1 files changed, 64 insertions, 0 deletions
diff --git a/ArcWelderInverseProcessor/smoothieware.h b/ArcWelderInverseProcessor/smoothieware.h
new file mode 100644
index 0000000..77d54bd
--- /dev/null
+++ b/ArcWelderInverseProcessor/smoothieware.h
@@ -0,0 +1,64 @@
+#pragma once
+#include "firmware.h"
+
+#define SMOOTHIEWARE_MAX_ROBOT_ACTUATORS 4
+struct SmoothiewareGcode {
+  SmoothiewareGcode() {
+    is_error = false;
+    txt_after_ok = "";
+  }
+  bool is_error;
+  std::string txt_after_ok;
+  
+};
+struct SmoothiewareKernel
+{
+  bool is_halted() {return false;}
+};
+class smoothieware :
+    public firmware
+{
+public:
+  enum class smoothieware_firmware_versions { V2021_06_19 = 0 };
+  smoothieware(firmware_arguments args);
+  virtual ~smoothieware();
+  virtual std::string interpolate_arc(firmware_position& target, double i, double j, double r, bool is_clockwise) override;
+  virtual firmware_arguments get_default_arguments_for_current_version() const override;
+  virtual void apply_arguments() override;
+private:
+  smoothieware::smoothieware_firmware_versions smoothieware_version_;
+  enum MOTION_MODE_T {
+    NONE,
+    SEEK, // G0
+    LINEAR, // G1
+    CW_ARC, // G2
+    CCW_ARC // G3
+  };
+  std::string gcodes_;
+  const static int REPETIER_XYZE = 4;
+  enum AxisEnum { X_AXIS = 0, Y_AXIS = 1, Z_AXIS = 2, E_AXIS = 3, A_AXIS = 3 };   // A axis is the same as the E axis.
+  /// <summary>
+  /// A struct representing the prusa configuration store.  Note:  I didn't add the trailing underscore so this variable name will match the original source algorithm name.
+  /// </summary>
+  typedef bool(smoothieware::* append_arc_func)(SmoothiewareGcode* gcode, const float target[], const float offset[], float radius, bool is_clockwise);
+
+  bool append_arc_2021_06_19(SmoothiewareGcode* gcode, const float target[], const float offset[], float radius, bool is_clockwise);
+
+  append_arc_func append_arc_;
+
+  // Note that trailing underscore are sometimes dropped to keep the ported function as close as possible to the original
+  // Repetier Function Defs
+  bool append_milestone(const float target[], double rate_mm_s);
+  static const int seconds_per_minute = 60;
+  static const int k_max_actuators = SMOOTHIEWARE_MAX_ROBOT_ACTUATORS;
+  static const int n_motors = SMOOTHIEWARE_MAX_ROBOT_ACTUATORS;
+  float machine_position[k_max_actuators];
+  static const int plane_axis_0 = AxisEnum::X_AXIS;
+  static const int plane_axis_1 = AxisEnum::Y_AXIS;
+  static const int plane_axis_2 = AxisEnum::Z_AXIS;
+  static const int plane_axis_3 = AxisEnum::E_AXIS;
+  SmoothiewareGcode gcode_;
+  SmoothiewareKernel *THEKERNEL;
+  float feed_rate;
+};
+