/// <summary>
/// Processes the command of setting a printhead.
/// </summary>
public List <ConvertedGCodeLine> ProcessTCommand(string[] repRapLine, ref MaterialModel currentMaterial)
{
AxisModel xAxis = _printerModel.AxisModelList[0];
AxisModel yAxis = _printerModel.AxisModelList[1];
AxisModel zAxisCurrent = _printerModel.FindAxis(currentMaterial.PrintheadModel.AttachedZAxisModel.Name);
//The return GCode.
List <ConvertedGCodeLine> convertedGCodeLinesList = new List <ConvertedGCodeLine>();
//Finds the material that matches the TCommand.
string repRapTCommand = repRapLine[0];
MaterialModel matchingMaterial = _printModel.FindMaterial(repRapTCommand);
//Appends the converted GCode line with a command that sets the Printhead.
//Also appends the converted GCode line with a command that sets the new Z Axis associated with the new Printhead.
//Also appends the converted GCode line with commands that compensate for the new Printhead's offsets.
try
{
//If the current Material is using a Motorized Printhead, retract it before switching Printheads.
if (((currentMaterial.Name != "Unset") && //If this is not the first Material
(currentMaterial.PrintheadModel.PrintheadType == PrintheadType.Motorized) &&
(currentMaterial.PrintheadModel.Name != matchingMaterial.PrintheadModel.Name) && //Do not execute retraction-related actions if no Printhead change occurs
(_parametersModel.IsRetracted == false)))
{
MotorizedPrintheadTypeModel motorizedPrintheadTypeModel = (MotorizedPrintheadTypeModel)currentMaterial.PrintheadModel.PrintheadTypeModel;
ContinuousPrintStyleModel continuousPrintheadStyleModel = (ContinuousPrintStyleModel)currentMaterial.PrintStyleModel;
int eModiPrintCoordIndex = _parametersModel.FindEModiPrintCoordIndex(currentMaterial.PrintheadModel);
convertedGCodeLinesList = WriteG00.WriteMotorizedPrintWithoutMovement(-1 * continuousPrintheadStyleModel.MotorizedDispenseRetractionDistance, motorizedPrintheadTypeModel.MmPerStep,
motorizedPrintheadTypeModel.IsDirectionInverted, ref _parametersModel.ERepRapCoord.DeltaCoordRemainder, _parametersModel.EModiPrintCoordList[eModiPrintCoordIndex]);
_parametersModel.IsRetracted = true;
}
//If a new Motorized Printhead is being set...
//Finds the EModiPrintCoord corresponding to the given Printhead and sets the Minimum and Maximum Position values of the EModiPrintCoord.
if (matchingMaterial.PrintheadModel.PrintheadType == PrintheadType.Motorized)
{
int eModiPrintCoordIndex = _parametersModel.FindEModiPrintCoordIndex(matchingMaterial.PrintheadModel);
MotorizedPrintheadTypeModel motorizedPrintheadTypeModel = (MotorizedPrintheadTypeModel)matchingMaterial.PrintheadModel.PrintheadTypeModel;
ContinuousPrintStyleModel continuousPrintheadStyleModel = (ContinuousPrintStyleModel)matchingMaterial.PrintStyleModel;
//Sets new Min and Max Positions.
_parametersModel.EModiPrintCoordList[eModiPrintCoordIndex].MinPosition = motorizedPrintheadTypeModel.MinPosition;
_parametersModel.EModiPrintCoordList[eModiPrintCoordIndex].MaxPosition = motorizedPrintheadTypeModel.MaxPosition;
//Sets the starting position of the new Motorized Printhead.
//The starting position is the retracted state.
//If this is the first Material, then retraction needs to occur to reach the starting retracted state.
if (currentMaterial.Name == "Unset") //If this is the first Material.
{
//Retraction needs to occur to reach the starting retracted state.
List <ConvertedGCodeLine> retractE = WriteG00.WriteMotorizedPrintWithoutMovement(-1 * continuousPrintheadStyleModel.MotorizedDispenseRetractionDistance, motorizedPrintheadTypeModel.MmPerStep,
motorizedPrintheadTypeModel.IsDirectionInverted, ref _parametersModel.ERepRapCoord.DeltaCoordRemainder, _parametersModel.EModiPrintCoordList[eModiPrintCoordIndex]);
if (retractE != null)
{
convertedGCodeLinesList.AddRange(retractE);
}
_parametersModel.ERepRapCoord.SetInitialCoord(continuousPrintheadStyleModel.MotorizedDispenseRetractionDistance);
_parametersModel.IsRetracted = true;
}
//If this is a new Motorized Printhead, then it is by default, retracted.
if (currentMaterial.PrintheadModel.Name != matchingMaterial.PrintheadModel.Name)
{
_parametersModel.ERepRapCoord.SetInitialCoord(continuousPrintheadStyleModel.MotorizedDispenseRetractionDistance);
_parametersModel.IsRetracted = true;
}
}
else
{
_parametersModel.IsRetracted = false;
}
//Set new Min and Max Positions for the X and Y Axes.
