);
}
}
