/// <summary>
/// Converts block X, Y and Z params into a Coordinate, substituting current machine locations for those that don't
/// have values supplied in the block
/// </summary>
private Coordinate GetMoveTargetCoordinate(GCodeBlock block)
{
var coordinate = new Coordinate();
Coordinate machineLocation = _machine.GetWorkingLocation();
if (block.X.HasValue)
{
coordinate.X = (double)block.X;
}
else
{
if (AbsoluteMode)
{
coordinate.X = machineLocation.X;
}
else
{
coordinate.X = 0;
}
}
if (block.Y.HasValue)
{
coordinate.Y = (double)block.Y;
}
else
{
if (AbsoluteMode)
{
coordinate.Y = machineLocation.Y;
}
else
{
coordinate.Y = 0;
}
}
if (block.Z.HasValue)
{
coordinate.Z = (double)block.Z;
}
else
{
if (AbsoluteMode)
{
coordinate.Z = machineLocation.Z;
}
else
{
coordinate.Z = 0;
}
}
return(coordinate);
}
public static List<GCodeBlock> Parse(string blockLine)
{
var words = blockLine.ToUpper().Split(' ');
var newBlocks = new List<GCodeBlock>();
var newBlock = new GCodeBlock();
newBlocks.Add(newBlock);
foreach (string word in words)
{
if (word.Length < 2) continue;
double value;
string wordType = word.Substring(0, 1);
if (!double.TryParse(word.Substring(1), out value)) value = 0;
// Another G word on the same line as a previous G word, starts a new block
if (wordType == "G" && newBlock.G.HasValue)
{
newBlock = new GCodeBlock();
newBlocks.Add(newBlock);
}
// Another M word on the same line as a previous M word, starts a new block
if (wordType == "M" && newBlock.M.HasValue)
{
newBlock = new GCodeBlock();
newBlocks.Add(newBlock);
}
switch (wordType)
{
case "G": newBlock.G = value; break;
case "M": newBlock.M = value; break;
case "X": newBlock.X = value; break;
case "Y": newBlock.Y = value; break;
case "Z": newBlock.Z = value; break;
case "I": newBlock.I = value; break;
case "J": newBlock.J = value; break;
case "F": newBlock.F = value; break;
case "T": newBlock.T = value; break;
case "P": newBlock.P = value; break;
case "Q": newBlock.Q = value; break;
case "R": newBlock.R = value; break;
case "S": newBlock.S = value; break;
}
}
return newBlocks;
}
public static List <GCodeBlock> Parse(string blockLine)
{
var words = blockLine.ToUpper().Split(' ');
var newBlocks = new List <GCodeBlock>();
var newBlock = new GCodeBlock();
newBlocks.Add(newBlock);
foreach (string word in words)
{
if (word.Length < 2)
{
continue;
}
double value;
string wordType = word.Substring(0, 1);
if (!double.TryParse(word.Substring(1), out value))
{
value = 0;
}
// Another G word on the same line as a previous G word, starts a new block
if (wordType == "G" && newBlock.G.HasValue)
{
newBlock = new GCodeBlock();
newBlocks.Add(newBlock);
}
// Another M word on the same line as a previous M word, starts a new block
if (wordType == "M" && newBlock.M.HasValue)
{
newBlock = new GCodeBlock();
newBlocks.Add(newBlock);
}
switch (wordType)
{
case "G": newBlock.G = value; break;
case "M": newBlock.M = value; break;
case "X": newBlock.X = value; break;
case "Y": newBlock.Y = value; break;
case "Z": newBlock.Z = value; break;
case "I": newBlock.I = value; break;
case "J": newBlock.J = value; break;
case "F": newBlock.F = value; break;
case "T": newBlock.T = value; break;
case "P": newBlock.P = value; break;
case "Q": newBlock.Q = value; break;
case "R": newBlock.R = value; break;
case "S": newBlock.S = value; break;
}
}
return(newBlocks);
}
public void ExecuteCode(List <string> gCode, bool nestedCall = false)
{
int linesParsed = 0;
int linesToParse = gCode.Count;
bool cancel = false;
SetMachineWorkingOffset();
// Header File
if (!nestedCall && _machine.Settings.ExecHeaderFile.Length > 0)
{
ExecuteCode(GCodeFunctions.ExecuteGCodeFile(_machine.Settings.ExecHeaderFile), true);
}
foreach (string line in gCode)
{
if (ProgramFinished)
{
break;
}
string normalizedLine = line.Split('/')[0]; // The '/' signifies a remark to the end of the line
normalizedLine = normalizedLine.Split('(')[0]; // The '(' signifies an inline/multiline remark in standard Gcode, but we're only treating it as a line comment or end of line comment
normalizedLine = normalizedLine.Trim();
// Raise event to notify caller of progress
linesParsed++;
if (!nestedCall && OnProgressNotify != null)
{
OnProgressNotify(string.Format("Parsing G-Code: {0} of {1}", linesParsed, linesToParse), out cancel);
}
if (cancel)
{
break;
}
if (normalizedLine.Length == 0)
{
continue;
}
// --- Extended (non-gcode) functions begin with a '!'
if (normalizedLine.StartsWith("!"))
