Work on applying the probed heightmap.

2023-05-18 07:24:05 +03:00
parent f78aa930d6
commit 4e7e059e22
13 changed files with 334 additions and 37 deletions
@@ -0,0 +1,157 @@
+#include "gcode_file.h"
+#include "gcode_parser.h"
+#include <fstream>
+#include <iomanip>
+#include <utility>
+
+grbl::grbl_file grbl::grbl_file::load(std::string path) {
+    grbl::grbl_parser parser;
+
+    grbl::grbl_file result{};
+
+    std::ifstream in_file{path};
+    if (in_file) {
+        parser.parse(in_file);
+        result = grbl_file(parser.commands);
+    }
+
+    return result;
+}
+
+grbl::grbl_file::grbl_file(std::vector<grbl::command*> cmd)
+        : commands(cmd) {
+
+}
+
+std::vector<std::string> grbl::grbl_file::get_gcode() {
+    std::vector<std::string> result;
+
+    result.emplace_back("G90 G91.1 G21 G17");
+
+    grbl::parser_state state;
+    auto xyz = "XYZ";
+
+    std::stringstream ss;
+    ss << std::fixed << std::setprecision(3);
+
+    for (auto &c: commands) {
+        auto *motion = dynamic_cast<motion_cmd *>(c);
+        bool is_motion = motion != nullptr;
+
+        auto *line = dynamic_cast<line_motion_cmd *>(c);
+        auto *arc = dynamic_cast<arc_motion_cmd *>(c);
+        auto *mcode = dynamic_cast<mcode_cmd *>(c);
+        auto *spindle = dynamic_cast<spindle_cmd *>(c);
+        auto *dwell = dynamic_cast<dwell_cmd *>(c);
+
+        if (is_motion) {
+            if (motion->feed != state.feed) {
+                ss.str("");
+                ss << "F" << motion->feed;
+                result.push_back(ss.str());
+                state.feed = motion->feed;
+            }
+        }
+
+        if (line != nullptr) {
+            std::string code = line->rapid ? "G0" : "G1";
+
+            for (int i = 0; i < 3; i++) {
+                if (!line->position_valid[i])
+                    continue;
+                if (!line->start_valid || state.position[i] != line->end[i]) {
+                    ss.str("");
+                    ss << xyz[i] << line->end[i];
+                    code += ss.str();
+                }
+            }
+
+            result.push_back(code);
+
+            state.position = line->end;
+            continue;
+        }
+
+        if (arc != nullptr) {
+            if (state.plane != arc->plane) {
+                switch (arc->plane) {
+                    case arc_plane::xy:
+                        result.emplace_back("G17");
+                        break;
+                    case arc_plane::yz:
+                        result.emplace_back("G19");
+                        break;
+                    case arc_plane::zx:
+                        result.emplace_back("G18");
+                        break;
+                }
+                state.plane = arc->plane;
+            }
+
+            std::string code = arc->direction == arc_direction::cw ? "G2" : "G3";
+            if (state.position.x != arc->end.x) {
+                ss.str("");
+                ss << "X" << arc->end.x;
+                code += ss.str();
+            }
+            if (state.position.y != arc->end.y) {
+                ss.str("");
+                ss << "Y" << arc->end.y;
+                code += ss.str();
+            }
+            if (state.position.z != arc->end.z) {
+                ss.str("");
+                ss << "Z" << arc->end.z;
+                code += ss.str();
+            }
+
+            glm::vec3 center = roll_components({arc->u, arc->v, 0}, (int) arc->plane) - state.position;
+
+            if (center.x != 0 && arc->plane != arc_plane::yz) {
+                ss.str("");
+                ss << " I" << center.x;
+                code += ss.str();
+            }
+            if (center.y != 0 && arc->plane != arc_plane::zx) {
+                ss.str("");
+                ss << " J" << center.y;
+                code += ss.str();
+            }
+            if (center.z != 0 && arc->plane != arc_plane::xy) {
+                ss.str("");
+                ss << " K" << center.z;
+                code += ss.str();
+            }
+
+            result.push_back(code);
+            state.position = arc->end;
+            continue;
+        }
+
+        if (mcode != nullptr) {
+            int code = mcode->code;
+            if (code == 2 || code == 30)
+                continue;
+
+            result.push_back("M" + std::to_string(code));
+            continue;
+        }
+
+        if (spindle != nullptr) {
+            ss.str("");
+            ss << "S" << spindle->speed;
+            result.push_back(ss.str());
+            continue;
+        }
+
+        if (dwell != nullptr) {
+            ss.str("");
+            ss << "G4 P" << dwell->seconds;
+            result.push_back(ss.str());
+            continue;
+        }
+    }
+
+    return result;
+}
+