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);
}
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();
}