/// <summary>
///
/// </summary>
/// <param name="line"></param>
/// <returns>index of created movement in toolpath</returns>
public int ParseLine(string line)
{
{ //cleanup
int commentIndex = line.IndexOfAny(new char[] { ';', '(' });
if (commentIndex >= 0)
line = line.Remove(commentIndex);
if (string.IsNullOrWhiteSpace(line))
return -1;
line = line.ToUpperInvariant();
}
double? x = null, y = null, z = null, i = null, j = null, r = null, f = null, p = null;
int LineMovementCode = -1;
MatchCollection matches = GCodeSplitter.Matches(line);
foreach (Match match in matches)
{
char Letter = match.Groups[1].Value[0];
double Arg = double.Parse(match.Groups[2].Value, GCodeCommand.NumberFormat); //no tryparse, the regex should only accept valid numbers (except for out of range)
if (Letter == 'M')
{
if (LineMovementCode != -1)
throw new Exception("GCode with parameters must be the last in a line");
ToolPath.Add(new MCode(Arg));
continue;
}
if (Letter == 'G')
{
if (LineMovementCode != -1)
throw new Exception("GCode with parameters must be the last in a line");
if (Arg == (int)Arg && (int)Arg <= 4 && (int)Arg >= 0)
{
LineMovementCode = (int)Arg;
LastGCode = LineMovementCode;
continue;
}
if (Arg == 20)
{
Unit = DistanceUnit.Inches;
continue;
}
if (Arg == 21)
{
Unit = DistanceUnit.MM;
continue;
}
if (Arg == 90)
{
DistanceMode = ParseDistanceMode.Absolute;
continue;
}
if (Arg == 90.1)
{
ArcDistanceMode = ParseDistanceMode.Absolute;
continue;
}
if (Arg == 91)
{
DistanceMode = ParseDistanceMode.Incremental;
continue;
}
if (Arg == 91.1)
{
ArcDistanceMode = ParseDistanceMode.Incremental;
continue;
}
continue;
//throw new Exception($"Unrecognized GCode 'G{Arg}'");
}
if (PositionWords.Contains(Letter))
{
if (LineMovementCode == -1)
LineMovementCode = LastGCode;
if (Unit == DistanceUnit.Inches)
Arg *= 25.4;
}
if (Letter == 'X')
{ x = Arg; continue; }
if (Letter == 'Y')
{ y = Arg; continue; }
if (Letter == 'Z')
{ z = Arg; continue; }
if (Letter == 'I')
{ i = Arg; continue; }
if (Letter == 'J')
{ j = Arg; continue; }
if (Letter == 'R')
{ r = Arg; continue; }
if (Letter == 'F')
{ f = Arg; continue; }
if (Letter == 'P')
{ p = Arg; continue; }
throw new Exception($"Unrecognized word '{Letter}'");
}
if (LineMovementCode == -1)
return - 1;
if (LineMovementCode == 4)
{
if (p.HasValue)
{
if ((x ?? y ?? z ?? i ?? j ?? r ?? f) != null)
throw new Exception("Unused word in block");
ToolPath.Add(new Dwell(p.Value));
}
else
throw new Exception("Missing 'P' command word");
}
Vector3 EndPosition = new Vector3(Position);
if (x.HasValue)
{
EndPosition.X = (DistanceMode == ParseDistanceMode.Absolute) ? x.Value : EndPosition.X + x.Value;
}
if (y.HasValue)
{
EndPosition.Y = (DistanceMode == ParseDistanceMode.Absolute) ? y.Value : EndPosition.Y + y.Value;
}
if (z.HasValue)
{
EndPosition.Z = (DistanceMode == ParseDistanceMode.Absolute) ? z.Value : EndPosition.Z + z.Value;
}
if (Position == EndPosition)
return -1;
switch (LineMovementCode)
{
case 0:
{
if ((i ?? j ?? r ?? p ?? f) != null)
throw new Exception("Unused word in block");
Straight s = new Straight(Position, EndPosition, true);
ToolPath.Add(s);
break;
}
case 1:
{
if ((i ?? j ?? r ?? p) != null)
throw new Exception("Unused word in block");
Straight s = new Straight(Position, EndPosition, false);
