Esempio n. 1
0
        public static IEnumerable <InstructionCNC> GenerateInstructions(IEnumerable <ToolPathSegment> plan, double desiredSpeed)
        {
            var context = new PlanStreamerContext();

            foreach (var segment in plan)
            {
                context.AddSegment(segment);
            }

            var result = new List <InstructionCNC>();

            while (!context.IsComplete)
            {
                var instruction = context.GenerateNextInstruction(desiredSpeed);
                if (instruction != null)
                {
                    result.Add(instruction);
                }
            }
            return(result);
        }
Esempio n. 2
0
        private void _stream(DriverCNC2 driver)
        {
            var context = new PlanStreamerContext();

            foreach (var part in PlanParts)
            {
                var s = part.StartPoint;
                var e = part.EndPoint;

                var segment = new ToolPathSegment(new Point3D(s.X, s.Y, s.Z), new Point3D(e.X, e.Y, e.Z), MotionMode.IsLinear);
                context.AddSegment(segment);
            }

            var zeroCompatibleSpeed        = Configuration.ReverseSafeSpeed.ToMetric();
            var instructionBuffer          = new Queue <InstructionCNC>();
            var maxPlannedInstructionCount = 5;

            while (!context.IsComplete)
            {
                while (_stop && context.CurrentSpeed <= zeroCompatibleSpeed)
                {
                    _isStreaming = false;
                    Thread.Sleep(10);
                }
                _isStreaming = true;

                if (driver.IncompleteInstructionCount >= maxPlannedInstructionCount)
                {
                    //wait some time so we are not spinning like crazy
                    Thread.Sleep(1);
                    continue;
                }

                do
                {
                    double speed;
                    lock (_L_speed)
                        speed = _stream_cuttingSpeed;

                    if (_stop)
                    {
                        speed = zeroCompatibleSpeed;
                    }

                    var instruction = context.GenerateNextInstruction(speed);
                    instructionBuffer.Enqueue(instruction);
                } while (driver.IncompleteInstructionCount == 0 && !context.IsComplete && instructionBuffer.Count < maxPlannedInstructionCount);

                while (instructionBuffer.Count > 0)
                {
                    var instruction = instructionBuffer.Dequeue();
                    driver.SEND(instruction);
                }
            }

            while (driver.IncompleteInstructionCount > 0)
            {
                //wait until all instructions are completed
                Thread.Sleep(10);
            }

            StreamingIsComplete?.Invoke();
        }
Esempio n. 3
0
        private void _stream(DriverCNC2 driver)
        {
            PlanStreamerContext intermContext = null;

            _context = new PlanStreamerContext(true);
            foreach (var part in PlanParts)
            {
                var s = part.StartPoint;
                var e = part.EndPoint;

                var segment = new ToolPathSegment(new Point3D(s.X, s.Y, s.Z), new Point3D(e.X, e.Y, e.Z), MotionMode.IsLinear);
                _context.AddSegment(segment);
            }

            var zeroCompatibleSpeed        = Configuration.ReverseSafeSpeed.ToMetric();
            var instructionBuffer          = new Queue <InstructionCNC>();
            var maxPlannedInstructionCount = 5;

            var currentContext = _context;

            while (!currentContext.IsComplete || intermContext != null)
            {
                if (intermContext != null && intermContext.IsComplete)
                {
                    intermContext  = null;
                    currentContext = _context;
                    continue;
                }

                while (_stop && _context.CurrentSpeed <= zeroCompatibleSpeed)
                {
                    _isStreaming = false;
                    Thread.Sleep(10);
                }

                _isStreaming = true;

                if (IsChangingPosition)
                {
                    // create intermediate context which will transfer machine to the new position
                    var np           = CurrentStreamPosition.As3Dmm();
                    var cp           = driver.CurrentState.As3Dstep().As3Dmm();
                    var cpTransition = new Point3Dmm(cp.X, cp.Y, _transitionLevel);
                    var npTransition = new Point3Dmm(np.X, np.Y, _transitionLevel);

                    intermContext = new PlanStreamerContext(false);
                    intermContext.AddSegment(new ToolPathSegment(cp.As3D(), cpTransition.As3D(), MotionMode.IsLinear));
                    intermContext.AddSegment(new ToolPathSegment(cpTransition.As3D(), npTransition.As3D(), MotionMode.IsLinear));
                    intermContext.AddSegment(new ToolPathSegment(npTransition.As3D(), np.As3D(), MotionMode.IsLinear));

                    currentContext     = intermContext;
                    IsChangingPosition = false;
                }

                if (driver.IncompleteInstructionCount >= maxPlannedInstructionCount)
                {
                    //wait some time so we are not spinning like crazy
                    Thread.Sleep(1);
                    continue;
                }

                do
                {
                    double speed;
                    lock (_L_speed)
                    {
                        speed = _stream_cuttingSpeed;
                    }

                    if (_stop)
                    {
                        speed = zeroCompatibleSpeed;
                    }

                    var instruction = currentContext.GenerateNextInstruction(speed, stopRemainingTimeLockstep: _stop);
                    instructionBuffer.Enqueue(instruction);
                } while (driver.IncompleteInstructionCount == 0 && !currentContext.IsComplete && instructionBuffer.Count < maxPlannedInstructionCount);

                while (instructionBuffer.Count > 0)
                {
                    var instruction = instructionBuffer.Dequeue();
                    if (!driver.SEND(instruction))
                    {
                        throw new InvalidOperationException("Instruction was not accepted. (Probably over bounds?). Progress: " + Progress * 100);
                    }
                }
            }

            while (driver.IncompleteInstructionCount > 0)
            {
                //wait until all instructions are completed
                Thread.Sleep(10);
            }

            StreamingIsComplete?.Invoke();
        }