{
ExecuteExtendedFunction(normalizedLine);
}
// --- Everything else is gcode
else
{
var blocks = GCodeBlock.Parse(normalizedLine);
foreach (var block in blocks)
{
if (block.G.HasValue || block.T.HasValue)
{
ExecuteGBlock(block);
}
if (block.M.HasValue)
{
ExecuteMBlock(block);
}
}
}
}
// Footer File
if (!nestedCall && _machine.Settings.ExecFooterFile.Length > 0)
{
ExecuteCode(GCodeFunctions.ExecuteGCodeFile(_machine.Settings.ExecFooterFile), true);
}
}
private void ExecuteGBlock(GCodeBlock block)
{
// Remember sticky words for subsequent operations
if (block.F.HasValue)
{
G1FeedRate = (int)Math.Floor((double)block.F);
}
if (block.Q.HasValue)
{
_drillDepthIncrement = (double)block.Q;
}
if (block.R.HasValue)
{
_drillSurfaceStart = (double)block.R;
}
if (block.P.HasValue)
{
_dwellDurationMS = (int)Math.Abs((Math.Floor((double)block.P)));
}
// Set Absolute coordinate mode
if (block.G == 90)
{
AbsoluteMode = true;
}
// Set Incremental coordinate mode
if (block.G == 91)
{
AbsoluteMode = false;
}
// Causes next G0, G1, G2, or G3 to use Machine coordinate system - only applies once
if (block.G == 53)
{
_oneTimeMachineCoordinateSystem = true;
}
// G49 cancels G43
if (block.G == 49)
{
ToolLengthCompensation = false;
SetMachineWorkingOffset();
}
// G43 - Sets tool length compensation
if (block.G == 43)
{
ToolLengthCompensation = true;
SetMachineWorkingOffset();
}
// G53 - G59 -- Working Coordinate System change
if (block.G >= 54 && block.G <= 59)
{
SetWorkspaceOffset((double)block.G);
}
if (block.T >= 1 && block.T <= 9)
{
SetToolOffset((double)block.T);
}
// G00 - Rapid Traverse
if (block.G == 0)
{
BeforeMoveSetMCS();
_machine.MoveTo(GetMoveTargetCoordinate(block), !AbsoluteMode, false, _machine.Settings.FeedRateMaximum);
AfterMoveRevertMCS();
}
// G01 - Line to
if (block.G == 1)
{
BeforeMoveSetMCS();
_machine.MoveTo(GetMoveTargetCoordinate(block), !AbsoluteMode, true, G1FeedRate);
AfterMoveRevertMCS();
}
// G02/G03 - Arc clockwise/counter-clockwise to a point (Does not currently support Incremental mode)
if (block.G == 2 || block.G == 3)
{
bool clockwise = block.G == 2;
if (!block.I.HasValue)
{
block.I = 0;
}
if (!block.J.HasValue)
{
block.J = 0;
}
if (block.I == 0 && block.J == 0)
{
throw new Exception("I and J may not both be zero for a g02/g03");
}
var machineLocation = _machine.GetWorkingLocation();
var finish = GetMoveTargetCoordinate(block);
var center = new Coordinate(machineLocation.X + (double)block.I, machineLocation.Y + (double)block.J, machineLocation.Z);
//TODO: make sure this supports incremental mode (which I don't think it does now)
BeforeMoveSetMCS();
ExecuteCode(GCodeFunctions.GenerateArc(machineLocation, finish, center, clockwise), true);
AfterMoveRevertMCS();
}
// G4 - Pause in milliseconds. EG: G04 P250 -- P is sticky
if (block.G == 4)
{
_machine.SendDwell(_dwellDurationMS);
}
// G83 - Drilling cycle with pecks: Accepts X, Y, Z, P (Depth increment), Q (Dwell time in ms) and R (Work surface Z) values
// P, Q and R are sticky
if (block.G == 83 || block.G == 82 || block.G == 81)
{
_oneTimeMachineCoordinateSystem = false; // Not supported for G83
var location = GetMoveTargetCoordinate(block);
ExecuteCode(GCodeFunctions.GeneratePeckingDrillCycle(location, _drillDepthIncrement, _dwellDurationMS, _drillSurfaceStart), true);
}
}
private void ExecuteMBlock(GCodeBlock block)
{
}
/// <summary>
/// Converts block X, Y and Z params into a Coordinate, substituting current machine locations for those that don't
