private void setCoordinateAScale(IDictionary <string, ParsedCmdGroup> block)
{
foreach (Axis axis in Enum.GetValues(typeof(Axis)))
{
if (block.ContainsKey(axis.ToString()))
{
ParsedCmdGroup word = block[axis.ToString()];
switch (axis)
{
case Axis.X:
mbase.ScaleAt(new Vector3D(word.ValueAxis1, 1.0, 1.0), Ptc);
Ptc.X = mbase.OffsetX;
break;
case Axis.Y:
mbase.ScaleAt(new Vector3D(1.0, word.ValueAxis1, 1.0), Ptc);
Ptc.Y = mbase.OffsetY;
break;
case Axis.Z:
mbase.ScaleAt(new Vector3D(1.0, 1.0, word.ValueAxis1), Ptc);
Ptc.Z = mbase.OffsetZ;
break;
}
}
}
}
private void setCoordinateScale(IDictionary <string, ParsedCmdGroup> block)
{
// Reset all transformations
mbase.M11 = 1; mbase.M12 = 0; mbase.M13 = 0; // x axis
mbase.M21 = 0; mbase.M22 = 1; mbase.M23 = 0; // y axis
mbase.M31 = 0; mbase.M32 = 0; mbase.M33 = 1; // z axis
mbase.OffsetX = 0.0; mbase.OffsetY = 0.0; mbase.OffsetZ = 0.0; // offset
Ptc.X = 0.0; Ptc.Y = 0.0; Ptc.Z = 0.0;
foreach (Axis axis in Enum.GetValues(typeof(Axis)))
{
if (block.ContainsKey(axis.ToString()))
{
ParsedCmdGroup word = block[axis.ToString()];
switch (axis)
{
case Axis.X:
mbase.ScaleAt(new Vector3D(word.ValueAxis1, 1.0, 1.0), Ptc);
Ptc.X = mbase.OffsetX;
break;
case Axis.Y:
mbase.ScaleAt(new Vector3D(1.0, word.ValueAxis1, 1.0), Ptc);
Ptc.Y = mbase.OffsetY;
break;
case Axis.Z:
mbase.ScaleAt(new Vector3D(1.0, 1.0, word.ValueAxis1), Ptc);
Ptc.Z = mbase.OffsetZ;
break;
}
}
}
}
private void setCoordinateRotate(IDictionary <string, ParsedCmdGroup> block)
{
// Reset all transformations
mbase.M11 = 1; mbase.M12 = 0; mbase.M13 = 0; // x axis
mbase.M21 = 0; mbase.M22 = 1; mbase.M23 = 0; // y axis
mbase.M31 = 0; mbase.M32 = 0; mbase.M33 = 1; // z axis
mbase.OffsetX = 0.0; mbase.OffsetY = 0.0; mbase.OffsetZ = 0.0; // offset
Ptc.X = 0.0; Ptc.Y = 0.0; Ptc.Z = 0.0; // rotate center point
foreach (Axis axis in Enum.GetValues(typeof(Axis)))
{
if (block.ContainsKey(axis.ToString()))
{
ParsedCmdGroup word = block[axis.ToString()];
switch (axis)
{
case Axis.X:
mbase.RotateAt(new Quaternion(new Vector3D(mbase.M11, mbase.M12, mbase.M13), word.ValueAxis1), Ptc);
break;
case Axis.Y:
mbase.RotateAt(new Quaternion(new Vector3D(mbase.M21, mbase.M22, mbase.M23), word.ValueAxis1), Ptc);
break;
case Axis.Z:
mbase.RotateAt(new Quaternion(new Vector3D(mbase.M31, mbase.M32, mbase.M33), word.ValueAxis1), Ptc);
break;
}
}
}
}
private void setCoordinateATrans(IDictionary <string, ParsedCmdGroup> block)
{
foreach (Axis axis in Enum.GetValues(typeof(Axis)))
{
if (block.ContainsKey(axis.ToString()))
{
ParsedCmdGroup word = block[axis.ToString()];
switch (axis)
{
case Axis.X:
Ptc.X = word.ValueAxis1;
mbase.TranslatePrepend(new Vector3D(Ptc.X, 0.0, 0.0));
Ptc.X = mbase.OffsetX;
Ptc.Y = mbase.OffsetY;
Ptc.Z = mbase.OffsetZ;
break;
case Axis.Y:
Ptc.Y = word.ValueAxis1;
mbase.TranslatePrepend(new Vector3D(0.0, Ptc.Y, 0.0));
Ptc.X = mbase.OffsetX;
Ptc.Y = mbase.OffsetY;
Ptc.Z = mbase.OffsetZ;
break;
case Axis.Z:
Ptc.Z = word.ValueAxis1;
mbase.TranslatePrepend(new Vector3D(0.0, 0.0, Ptc.Z));
Ptc.X = mbase.OffsetX;
Ptc.Y = mbase.OffsetY;
Ptc.Z = mbase.OffsetZ;
break;
}
// machineOffsets[axis] = word.value ;
}
}
// Console.WriteLine("OFFSET" + " " + mbase.OffsetX + " " + mbase.OffsetY + " " + mbase.OffsetZ) ;
}
private void setCoordinateARotate(IDictionary <string, ParsedCmdGroup> block)
{
foreach (Axis axis in Enum.GetValues(typeof(Axis)))
{
if (block.ContainsKey(axis.ToString()))
{
ParsedCmdGroup word = block[axis.ToString()];
switch (axis)
{
case Axis.X:
mbase.RotateAt(new Quaternion(new Vector3D(mbase.M11, mbase.M12, mbase.M13), word.ValueAxis1), Ptc);
break;
case Axis.Y:
mbase.RotateAt(new Quaternion(new Vector3D(mbase.M21, mbase.M22, mbase.M23), word.ValueAxis1), Ptc);
break;
case Axis.Z:
mbase.RotateAt(new Quaternion(new Vector3D(mbase.M31, mbase.M32, mbase.M33), word.ValueAxis1), Ptc);
break;
}
}
}
}
private void parseLine()
{
// Remove comments between () and all comments after ;
StringBuilder parsedLine = new StringBuilder(currentLine);
Match g4 = G04.Match(parsedLine.ToString());
Match comment1 = COMMENTS1.Match(parsedLine.ToString());
Match comment2 = COMMENTS2.Match(parsedLine.ToString());
