private void ExecuteExtendedFunction(string line)
{
var lineParts = line.Split(':');
string functionName = lineParts[0].ToUpper();
string parameters = lineParts.Length > 1 ? lineParts[1] : "";
switch (functionName)
{
case "!Z-TOP":
_machine.MoveZServo(_machine.Settings.ZServoTopPosition);
_machine.SendDwell(500);
break;
case "!Z-BOTTOM":
_machine.MoveZServo(_machine.Settings.ZServoBottomPosition, true);
break;
case "!Z-LOAD":
_machine.MoveZServo(_machine.Settings.ZServoLoadPosition);
_machine.SendDwell(500);
break;
case "!END":
ProgramFinished = true;
break;
case "!EXEC":
ExecuteCode(GCodeFunctions.ExecuteGCodeFile(parameters), true);
break;
default:
throw new Exception("Invalid extended function");
}
}
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);
}
}
