public override PrinterMachineInstruction Instruction(int index)
{
lock (locker)
{
if (index < readLineCount - MaxLinesToBuffer)
{
throw new Exception("You are asking for a line we no longer have buffered");
}
while (index >= readLineCount)
{
string line = openGcodeStream.ReadLine();
if (line == null)
{
readLastLineOfFile = true;
line = "";
}
int ringBufferIndex = readLineCount % MaxLinesToBuffer;
readLinesRingBuffer[ringBufferIndex] = new PrinterMachineInstruction(line);
string lineToParse = line.ToUpper().Trim();
if (lineToParse.StartsWith("G0") || lineToParse.StartsWith("G1"))
{
double newFeedRateMmPerMin = 0;
if (GetFirstNumberAfter("F", lineToParse, ref newFeedRateMmPerMin))
{
feedRateMmPerMin = newFeedRateMmPerMin;
}
Vector3 attemptedDestination = lastPrinterPosition;
GetFirstNumberAfter("X", lineToParse, ref attemptedDestination.X);
GetFirstNumberAfter("Y", lineToParse, ref attemptedDestination.Y);
GetFirstNumberAfter("Z", lineToParse, ref attemptedDestination.Z);
double ePosition = lastEPosition;
GetFirstNumberAfter("E", lineToParse, ref ePosition);
lastPrinterPosition = attemptedDestination;
lastEPosition = ePosition;
}
else if (lineToParse.StartsWith("G92"))
{
double ePosition = 0;
if (GetFirstNumberAfter("E", lineToParse, ref ePosition))
{
lastEPosition = ePosition;
}
}
readLineCount++;
}
}
return(readLinesRingBuffer[index % MaxLinesToBuffer]);
}
public PrinterMachineInstruction(string Line, PrinterMachineInstruction copy, bool clientInsertion = false)
: this(Line)
{
xyzPosition = copy.xyzPosition;
FeedRate = copy.FeedRate;
EPosition = copy.EPosition;
MovementType = copy.MovementType;
SecondsToEndFromHere = copy.SecondsToEndFromHere;
ToolIndex = copy.ToolIndex;
}
public PrinterMachineInstruction(string Line, PrinterMachineInstruction copy, bool clientInsertion = false)
: this(Line)
{
xyzPosition = copy.xyzPosition;
feedRate = copy.feedRate;
ePosition = copy.ePosition;
movementType = copy.movementType;
secondsToEndFromHere = copy.secondsToEndFromHere;
ExtruderIndex = copy.ExtruderIndex;
this.clientInsertion = clientInsertion;
}
public void Insert(int insertIndex, PrinterMachineInstruction printerMachineInstruction)
{
for (int i = 0; i < IndexOfLayerStart.Count; i++)
{
if (insertIndex < IndexOfLayerStart[i])
{
IndexOfLayerStart[i]++;
}
}
GCodeCommandQueue.Insert(insertIndex, printerMachineInstruction);
}
public override double GetFilamentUsedMm(double filamentDiameter)
{
if (filamentUsedMmCache == 0 || filamentDiameter != diameterOfFilamentUsedMmCache)
{
double lastEPosition = 0;
double filamentMm = 0;
for (int i = 0; i < gCodeCommandQueue.Count; i++)
{
PrinterMachineInstruction instruction = gCodeCommandQueue[i];
// filamentMm += instruction.EPosition;
string lineToParse = instruction.Line;
if (lineToParse.StartsWith("G0") || lineToParse.StartsWith("G1"))
{
double ePosition = lastEPosition;
if (GetFirstNumberAfter("E", lineToParse, ref ePosition))
{
if (instruction.XyzeMovementType == PrinterMachineInstruction.MovementTypes.Relative ||
instruction.ExtuderRelativeOverride)
{
filamentMm += ePosition;
}
else
{
double deltaEPosition = ePosition - lastEPosition;
filamentMm += deltaEPosition;
}
lastEPosition = ePosition;
}
}
else if (lineToParse.StartsWith("G92"))
{
double ePosition = 0;
if (GetFirstNumberAfter("E", lineToParse, ref ePosition))
{
lastEPosition = ePosition;
}
}
}
filamentUsedMmCache = filamentMm;
diameterOfFilamentUsedMmCache = filamentDiameter;
}
return(filamentUsedMmCache);
}
public void Add(PrinterMachineInstruction printerMachineInstruction)
{
Insert(LineCount, printerMachineInstruction);
}
private void ParseGLine(string lineString, PrinterMachineInstruction processingMachineState)