//This is only relevant when the first Material is set.
_parametersModel.SetNewXYZCoord('X', _parametersModel.XCoord.CurrentCoord, _printerModel.AxisModelList[0].MinPosition, _printerModel.AxisModelList[0].MaxPosition);
_parametersModel.SetNewXYZCoord('Y', _parametersModel.YCoord.CurrentCoord, _printerModel.AxisModelList[1].MinPosition, _printerModel.AxisModelList[1].MaxPosition);
//If the Z Axis does not need to be changed, then keep the same Min and Max Positions in the ZCoord.
//If the Z Axis was switched, then set a new ZCoord Position assuming the Z Axis started from a retracted position and traversed its Offset.
if (matchingMaterial.PrintheadModel.AttachedZAxisModel.Name != matchingMaterial.PrintheadModel.AttachedZAxisModel.Name)
{
AxisModel zAxisModel = _printerModel.FindAxis(matchingMaterial.PrintheadModel.AttachedZAxisModel.Name);
double newZPosition = zAxisModel.MaxPosition - GlobalValues.LimitBuffer;
_parametersModel.SetNewXYZCoord('Z', newZPosition, zAxisModel.MinPosition, zAxisModel.MaxPosition);
}
//Set new Droplet parameters if applicable.
if (!((currentMaterial.Name == "Unset") || (currentMaterial == null)) && //If the current Material is set to Droplet...
(currentMaterial.PrintStyle == PrintStyle.Droplet))
{
//Execute movement for the remaining movement left in droplet movements.
MaterialModel newMaterialParameter = (matchingMaterial.PrintStyle == PrintStyle.Droplet) ? matchingMaterial : null;
double[] remainingDropletMovementArr = _parametersModel.ResetDropletPrintParameters(currentMaterial, newMaterialParameter);
double unused = 0;
List <ConvertedGCodeLine> remainingDropletMovement = WriteG00.WriteAxesMovement(
xAxis.MmPerStep, yAxis.MmPerStep, zAxisCurrent.MmPerStep,
remainingDropletMovementArr[0], remainingDropletMovementArr[1], remainingDropletMovementArr[2],
xAxis.IsDirectionInverted, yAxis.IsDirectionInverted, zAxisCurrent.IsDirectionInverted,
ref unused, ref unused, ref unused);
if (remainingDropletMovement != null)
{
convertedGCodeLinesList.AddRange(remainingDropletMovement);
}
}
else if (matchingMaterial.PrintStyle == PrintStyle.Droplet) //If the current Material is irrelevant and the new Material is set to Droplet...
{
_parametersModel.ResetDropletPrintParameters(null, matchingMaterial);
}
//Set the new Material.
currentMaterial = matchingMaterial;
//Command Set for switching Materials.
//This Command Set will convert to the commands for retracting the Z Axis, switching Printheads, moving Offsets, and setting new movement speeds.
string convertedGCodeLine = SerialMessageCharacters.SerialCommandSetCharacter + "SwitchMaterial ";
//If applicable, pause the print sequence before switching to the next Material.
if ((currentMaterial.Name != "Unset") && (currentMaterial.PauseBeforeDeactivating == true))
{
convertedGCodeLine += "D";
}
//If applicable pause the print sequence after switching printheads.
if (matchingMaterial.PauseAfterActivating == true)
{
convertedGCodeLine += "A";
}
if (convertedGCodeLine[convertedGCodeLine.Length - 1] != ' ')
{
convertedGCodeLine += " ";
}
convertedGCodeLine += '"' + matchingMaterial.Name + '"';
convertedGCodeLinesList.Add(new ConvertedGCodeLine(convertedGCodeLine));
}
catch when((matchingMaterial == null) || (currentMaterial == null)) //Catch unset Material.
{
//Catching and error reporting should have happened earlier.
_parametersModel.ErrorReporterViewModel.ReportError("G-Code Conversion Failed: Print Settings Incorrectly Set, Should Not Happen", "Material Null");
return(null);
}