Enabled arcs render after adapting OpenCNCPilot code.

Started porting iosender to C++

gcode_commands.h

@@ -0,0 +1,123 @@
+#pragma once
+
+#include <glm/vec3.hpp>
+#include <vector>
+#include <memory>
+#include <cmath>
+#include "glm/ext/scalar_constants.hpp"
+
+namespace grbl {
+
+    glm::vec<3, double> roll_components(glm::vec<3, double> v, int turns);
+
+    enum class arc_plane {
+        xy = 0,
+        yz = 1,
+        zx = 2
+    };
+
+    enum class arc_direction {
+        cw,
+        ccw
+    };
+
+    struct command {
+        virtual ~command() = default;
+        int line_number = 1;
+    };
+
+    struct mcode_cmd : public command {
+        mcode_cmd(int code, int line_number);
+
+        int code;
+    };
+
+    struct spindle_cmd : public command {
+        spindle_cmd(double speed, int line_number);
+        double speed;
+    };
+
+    struct dwell_cmd : public command {
+        dwell_cmd(double seconds, int line_number);
+        double seconds;
+    };
+
+    struct motion_cmd : public command {
+        glm::vec<3, double> start = glm::vec3(0);
+        glm::vec<3, double> end = glm::vec3(0);
+        double feed = 0;
+
+        glm::vec<3, double> delta() const { return end - start; }
+
+        // Total travel distance of tool
+        virtual double length() const = 0;
+        virtual glm::vec<3, double> interpolate(double ratio) = 0;
+        virtual std::vector<std::shared_ptr<motion_cmd>> split(double length) = 0;
+    };
+
+    struct line_motion_cmd : public motion_cmd {
+
+        bool rapid = false;
+        // PositionValid[i] is true if the corresponding coordinate of the end position was defined in the file.
+        // eg. for a file with "G0 Z15" as the first line, X and Y would still be false
+        bool position_valid[3] = {false, false, false};
+        bool start_valid = false;
+
+        double length() const override;
+        glm::vec<3, double> interpolate(double ratio) override;
+        std::vector<std::shared_ptr<motion_cmd>> split(double length) override;
+    };
+
+    struct arc_motion_cmd : public motion_cmd {
+        arc_plane plane;
+        arc_direction direction;
+        double u;    //absolute position of center in first axis of plane
+        double v;    //absolute position of center in second axis of plane
+
+        double start_angle() const {
+            glm::vec<3, double> start_in_plane = roll_components(start, -(int) plane);
+            double X = start_in_plane.x - u;
+            double Y = start_in_plane.y - v;
+            return atan2(Y, X);
+        }
+
+        double end_angle() const {
+            glm::vec<3, double> end_in_plane = roll_components(end, -(int) plane);
+            double X = end_in_plane.x - u;
+            double Y = end_in_plane.y - v;
+            return atan2(Y, X);
+        }
+
+        double angle_span() const {
+            double span = end_angle() - start_angle();
+            if (direction == arc_direction::cw) {
+                if (span >= 0)
+                    span -= 2 * glm::pi<double>();
+            } else {
+                if (span <= 0)
+                    span += 2 * glm::pi<double>();
+            }
+
+            return span;
+        }
+
+        double radius() const {
+            glm::vec<3, double> start_plane = roll_components(start, -(int) plane);
+            glm::vec<3, double> end_plane = roll_components(end, -(int) plane);
+
+            return (
+                           sqrt(pow(start_plane.x - u, 2) + pow(start_plane.y - v, 2)) +
+                           sqrt(pow(end_plane.x - u, 2) + pow(end_plane.y - v, 2))
+                   ) / 2;
+        }
+
+        glm::vec<3, double> interpolate(double ratio) override;
+        std::vector<std::shared_ptr<motion_cmd>> split(double length) override;
+
+        double length() const override;
+
+    };
+
+
+}
+