{
// take off any comments before we check its length
int commentIndex = lineString.IndexOf(';');
if (commentIndex != -1)
{
lineString = lineString.Substring(0, commentIndex);
}
string[] splitOnSpace = lineString.Split(' ');
string onlyNumber = splitOnSpace[0].Substring(1).Trim();
switch (onlyNumber)
{
case "0":
goto case "1";
case "4":
case "04":
// wait a given number of milliseconds
break;
case "1":
// get the x y z to move to
{
double ePosition = processingMachineState.EPosition;
var position = processingMachineState.Position;
if (processingMachineState.MovementType == PrinterMachineInstruction.MovementTypes.Relative)
{
position = Vector3.Zero;
ePosition = 0;
}
GCodeFile.GetFirstNumberAfter("X", lineString, ref position.X);
GCodeFile.GetFirstNumberAfter("Y", lineString, ref position.Y);
GCodeFile.GetFirstNumberAfter("Z", lineString, ref position.Z);
GCodeFile.GetFirstNumberAfter("E", lineString, ref ePosition);
double feedrate = 0;
if (GCodeFile.GetFirstNumberAfter("F", lineString, ref feedrate))
{
processingMachineState.FeedRate = (float)feedrate;
}
if (processingMachineState.MovementType == PrinterMachineInstruction.MovementTypes.Absolute)
{
processingMachineState.Position = position;
processingMachineState.EPosition = (float)ePosition;
}
else
{
processingMachineState.Position += position;
processingMachineState.EPosition += (float)ePosition;
}
}
if (!gcodeHasExplicitLayerChangeInfo)
{
if (processingMachineState.Z != parsingLastZ || IndexOfLayerStart.Count == 0)
{
// if we changed z or there is a movement and we have never started a layer index
IndexOfLayerStart.Add(GCodeCommandQueue.Count);
}
}
parsingLastZ = processingMachineState.Position.Z;
break;
case "10": // firmware retract
break;
case "11": // firmware unretract
break;
case "21":
// set to metric
break;
case "28":
// G28 Return to home position (machine zero, aka machine reference point)
break;
case "29":
// G29 Probe the z-bed in 3 places
break;
case "30":
// G30 Probe z in current position
break;
case "90": // G90 is Absolute Distance Mode
processingMachineState.MovementType = PrinterMachineInstruction.MovementTypes.Absolute;
break;
case "91": // G91 is Incremental Distance Mode
processingMachineState.MovementType = PrinterMachineInstruction.MovementTypes.Relative;
break;
case "92":
{
// set current head position values (used to reset origin)
double value = 0;
if (GCodeFile.GetFirstNumberAfter("X", lineString, ref value))
{
processingMachineState.PositionSet |= PositionSet.X;
processingMachineState.X = value;
}
if (GCodeFile.GetFirstNumberAfter("Y", lineString, ref value))
{
processingMachineState.PositionSet |= PositionSet.Y;
processingMachineState.Y = value;
}
if (GCodeFile.GetFirstNumberAfter("Z", lineString, ref value))
{
processingMachineState.PositionSet |= PositionSet.Z;
processingMachineState.Z = value;
}
if (GCodeFile.GetFirstNumberAfter("E", lineString, ref value))
{
processingMachineState.PositionSet |= PositionSet.E;
processingMachineState.EPosition = (float)value;
}
}
break;
case "130":
//Set Digital Potentiometer value
break;
case "161":
// home x,y axis minimum
break;
case "162":
// home z axis maximum
break;
default:
break;
}
}
private void ParseMLine(string lineString, PrinterMachineInstruction processingMachineState)
{
// take off any comments before we check its length
int commentIndex = lineString.IndexOf(';');
if (commentIndex != -1)
{
lineString = lineString.Substring(0, commentIndex);
}
string[] splitOnSpace = lineString.Split(' ');
switch (splitOnSpace[0].Substring(1).Trim())
{
case "01":
// show a message?
break;
case "6":
// wait for tool to heat up (wait for condition?)
