Work on applying the probed heightmap.

grbl.cpp

@@ -1,5 +1,7 @@
 #include "grbl.h"
 #include "string_utils.h"
+#include "gcode_parser.h"
+#include "gcode_file.h"
 
 #include <utility>
 #include <fstream>
@@ -38,7 +40,7 @@ grbl::program::program(std::string filename) {
 static auto comment_re = std::regex(R"(^\s*\(([^)]*)\)\s*$)");
 static auto gcode_re = std::regex(R"(([a-zA-Z0-9\s.\-]+)\s*(;.*|\(([^)]*)\))?)");
 
-bool grbl::program::load_from_stream(std::istream& in) {
+bool grbl::program::load_from_stream(std::istream &in) {
     instructions.clear();
 
     is_loaded = true;
@@ -74,7 +76,7 @@ bool grbl::program::load_from_stream(std::istream& in) {
     return is_loaded;
 }
 
-bool grbl::program::load_from_string(const std::string& content) {
+bool grbl::program::load_from_string(const std::string &content) {
     std::stringstream in_stream;
     in_stream << content;
 
@@ -95,7 +97,7 @@ bool grbl::program::load_from_file(std::string path) {
     return is_loaded;
 }
 
-std::ostream& operator<<(std::ostream& out, const grbl::instruction_type& t) {
+std::ostream &operator<<(std::ostream &out, const grbl::instruction_type &t) {
     switch (t) {
         case grbl::instruction_type::gcode:
             out << "gcode";
@@ -110,13 +112,118 @@ std::ostream& operator<<(std::ostream& out, const grbl::instruction_type& t) {
     return out;
 }
 
-std::ostream& operator<<(std::ostream& out, const grbl::instruction& i) {
-    out << "{.line: " << i.line << ", .type: " << i.type << ", .cmd: " << i.command << ", .comment: " << i.comment << " }";
+std::ostream &operator<<(std::ostream &out, const grbl::instruction &i) {
+    out << "{.line: " << i.line << ", .type: " << i.type << ", .cmd: " << i.command << ", .comment: " << i.comment
+        << " }";
     return out;
 }
 
-void grbl::program::dump(std::ostream& out) {
-    for (auto& i: instructions) {
+void grbl::program::dump(std::ostream &out) {
+    for (auto &i: instructions) {
         out << i << std::endl;
     }
 }
+
+grbl::program grbl::program::apply_heightmap(grbl::heightmap& grid) {
+
+    double segmentLength = grid.resolution;
+
+    grbl::program result;
+
+    std::vector<command*> new_commands;
+
+    grbl::grbl_parser parser;
+    std::ifstream in_file{filename};
+    if (in_file) {
+        parser.parse(in_file);
+
+        for (auto &c: parser.commands) {
+            auto line = dynamic_cast<grbl::line_motion_cmd *>(c);
+            auto arc = dynamic_cast<grbl::arc_motion_cmd *>(c);
+            if (line != nullptr) {
+
+                // do not split up or modify any lines that are rapid or not fully defined
+                if (!line->start_valid ||
+                    (!line->position_valid[0] || !line->position_valid[1] || !line->position_valid[2]) || line->rapid) {
+                    new_commands.push_back(line);
+                    continue;
+                }
+
+                for (auto &m: line->split(segmentLength)) {
+                    m->start.z += grid.get_z_at(m->start.x, m->start.y);
+                    m->end.z += grid.get_z_at(m->end.x, m->end.y);
+
+                    new_commands.push_back(m);
+                }
+
+            } else if (arc != nullptr) {
+                if (arc->plane != arc_plane::xy) {
+                    throw std::runtime_error(
+                            "GCode contains arcs in YZ or XZ plane (G18/19), can't apply height map. Use 'Arcs to Lines' if you really need this.");
+                }
+
+                for (auto &m: arc->split(segmentLength)) {
+                    m->start.z += grid.get_z_at(m->start.x, m->start.y);
+                    m->end.z += grid.get_z_at(m->end.x, m->end.y);
+
+                    new_commands.push_back(m);
+                }
+
+            } else {
+                new_commands.push_back(c);
+            }
+        }
+
+        grbl::grbl_file file(new_commands);
+        auto new_lines = file.get_gcode();
+        result.load_from_lines(new_lines);
+    }
+
+    return result;
+
+}
+
+bool grbl::program::load_from_lines(std::vector<std::string> lines) {
+    is_loaded = true;
+    size_t line_number = 0;
+    for (auto &line: lines) {
+        line_number++;
+        if (!line.empty()) {
+
+            std::smatch sm{};
+            if (std::regex_match(line, sm, comment_re)) {
+                auto comment = sm.str(1);
+                instructions.emplace_back(instruction::new_comment(line_number, comment));
+            } else if (std::regex_match(line, sm, gcode_re)) {
+                auto command = trim(sm.str(1));
+                auto comment = trim(sm.str(3));
+                instructions.emplace_back(instruction::new_gcode(line_number, command, comment));
+            } else {
+                std::cerr << "Failed to parse line " << line << std::endl;
+                is_loaded = false;
+            }
+        }
+    }
+
+    return is_loaded;
+}
+
+void grbl::program::save(std::string path) {
+    std::ofstream out_file{path};
+    if (out_file) {
+        for (auto &i: instructions) {
+            switch (i.type) {
+                case instruction_type::gcode:
+                    out_file << i.command;
+                    if (!i.comment.empty())
+                        out_file << " (" << i.comment << ")";
+                    out_file << std::endl;
+                    break;
+                default:
+                    break;
+            }
+
+        }
+    }
+
+}