public void ReadCommandList()
{
foreach (string commandLine in commandList)
{
String[] cmds = commandLine.Split(new char[0], StringSplitOptions.RemoveEmptyEntries);
if (cmds.Length == 0)
{
continue;
}
foreach (string cmd in cmds)
{
ReadCommand(cmd);
}
if (modalGroupQueue.Count == 0)
{
SendCNCInstruction(CNCInstruction.GCode2ModalGroup(gCode));
}
while (modalGroupQueue.Count != 0)
{
SendCNCInstruction(modalGroupQueue.Dequeue());
}
ResetNonModal();
}
}
protected void ReadGroup1(CNCInstruction baseInstr)
{
if (isStartingTask)
{
CNCInstructionMotion instr = (CNCInstructionMotion)baseInstr;
scaleVector = Vector3.one * instr.prefixModifier;
target = pieceOriginTransform.TransformPoint(Vector3.Scale(instr.TargetPos, scaleVector));
if (gCode == 2 || gCode == 3)
{
InitializeG02_03(instr);
// Spiral Checking
float currentRadius = (TargetKnife.transform.position - pivot).magnitude;
float targetRadius = (target - pivot).magnitude;
if (!CheckRadiusMatched(currentRadius, targetRadius) && AllowSpiral)
{
PrintError("Warning: Radius Error, motion might be spiral.\n");
}
}
}
switch (gCode)
{
case 0:
LinearTraverseTo(target, maxDistanceRapid);
break;
case 1:
LinearTraverseTo(target, maxDistanceFeed);
break;
case 2:
CircularTraverseTo(target, pivot, maxDistanceFeed, angleDiff, radiusDiff);
if (IsAtTargetCrude(target))
{
isFinishedTask = true;
}
break;
case 3:
CircularTraverseTo(target, pivot, maxDistanceFeed, angleDiff, radiusDiff);
if (IsAtTargetCrude(target))
{
isFinishedTask = true;
}
break;
default:
PrintError("Unknown G Code falling into ReadGroup1\n");
break;
}
if (IsAtTarget(target))
{
isFinishedTask = true;
}
}
private void SendCNCInstruction(int modalGroup)
{
CNCInstruction instr;
switch (modalGroup)
{
case 1:
instr = new CNCInstructionMotion {
G = gCodeForEachGroup[1],
Group = modalGroup,
prefixModifier = this.prefixModifier,
FeedRate = this.feedRate,
SpindleSpeed = this.spindleSpeed,
Tool = this.tool,
MiscFunc = this.miscFunc,
posX = this.posX,
posY = this.posY,
posZ = this.posZ,
posI = this.posI,
posJ = this.posJ,
posK = this.posK
};
break;
default:
instr = new CNCInstruction
{
G = this.gCode,
Group = modalGroup,
prefixModifier = this.prefixModifier,
FeedRate = this.feedRate,
SpindleSpeed = this.spindleSpeed,
Tool = this.tool,
MiscFunc = this.miscFunc
};
print("Invalid modal group Found");
if (DebugVR != null)
{
DebugVR.Println("Invalid modal group found");
}
break;
}
TargetInstrList.AddLast(instr);
}
protected void ReadInstruction(CNCInstruction instr)
{
gCode = instr.G;
FeedMoveSpeed = instr.FeedRate * instr.prefixModifier;
maxDistanceRapid = RapidMoveSpeed * Time.deltaTime;
maxDistanceFeed = FeedMoveSpeed * Time.deltaTime;
switch (instr.Group)
{
case 1:
ReadGroup1(instr);
break;
default:
PrintError("Unimplemented G-Code found, cannot read instruction. Proceed to skip.\n");
isFinishedTask = true;
break;
}
}
// Update is called once per frame
protected virtual void Update()
{
if (InstructionListIn.Count != 0)
{
Vector3 homeRel = pieceOriginTransform.InverseTransformPoint(Home.transform.position);
CheckInstructionListIn(homeRel.x, homeRel.y, homeRel.z);
}
if (isTurnedOn)
{
PlayMachineSound();
TurnOnLight();
if (InstructionList.Count != 0 && isReady)
{
CNCInstruction instr = InstructionList.First.Value;
if (isStartingTask)
{
PrintInstruction();
if (NeedsCuttingFX(instr.G))
{
PlayCuttingSound();
PlayParticlesFX();
}
}
ReadInstruction(instr);
isStartingTask = false;
if (isFinishedTask)
{
InstructionList.RemoveFirst();
isFinishedTask = false;
isStartingTask = true;
if (InstructionList.Count != 0)
{
if (!NeedsCuttingFX(InstructionList.First.Value.G))
{
StopCuttingSound();
StopParticlesFX();
}
}
else
{
StopCuttingSound();
StopParticlesFX();
}
}
}
else
{
StopCuttingSound();
StopParticlesFX();
}
}
else
{
StopMachineSound();
TurnOffLight();
}
}
private void ReadCommand(string cmd)
{
if (cmd.Length == 0)
{
return;
}
switch (cmd[0])
{
case 'N':
if (isFirstCommand)
{
line++;
isFirstCommand = false;
break;
}
int num = int.Parse(cmd.Substring(1));
if (++line != num)
{
print("Expected line number (N" + line + ") mismatched with the input line number (" + cmd + "), changed line number to " + cmd);
line = num;
}
break;
case 'G':
gCode = int.Parse(cmd.Substring(1));
int group = CNCInstruction.GCode2ModalGroup(gCode);
modalGroupQueue.Enqueue(group);
gCodeForEachGroup[group] = gCode;
break;
case 'F':
feedRate = float.Parse(cmd.Substring(1));
break;
case 'S':
spindleSpeed = float.Parse(cmd.Substring(1));
break;
case 'T':
tool = int.Parse(cmd.Substring(1));
break;
case 'M':
miscFunc = int.Parse(cmd.Substring(1));
break;
case 'X':
posX = float.Parse(cmd.Substring(1));
break;
case 'Y':
posY = float.Parse(cmd.Substring(1));
break;
case 'Z':
posZ = float.Parse(cmd.Substring(1));
break;
case 'I':
posI = float.Parse(cmd.Substring(1));
break;
case 'J':
posJ = float.Parse(cmd.Substring(1));
break;
case 'K':
posK = float.Parse(cmd.Substring(1));
break;
default:
print("Unknown '" + cmd + "' command at line " + line + ", skipped this command.");
if (DebugVR != null)
{
DebugVR.Println("Unknown '" + cmd + "' command at line " + line + ", skipped this command.");
}
break;
}
}