s.FeedRate = f;
ToolPath.Add(s);
break;
}
case 2:
case 3:
{
if(p.HasValue)
throw new Exception("Unused word in block");
Vector3 center = new Vector3(Position);
if (i.HasValue)
{
center.X = (ArcDistanceMode == ParseDistanceMode.Absolute) ? i.Value : Position.X + i.Value;
}
if (j.HasValue)
{
center.Y = (ArcDistanceMode == ParseDistanceMode.Absolute) ? j.Value : Position.Y + j.Value;
}
if (r.HasValue)
{
if ((i ?? j).HasValue)
throw new Exception("Both IJ and R notation used");
Vector3 Parallel = EndPosition - Position;
Vector3 Perpendicular = Parallel.CrossProduct(new Vector3(0, 0, 1));
double PerpLength = Math.Sqrt((r.Value * r.Value) - (Parallel.Magnitude * Parallel.Magnitude / 4));
if (LineMovementCode == 3 ^ r.Value < 0)
PerpLength = -PerpLength;
Perpendicular *= PerpLength / Perpendicular.Magnitude;
center = Position + (Parallel / 2) + Perpendicular;
}
if (center == Position)
throw new Exception("Center of arc undefined");
Arc a = new Arc(Position, EndPosition, center, LineMovementCode == 2 ? ArcDirection.CW : ArcDirection.CCW);
a.FeedRate = f;
ToolPath.Add(a);
break;
}
}
Position = EndPosition;
return ToolPath.Count - 1;
}
public override IEnumerable <Movement> Split(double length)
{
if (Rapid || Length <= length)
{
yield return(this);
yield break;
}
else
{
int divisions = (int)Math.Ceiling(Length / length);
Vector3 start = new Vector3(Start);
for (int i = 0; i < divisions; i++)
{
Vector3 end = Interpolate(((double)i + 1) / divisions);
Straight s = new Straight(start, end, false);
if (i == 0)
{
s.FeedRate = FeedRate;
}
start = end;
yield return(s);
}
}
}
public override IEnumerable<Movement> Split(double length)
{
if (Rapid || Length <= length)
{
yield return this;
yield break;
}
else
{
int divisions = (int)Math.Ceiling(Length / length);
Vector3 start = new Vector3(Start);
for(int i = 0; i < divisions; i++)
{
Vector3 end = Interpolate(((double)i + 1) / divisions);
Straight s = new Straight(start, end, false);
if(i == 0)
s.FeedRate = FeedRate;
start = end;
yield return s;
}
}
}
/// <summary>
///
/// </summary>
/// <param name="line"></param>
/// <returns>index of created movement in toolpath</returns>
public int ParseLine(string line)
{
{ //cleanup
int commentIndex = line.IndexOfAny(new char[] { ';', '(' });
if (commentIndex >= 0)
{
line = line.Remove(commentIndex);
}
if (string.IsNullOrWhiteSpace(line))
{
return(-1);
}
line = line.ToUpperInvariant();
}
double?x = null, y = null, z = null, i = null, j = null, r = null, f = null, p = null;
int LineMovementCode = -1;
MatchCollection matches = GCodeSplitter.Matches(line);
foreach (Match match in matches)
{
char Letter = match.Groups[1].Value[0];
double Arg = double.Parse(match.Groups[2].Value, GCodeCommand.NumberFormat); //no tryparse, the regex should only accept valid numbers (except for out of range)
if (Letter == 'M')
{
if (LineMovementCode != -1)
{
throw new Exception("GCode with parameters must be the last in a line");
}
ToolPath.Add(new MCode(Arg));
continue;
}
if (Letter == 'G')
{
if (LineMovementCode != -1)
{
throw new Exception("GCode with parameters must be the last in a line");
}
if (Arg == (int)Arg && (int)Arg <= 4 && (int)Arg >= 0)
{
LineMovementCode = (int)Arg;
LastGCode = LineMovementCode;
continue;
}
if (Arg == 20)