break;
case "101":
// extrude on, forward
break;
case "18":
// turn off steppers
break;
case "42":
// Stop on material exhausted / Switch I/O pin
break;
case "72":
// makerbot, Play tone or song
break;
case "73":
// makerbot, Manually set build percentage
break;
case "82":
// set extruder to absolute mode
break;
case "83":
//Set extruder to relative mode
break;
case "84":
// lineString = "M84 ; disable motors\r"
break;
case "92":
// set steps per mm
break;
case "102":
// extrude on reverse
break;
case "103":
// extrude off
break;
case "104":
// set extruder temperature
break;
case "105":
// M105 Custom code for temperature reading. (Not used)
break;
case "106":
// turn fan on
break;
case "107":
// turn fan off
break;
case "108":
// set extruder speed
break;
case "109":
// set heated platform temperature
break;
case "114":
break;
case "117":
// in Marlin: Display Message
break;
case "126":
// enable fan (makerbot)
break;
case "127":
// disable fan (makerbot)
break;
case "132":
// recall stored home offsets for axis xyzab
break;
case "133":
// MakerBot wait for toolhead to heat
break;
case "134":
// MakerBot wait for platform to reach target temp
break;
case "135":
// MakerBot change toolhead
break;
case "140":
// set bed temperature
break;
case "190":
// wait for bed temperature to be reached
break;
case "200":
// M200 sets the filament diameter.
break;
case "201":
// set axis acceleration
break;
case "204": // - Set default acceleration
break;
case "207": // M207: calibrate z axis by detecting z max length
break;
case "208": // M208: set axis max travel
break;
case "209": // M209: enable automatic retract
break;
case "210": // Set homing rate
break;
case "226": // user request pause
break;
case "227": // Enable Automatic Reverse and Prime
break;
case "301":
break;
case "400": // Wait for current moves to finish
break;
case "565": // M565: Set Z probe offset
break;
case "1200": //M1200 Makerbot Fake gCode command for start build notification
break;
case "1201": //M1201 Makerbot Fake gCode command for end build notification
break;
case "1202": //M1202 Makerbot Fake gCode command for reset board
break;
default:
break;
}
}
private void AnalyzeGCodeLines(CancellationToken cancellationToken, Action <double, string> progressReporter,
Vector4 maxAccelerationMmPerS2,
Vector4 maxVelocityMmPerS,
Vector4 velocitySameAsStopMmPerS,
Vector4 speedMultiplier)
{
double feedRateMmPerMin = 0;
Vector3 lastPrinterPosition = new Vector3();
double lastEPosition = 0;
Stopwatch maxProgressReport = new Stopwatch();
maxProgressReport.Start();
for (int lineIndex = 0; lineIndex < GCodeCommandQueue.Count; lineIndex++)
{
PrinterMachineInstruction instruction = GCodeCommandQueue[lineIndex];
string line = instruction.Line;
Vector3 deltaPositionThisLine = new Vector3();
double deltaEPositionThisLine = 0;
string lineToParse = line.ToUpper().Trim();
if (lineToParse.StartsWith("G0") || lineToParse.StartsWith("G1"))
{
double newFeedRateMmPerMin = 0;
if (GetFirstNumberAfter("F", lineToParse, ref newFeedRateMmPerMin))
{
feedRateMmPerMin = newFeedRateMmPerMin;
}
Vector3 attemptedDestination = lastPrinterPosition;
GetFirstNumberAfter("X", lineToParse, ref attemptedDestination.X);
GetFirstNumberAfter("Y", lineToParse, ref attemptedDestination.Y);
GetFirstNumberAfter("Z", lineToParse, ref attemptedDestination.Z);
double ePosition = lastEPosition;
GetFirstNumberAfter("E", lineToParse, ref ePosition);
deltaPositionThisLine = attemptedDestination - lastPrinterPosition;
deltaEPositionThisLine = Math.Abs(ePosition - lastEPosition);
lastPrinterPosition = attemptedDestination;
lastEPosition = ePosition;
}
else if (lineToParse.StartsWith("G92"))
{
double ePosition = 0;
if (GetFirstNumberAfter("E", lineToParse, ref ePosition))
{
lastEPosition = ePosition;
}
}
if (feedRateMmPerMin > 0)
{
var timeForE = Estimator.GetSecondsForMovement(deltaEPositionThisLine,
feedRateMmPerMin / 60.0,
maxAccelerationMmPerS2[3],
maxVelocityMmPerS[3],
velocitySameAsStopMmPerS[3],
speedMultiplier[3]);
var timeForPosition = Estimator.GetSecondsForMovement(deltaPositionThisLine,
