ArcExpander.java

/**
 * Expand an arc into smaller sections. You can configure the length of each
 * section, and whether it is expanded with a bunch of smaller arcs, or with
 * line segments.
 */
/*
    Copywrite 2016 Will Winder

    This file is part of Universal Gcode Sender (UGS).

    UGS is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    UGS is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with UGS.  If not, see <http://www.gnu.org/licenses/>.
 */
package com.willwinder.universalgcodesender.gcode.processors;

import com.willwinder.universalgcodesender.gcode.GcodeParser;
import com.willwinder.universalgcodesender.gcode.GcodeParser.GcodeMeta;
import com.willwinder.universalgcodesender.gcode.GcodePreprocessorUtils;
import com.willwinder.universalgcodesender.gcode.GcodeState;
import com.willwinder.universalgcodesender.gcode.util.GcodeParserException;
import com.willwinder.universalgcodesender.gcode.util.PlaneFormatter;
import com.willwinder.universalgcodesender.i18n.Localization;
import com.willwinder.universalgcodesender.types.PointSegment;
import java.text.DecimalFormat;
import java.util.ArrayList;
import java.util.List;
import javax.vecmath.Point3d;

/**
 *
 * @author wwinder
 */
public class ArcExpander implements ICommandProcessor {
    final private boolean convertToLines;
    final private double length;
    final private DecimalFormat df;

    @Override
    public String getHelp() {
        return Localization.getString("sender.help.arcs") + "\n"
                + Localization.getString("sender.arcs.length")
                + ": " + df.format(length);
    }

    /**
     * @param convertToLines toggles if smaller lines or arcs are returned.
     * @param length the length of each smaller segment.
     */
    public ArcExpander(boolean convertToLines, double length) {
        this.convertToLines = convertToLines;
        this.length = length;

        // Setup decimal formatter
        df = new DecimalFormat("#.#########", Localization.dfs);
    }

    @Override
    public List<String> processCommand(String command, GcodeState state) throws GcodeParserException {
        if (state.currentPoint == null) throw new GcodeParserException(Localization.getString("parser.processor.arc.start-error"));

        List<String> results = new ArrayList<>();

        List<GcodeMeta> commands = GcodeParser.processCommand(command, 0, state);

        // If this is not an arc, there is nothing to do.
        if (! hasArcCommand(commands)) {
            results.add(command);
            return results;
        }

        // Make sure there is just one command (the arc).
        // Note: This means "G17 G02 X5 Y5 R2" would be an error.
        if (commands.size() != 1) {
            throw new GcodeParserException(Localization.getString("parser.processor.arc.multiple-commands"));
        }

        GcodeMeta arcMeta = commands.get(0);
        PointSegment ps = arcMeta.point;
        Point3d start = state.currentPoint;
        Point3d end = arcMeta.point.point();

        List<Point3d> points = GcodePreprocessorUtils.generatePointsAlongArcBDring(
                start, end, ps.center(), ps.isClockwise(),
                ps.getRadius(), 0, length, new PlaneFormatter(ps.getPlaneState()));

        // That function returns the first and last points. Exclude the first
        // point because the previous gcode command ends there already.
        points.remove(0);

        if (convertToLines) {
            // Tack the speed onto the first line segment in case the arc also
            // changed the feed value.
            String feed = "F" + arcMeta.point.getSpeed();
            for (Point3d point : points) {
                results.add(GcodePreprocessorUtils.generateG1FromPoints(start, point, state.inAbsoluteMode, df) + feed);
                start = point;
                feed = "";
            }
        } else {
            // TODO: Generate arc segments.
            throw new UnsupportedOperationException("I have not implemented this.");
        }

        return results;
    }

    private static boolean hasArcCommand(List<GcodeMeta> commands) {
        if (commands == null) return false;
        for (GcodeMeta meta : commands) {
            if (meta.point != null && meta.point.isArc()) {
                return true;
            }
        }
        return false;
    }
}