if (g4.Success)
{
// currentLine.Replace(g4.Value, "") ;
}
if (comment1.Success && (MachineType == "Fanuc" || MachineType == "Okuma" || MachineType == "Mayak"))
{
parsedLine.Remove(comment1.Index, comment1.Length); // for Fanuc, Okuma, Haas
}
if (comment2.Success)
{
parsedLine.Remove(comment2.Index, comment2.Length); // for Sinumerik
}
ISet <string> wordcmd = new HashSet <string>();
String parsedWords;
if ((parsedWords = findWords(parsedLine)) != null)
{
wordcmd.Add(parsedWords);
}
// Console.WriteLine("currentPosition: " + "X:"+ machineStatus.newPosition[MachineStatus.Axis.X].Value + "Y:"+ machineStatus.newPosition[MachineStatus.Axis.Y].Value + "Z:"+ machineStatus.newPosition[MachineStatus.Axis.Z].Value ) ;
// Console.WriteLine(machineStatus.newLine) ;
// A map that holds all parsed codes
IDictionary <string, ParsedWord> block = new Dictionary <string, ParsedWord>(10);
IDictionary <string, ParsedCmdGroup> CmdBlock = new Dictionary <string, ParsedCmdGroup>();
// Hold's the current parsed word
ParsedWord thisWord;
ParsedWord addWord;
ParsedCmdGroup thisCmdGroup;
// while ((addWord = findWordInBlock(machineStatus.newLine)) != null)
// {
// int pos = machineStatus.newLine.ToString().IndexOf(addWord.asRead);
// machineStatus.newLine.Remove(pos, pos + addWord.asRead.Length - pos).Insert(pos, "");
//
// string blockKey = addWord.word;
// block.Add(blockKey, addWord);
// }
while ((thisWord = findWordInBlock(parsedLine)) != null)
{
// Devide string by block
int pos = parsedLine.ToString().IndexOf(thisWord.asRead);
parsedLine.Remove(pos, pos + thisWord.asRead.Length - pos).Insert(pos, "");
// We can have multiple G/M words within a block, so we move them to the 'key'
string blockKey = thisWord.word;
string CmdBlockKey = "";
if (blockKey.Equals("G") || blockKey.Equals("M"))
{
blockKey = thisWord.parsed.Replace('.', '_'); // Store gwords with a . as _ Example G33.1
}
if (blockKey.Contains("TRANS") || blockKey.Contains("ROT") || blockKey.Contains("SCALE") || blockKey.Contains("MIRROR"))
{
string Block = parsedLine.ToString();
Match CmdMatcher = Gcodepattern.Match(Block);
while (CmdMatcher.Success)
{
string g0 = CmdMatcher.Groups[0].ToString();
string g1 = CmdMatcher.Groups[1].ToString();
string g3 = CmdMatcher.Groups[3].ToString().Replace('.', ',');
if (g3 != "")
{
double v = Convert.ToDouble(g3);
string value = String.Format("{0:}", v);
thisCmdGroup = new ParsedCmdGroup(blockKey, g1, v, g1 + value, g0);
CmdBlockKey = thisCmdGroup.AxisName1;
CmdBlock.Add(CmdBlockKey, thisCmdGroup);
}
CmdMatcher = CmdMatcher.NextMatch();
}
parsedLine.Clear();
}
if (block.ContainsKey(blockKey))
{
throw new SimValidationException("Multiple " + thisWord.word + " words on one line.");
}
else
{
block.Add(blockKey, thisWord);
}
}
foreach (KeyValuePair <string, ParsedWord> pair in block)
{
// Console.WriteLine("Key : " + pair.Key + " " + "Value : " + pair.Value) ;
}
// First verify if the block itself is valid before we process it
if (machineValidator != null)
{
machineValidator.preVerify(block);
}
// Copy to intermediate status to ensure our machine status is always valid
intermediateStatus.copyFrom(machineStatus);
// Notify the controller that we are about to start a new block, the block itself is valid, for example there we be no G1's and G0 on one line
foreach (IMachineController controller in this.machineController)
{
controller.startBlock(this, intermediateStatus, block);
}
intermediateStatus.startBlock();
// Copy the block to the machine
intermediateStatus.setWord(wordcmd);
intermediateStatus.setCommandBlk(CmdBlock, block);
intermediateStatus.setBlock(block);
// Block en, no more data will come in for this block
intermediateStatus.endBlock();
// Verify machine's state, for example if a R was found, do we also have a valid G to accompany with it?
if (machineValidator != null)
{
machineValidator.postVerify(intermediateStatus);
}
// Notify the controller that everything was ok, now teh controller start 'running' the data
foreach (IMachineController controller in this.machineController)
{
controller.endBlock(this, intermediateStatus, block);
}
// setup new and valid machine status
machineStatus.copyFrom(intermediateStatus);
}