feedRateMmPerMin / 60.0,
new Vector3(maxAccelerationMmPerS2),
new Vector3(maxVelocityMmPerS),
new Vector3(velocitySameAsStopMmPerS),
new Vector3(speedMultiplier));
instruction.SecondsThisLine = (float)Math.Max(timeForE, timeForPosition);
}
if (progressReporter != null && maxProgressReport.ElapsedMilliseconds > 200)
{
progressReporter(((double)lineIndex / GCodeCommandQueue.Count / 2) + .5, "");
if (cancellationToken.IsCancellationRequested)
{
return;
}
maxProgressReport.Restart();
}
}
double accumulatedTime = 0;
for (int i = GCodeCommandQueue.Count - 1; i >= 0; i--)
{
PrinterMachineInstruction line = GCodeCommandQueue[i];
accumulatedTime += line.SecondsThisLine;
line.SecondsToEndFromHere = (float)accumulatedTime;
}
}
private static GCodeMemoryFile ParseFileContents(string gCodeString,
Vector4 maxAccelerationMmPerS2,
Vector4 maxVelocityMmPerS,
Vector4 velocitySameAsStopMmPerS,
Vector4 speedMultiplier,
CancellationToken cancellationToken, Action <double, string> progressReporter)
{
if (gCodeString == null)
{
return(null);
}
Stopwatch loadTime = Stopwatch.StartNew();
Stopwatch maxProgressReport = new Stopwatch();
maxProgressReport.Start();
PrinterMachineInstruction machineInstructionForLine = new PrinterMachineInstruction("None");
bool gcodeHasExplicitLayerChangeInfo = false;
if (gCodeString.Contains("LAYER:") ||
gCodeString.Contains("; layer"))
{
gcodeHasExplicitLayerChangeInfo = true;
}
PrinterMachineInstruction previousInstruction = null;
var speeds = new HashSet <float>();
GCodeMemoryFile loadedGCodeFile = new GCodeMemoryFile(gcodeHasExplicitLayerChangeInfo);
// Add the first start index (of 0)
loadedGCodeFile.IndexOfLayerStart.Add(0);
int crCount = CountNumLines(gCodeString);
int lineIndex = 0;
foreach (string outputString in CustomSplit(gCodeString, '\n'))
{
string lineString = outputString.Trim();
machineInstructionForLine = new PrinterMachineInstruction(lineString, machineInstructionForLine, false);
if (lineString.Length > 0)
{
switch (lineString[0])
{
case 'G':
loadedGCodeFile.ParseGLine(lineString, machineInstructionForLine);
break;
case 'M':
loadedGCodeFile.ParseMLine(lineString, machineInstructionForLine);
break;
case 'T':
double extruderIndex = 0;
if (GetFirstNumberAfter("T", lineString, ref extruderIndex))
{
machineInstructionForLine.ExtruderIndex = (int)extruderIndex;
}
break;
case ';':
if (gcodeHasExplicitLayerChangeInfo && IsLayerChange(lineString))
{
// The first "layer" statement in the gcode file is after the start gcode and we ignore
// it because we already added a marker for the start of the file (before start gcode)
if (!loadedGCodeFile.foundFirstLayerMarker)
{
loadedGCodeFile.foundFirstLayerMarker = true;
}
else
{
loadedGCodeFile.IndexOfLayerStart.Add(loadedGCodeFile.GCodeCommandQueue.Count);
}
}
else if (lineString.StartsWith("; LAYER_HEIGHT:"))
{
double layerWidth = 0;
if (GetFirstNumberAfter("LAYER_HEIGHT:", lineString, ref layerWidth, 0, ""))
{
loadedGCodeFile.layerHeights.Add(layerWidth);
}
}
break;
case '@':
break;
default:
#if DEBUG
throw new NotImplementedException();
#else
break;
#endif
}
}
loadedGCodeFile.GCodeCommandQueue.Add(machineInstructionForLine);
// Accumulate speeds for extruded moves
if (previousInstruction != null &&
machineInstructionForLine.EPosition > previousInstruction.EPosition &&
(machineInstructionForLine.Line.IndexOf('X') != -1 || machineInstructionForLine.Line.IndexOf('Y') != -1))
{
speeds.Add((float)machineInstructionForLine.FeedRate);
}
if (progressReporter != null && maxProgressReport.ElapsedMilliseconds > 200)
{
progressReporter((double)lineIndex / crCount / 2, "");
if (cancellationToken.IsCancellationRequested)
{
return(null);
}
maxProgressReport.Restart();
}
previousInstruction = machineInstructionForLine;
lineIndex++;
}
loadedGCodeFile.AnalyzeGCodeLines(cancellationToken, progressReporter,
maxAccelerationMmPerS2,
maxVelocityMmPerS,
velocitySameAsStopMmPerS,
speedMultiplier);
loadedGCodeFile.Speeds = speeds;
loadTime.Stop();
Console.WriteLine("Time To Load Seconds: {0:0.00}".FormatWith(loadTime.Elapsed.TotalSeconds));
return(loadedGCodeFile);
}
