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#include "arc_interpolation.h"
#include <string>
#include "gcode_position.h"
#include "marlin_1.h"
#include "marlin_2.h"
#include "repetier.h"
#include "prusa.h"
#include "smoothieware.h"
#include "utilities.h"
gcode_position_args arc_interpolation::get_args_(bool g90_g91_influences_extruder, int buffer_size)
{
gcode_position_args args;
// Configure gcode_position_args
args.g90_influences_extruder = g90_g91_influences_extruder;
args.position_buffer_size = buffer_size;
args.autodetect_position = true;
args.home_x = 0;
args.home_x_none = true;
args.home_y = 0;
args.home_y_none = true;
args.home_z = 0;
args.home_z_none = true;
args.shared_extruder = true;
args.zero_based_extruder = true;
args.default_extruder = 0;
args.xyz_axis_default_mode = "absolute";
args.e_axis_default_mode = "absolute";
args.units_default = "millimeters";
args.location_detection_commands = std::vector<std::string>();
args.is_bound_ = false;
args.is_circular_bed = false;
args.x_min = -9999;
args.x_max = 9999;
args.y_min = -9999;
args.y_max = 9999;
args.z_min = -9999;
args.z_max = 9999;
return args;
}
arc_interpolation::arc_interpolation()
{
p_current_firmware_ = NULL;
}
arc_interpolation::arc_interpolation(arc_interpolation_args args)
{
args_ = args;
switch (args.firmware_args.firmware_type)
{
case firmware_types::MARLIN_1:
p_current_firmware_ = new marlin_1(args.firmware_args);
break;
case firmware_types::MARLIN_2:
p_current_firmware_ = new marlin_2(args.firmware_args);
break;
case firmware_types::REPETIER:
p_current_firmware_ = new repetier(args.firmware_args);
break;
case firmware_types::PRUSA:
p_current_firmware_ = new prusa(args.firmware_args);
break;
case firmware_types::SMOOTHIEWARE:
p_current_firmware_ = new smoothieware(args.firmware_args);
}
// Initialize the source position
p_source_position_ = new gcode_position(get_args_(p_current_firmware_->get_g90_g91_influences_extruder(), DEFAULT_GCODE_BUFFER_SIZE));
}
arc_interpolation::~arc_interpolation()
{
delete p_source_position_;
if (p_current_firmware_ != NULL)
{
delete p_current_firmware_;
}
}
void arc_interpolation::process()
{
// Create a stringstream we can use for messaging.
std::stringstream stream;
// Create a current and target position variable for arc processing
firmware_state state;
firmware_position current;
firmware_position target;
// I, J, and R parameter values
double i=0, j=0, r=0;
// bool values for is_clockwise and is_relative
bool is_clockwise = false, is_relative = false;
// e absolute offset, in case we are outputting absolute e
double offset_absolute_e = 0;
int read_lines_before_clock_check = 5000;
//std::cout << "stabilization::process_file - Processing file.\r\n";
stream << "Decompressing gcode file.";
stream << "Source File: " << args_.source_path << "\n";
stream << "Target File: " << args_.target_path << "\n";
std::cout << stream.str();
const clock_t start_clock = clock();
// Create the source file read stream and target write stream
std::ifstream gcode_file;
gcode_file.open(args_.source_path.c_str());
output_file_.open(args_.target_path.c_str());
std::string line;
int lines_with_no_commands = 0;
gcode_file.sync_with_stdio(false);
output_file_.sync_with_stdio(false);
gcode_parser parser;
int gcodes_processed = 0;
if (gcode_file.is_open())
{
if (output_file_.is_open())
{
parsed_command cmd;
// Communicate every second
while (std::getline(gcode_file, line))
{
lines_processed_++;
cmd.clear();
parser.try_parse_gcode(line.c_str(), cmd);
bool has_gcode = false;
if (cmd.gcode.length() > 0)
{
has_gcode = true;
gcodes_processed++;
}
else
{
lines_with_no_commands++;
}
p_source_position_->update(cmd, lines_processed_, gcodes_processed, -1);
if (cmd.command == "G2" || cmd.command == "G3")
{
// increment the number of arc commands encountered
num_arc_commands_++;
// Get the current and previous positions
position* p_cur_pos = p_source_position_->get_current_position_ptr();
position* p_pre_pos = p_source_position_->get_previous_position_ptr();
// create the current and target positions
current.x = p_pre_pos->get_gcode_x();
current.y = p_pre_pos->get_gcode_y();
current.z = p_pre_pos->get_gcode_z();
current.e = p_pre_pos->get_current_extruder().get_offset_e();
current.f = p_pre_pos->f;
// set the current firmware position
p_current_firmware_->set_current_position(current);
target.x = p_cur_pos->get_gcode_x();
target.y = p_cur_pos->get_gcode_y();
target.z = p_cur_pos->get_gcode_z();
target.e = p_cur_pos->get_current_extruder().get_offset_e();
target.f = p_cur_pos->f;
state.is_extruder_relative = p_pre_pos->is_extruder_relative;
state.is_relative = p_pre_pos->is_relative;
// set the current firmware state
p_current_firmware_->set_current_state(state);
// get I, J, and R
i = 0;
j = 0;
r = 0;
for (unsigned int index = 0; index < cmd.parameters.size(); index++)
{
parsed_command_parameter p = cmd.parameters[index];
if (p.name == "I")
{
i = p.double_value;
}
else if (p.name == "J")
{
j = p.double_value;
}
else if (p.name == "R")
{
r = p.double_value;
}
}
// If r is 0, calculate the radius
if(r==0)
{
r = utilities::hypot(i, j);
}
is_clockwise = cmd.command == "G2" ? 1 : 0;
is_relative = p_cur_pos->is_extruder_relative;
offset_absolute_e = p_pre_pos->get_current_extruder().get_offset_e();
// run the callback and capture any created gcode commands
std::string gcodes = p_current_firmware_->interpolate_arc(target, i, j, r, is_clockwise);
if (gcodes.length() > 0)
{
// there are gcodes to write, write them!
output_file_ << gcodes << "\n";
}
}
else
{
// Nothing to do with the current line, just write it to disk.
output_file_ << line << "\n";
}
}
output_file_.close();
}
else
{
std::cout << "Unable to open the output file for writing.\n";
}
std::cout << "Closing the input file.\n";
gcode_file.close();
}
else
{
std::cout << "Unable to open the gcode file for processing.\n";
}
const clock_t end_clock = clock();
const double total_seconds = (static_cast<double>(end_clock) - static_cast<double>(start_clock)) / CLOCKS_PER_SEC;
stream.clear();
stream.str("");
stream << "Completed file processing\r\n";
stream << "\tLines Processed : " << lines_processed_ << "\r\n";
stream << "\tArc Commands Processed: " << num_arc_commands_ << "\r\n";
stream << "\tArc Segments Generated: " << p_current_firmware_->get_num_arc_segments_generated() << "\r\n";
stream << "\tTotal Seconds : " << total_seconds << "\r\n";
std::cout << stream.str();
}
std::string arc_interpolation::get_firmware_argument_description() const
{
return p_current_firmware_->get_argument_description();
}
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