{
Unit = DistanceUnit.Inches;
continue;
}
if (Arg == 21)
{
Unit = DistanceUnit.MM;
continue;
}
if (Arg == 90)
{
DistanceMode = ParseDistanceMode.Absolute;
continue;
}
if (Arg == 90.1)
{
ArcDistanceMode = ParseDistanceMode.Absolute;
continue;
}
if (Arg == 91)
{
DistanceMode = ParseDistanceMode.Incremental;
continue;
}
if (Arg == 91.1)
{
ArcDistanceMode = ParseDistanceMode.Incremental;
continue;
}
continue;
//throw new Exception($"Unrecognized GCode 'G{Arg}'");
}
if (PositionWords.Contains(Letter))
{
if (LineMovementCode == -1)
{
LineMovementCode = LastGCode;
}
if (Unit == DistanceUnit.Inches)
{
Arg *= 25.4;
}
}
if (Letter == 'X')
{
x = Arg; continue;
}
if (Letter == 'Y')
{
y = Arg; continue;
}
if (Letter == 'Z')
{
z = Arg; continue;
}
if (Letter == 'I')
{
i = Arg; continue;
}
if (Letter == 'J')
{
j = Arg; continue;
}
if (Letter == 'R')
{
r = Arg; continue;
}
if (Letter == 'F')
{
f = Arg; continue;
}
if (Letter == 'P')
{
p = Arg; continue;
}
throw new Exception($"Unrecognized word '{Letter}'");
}
if (LineMovementCode == -1)
{
return(-1);
}
if (LineMovementCode == 4)
{
if (p.HasValue)
{
if ((x ?? y ?? z ?? i ?? j ?? r ?? f) != null)
{
throw new Exception("Unused word in block");
}
ToolPath.Add(new Dwell(p.Value));
}
else
{
throw new Exception("Missing 'P' command word");
}
}
Vector3 EndPosition = new Vector3(Position);
if (x.HasValue)
{
EndPosition.X = (DistanceMode == ParseDistanceMode.Absolute) ? x.Value : EndPosition.X + x.Value;
}
if (y.HasValue)
{
EndPosition.Y = (DistanceMode == ParseDistanceMode.Absolute) ? y.Value : EndPosition.Y + y.Value;
}
if (z.HasValue)
{
EndPosition.Z = (DistanceMode == ParseDistanceMode.Absolute) ? z.Value : EndPosition.Z + z.Value;
}
if (Position == EndPosition)
{
return(-1);
}
switch (LineMovementCode)
{
case 0:
{
if ((i ?? j ?? r ?? p ?? f) != null)
{
throw new Exception("Unused word in block");
}
Straight s = new Straight(Position, EndPosition, true);
ToolPath.Add(s);
break;
}
case 1:
{
if ((i ?? j ?? r ?? p) != null)
{
throw new Exception("Unused word in block");
}
Straight s = new Straight(Position, EndPosition, false);
s.FeedRate = f;
ToolPath.Add(s);
break;
}
case 2:
case 3:
{
if (p.HasValue)
{
throw new Exception("Unused word in block");
}
Vector3 center = new Vector3(Position);
if (i.HasValue)
{
center.X = (ArcDistanceMode == ParseDistanceMode.Absolute) ? i.Value : Position.X + i.Value;
}
if (j.HasValue)
{
center.Y = (ArcDistanceMode == ParseDistanceMode.Absolute) ? j.Value : Position.Y + j.Value;
}
if (r.HasValue)
{
if ((i ?? j).HasValue)
{
throw new Exception("Both IJ and R notation used");
}
Vector3 Parallel = EndPosition - Position;
Vector3 Perpendicular = Parallel.CrossProduct(new Vector3(0, 0, 1));
double PerpLength = Math.Sqrt((r.Value * r.Value) - (Parallel.Magnitude * Parallel.Magnitude / 4));
if (LineMovementCode == 3 ^ r.Value < 0)
{
PerpLength = -PerpLength;
}
Perpendicular *= PerpLength / Perpendicular.Magnitude;
center = Position + (Parallel / 2) + Perpendicular;
}
if (center == Position)
{
throw new Exception("Center of arc undefined");
}
Arc a = new Arc(Position, EndPosition, center, LineMovementCode == 2 ? ArcDirection.CW : ArcDirection.CCW);
a.FeedRate = f;
ToolPath.Add(a);
break;
}
}
Position = EndPosition;
return(ToolPath.Count - 1);
}
