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();
}
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();
}
private void _stream(DriverCNC2 driver)
{
var planStream = new PlanStream3D(_plan.ToArray());
var preloadTime = 0.05;
var startTime = DateTime.Now;
var lastTimeMeasure = startTime;
var lastTotalSecondsRefreshTime = startTime;
var lastCuttingSpeed = Speed.Zero;
var currentlyQueuedTime = 0.0;
var timeQueue = new Queue <double>();
while (!planStream.IsComplete)
{
var currentCuttingSpeed = _stream_cuttingSpeed;
var currentTime = DateTime.Now;
if ((currentTime - lastTotalSecondsRefreshTime).TotalSeconds > 5.0)
{
//force recalculation every few seconds
lastCuttingSpeed = null;
}
if (lastCuttingSpeed != currentCuttingSpeed)
{
//recalculate totalSeconds
lastCuttingSpeed = currentCuttingSpeed;
var cuttingDistance = planStream.GetRemainingConstantDistance();
var rampTime = planStream.GetRemainingRampTime();
var totalElapsedTime = (currentTime - startTime).TotalSeconds;
_totalSeconds = totalElapsedTime + rampTime + cuttingDistance / currentCuttingSpeed.ToMetric() + currentlyQueuedTime;
lastTotalSecondsRefreshTime = currentTime;
}
var timeElapsed = (currentTime - lastTimeMeasure).TotalSeconds;
lastTimeMeasure = currentTime;
if (driver.IncompleteInstructionCount >= 3)
{
//wait some time so we are not spinning like crazy
Thread.Sleep(5);
continue;
}
if (timeQueue.Count > 0)
{
currentlyQueuedTime -= timeQueue.Dequeue();
}
IEnumerable <InstructionCNC> nextInstructions;
if (planStream.IsSpeedLimitedBy(Configuration.MaxCuttingSpeed))
{
var lengthLimit = preloadTime * currentCuttingSpeed.ToMetric();
nextInstructions = planStream.ShiftByConstantSpeed(lengthLimit, currentCuttingSpeed);
}
else
{
nextInstructions = planStream.NextRampInstructions();
}
driver.SEND(nextInstructions);
var duration = nextInstructions.Select(i => i.CalculateTotalTime());
var timeToQueue = duration.Sum(d => (float)d) / Configuration.TimerFrequency;
currentlyQueuedTime += timeToQueue;
timeQueue.Enqueue(currentlyQueuedTime);
}
while (driver.IncompleteInstructionCount > 0)
{
Thread.Sleep(10);
}
StreamingIsComplete?.Invoke();
}