/// have values supplied in the block
/// </summary>
private Coordinate GetMoveTargetCoordinate(GCodeBlock block)
{
var coordinate = new Coordinate();
Coordinate machineLocation = _machine.GetWorkingLocation();
if (block.X.HasValue)
{
coordinate.X = (double)block.X;
}
else
{
if (AbsoluteMode) coordinate.X = machineLocation.X;
else coordinate.X = 0;
}
if (block.Y.HasValue)
{
coordinate.Y = (double)block.Y;
}
else
{
if (AbsoluteMode) coordinate.Y = machineLocation.Y;
else coordinate.Y = 0;
}
if (block.Z.HasValue)
{
coordinate.Z = (double)block.Z;
}
else
{
if (AbsoluteMode) coordinate.Z = machineLocation.Z;
else coordinate.Z = 0;
}
return coordinate;
}
private void ExecuteMBlock(GCodeBlock block)
{
}
private void ExecuteGBlock(GCodeBlock block)
{
// Remember sticky words for subsequent operations
if (block.F.HasValue) G1FeedRate = (int)Math.Floor((double)block.F);
if (block.Q.HasValue) _drillDepthIncrement = (double)block.Q;
if (block.R.HasValue) _drillSurfaceStart = (double)block.R;
if (block.P.HasValue) _dwellDurationMS = (int)Math.Abs((Math.Floor((double)block.P)));
// Set Absolute coordinate mode
if (block.G == 90)
{
AbsoluteMode = true;
}
// Set Incremental coordinate mode
if (block.G == 91)
{
AbsoluteMode = false;
}
// Causes next G0, G1, G2, or G3 to use Machine coordinate system - only applies once
if (block.G == 53)
{
_oneTimeMachineCoordinateSystem = true;
}
// G49 cancels G43
if (block.G == 49)
{
ToolLengthCompensation = false;
SetMachineWorkingOffset();
}
// G43 - Sets tool length compensation
if (block.G == 43)
{
ToolLengthCompensation = true;
SetMachineWorkingOffset();
}
// G53 - G59 -- Working Coordinate System change
if (block.G >= 54 && block.G <= 59)
{
SetWorkspaceOffset((double)block.G);
}
if (block.T >= 1 && block.T <= 9)
{
SetToolOffset((double)block.T);
}
// G00 - Rapid Traverse
if (block.G == 0)
{
BeforeMoveSetMCS();
_machine.MoveTo(GetMoveTargetCoordinate(block), !AbsoluteMode, false, _machine.Settings.FeedRateMaximum);
AfterMoveRevertMCS();
}
// G01 - Line to
if (block.G == 1)
{
BeforeMoveSetMCS();
_machine.MoveTo(GetMoveTargetCoordinate(block), !AbsoluteMode, true, G1FeedRate);
AfterMoveRevertMCS();
}
// G02/G03 - Arc clockwise/counter-clockwise to a point (Does not currently support Incremental mode)
if (block.G == 2 || block.G == 3)
{
bool clockwise = block.G == 2;
if (!block.I.HasValue) block.I = 0;
if (!block.J.HasValue) block.J = 0;
if (block.I == 0 && block.J == 0) throw new Exception("I and J may not both be zero for a g02/g03");
var machineLocation = _machine.GetWorkingLocation();
var finish = GetMoveTargetCoordinate(block);
var center = new Coordinate(machineLocation.X + (double)block.I, machineLocation.Y + (double)block.J, machineLocation.Z);
//TODO: make sure this supports incremental mode (which I don't think it does now)
BeforeMoveSetMCS();
ExecuteCode(GCodeFunctions.GenerateArc(machineLocation, finish, center, clockwise), true);
AfterMoveRevertMCS();
}
// G4 - Pause in milliseconds. EG: G04 P250 -- P is sticky
if (block.G == 4)
{
_machine.SendDwell(_dwellDurationMS);
}
// G83 - Drilling cycle with pecks: Accepts X, Y, Z, P (Depth increment), Q (Dwell time in ms) and R (Work surface Z) values
// P, Q and R are sticky
if (block.G == 83)
{
_oneTimeMachineCoordinateSystem = false; // Not supported for G83
var location = GetMoveTargetCoordinate(block);
ExecuteCode(GCodeFunctions.GeneratePeckingDrillCycle(location, _drillDepthIncrement, _dwellDurationMS, _drillSurfaceStart), true);
}
}
