AMCM Saver and ORNL Syntax Changes

include/gcode/gcode_meta.h

@@ -226,7 +226,7 @@ static GcodeMeta AeroBasicMeta = {GcodeSyntax::kAeroBasic,
                                   rev / s,      // angular velocity
                                   ".gcode"};
 
-static GcodeMeta ORNLMeta = {GcodeSyntax::kCincinnati,
+static GcodeMeta ORNLMeta = {GcodeSyntax::kORNL,
                              QString("("), // starting_delim
                              QString(")"), // ending_delim
                              in,
@@ -237,7 +237,7 @@ static GcodeMeta ORNLMeta = {GcodeSyntax::kCincinnati,
                              in / s / s,
                              rev / minute,
                              ".gcode"};
-static GcodeMeta ORNLMetricMeta = {GcodeSyntax::kCincinnati,
+static GcodeMeta ORNLMetricMeta = {GcodeSyntax::kORNLMetric,
                                    QString("("), // starting_delim
                                    QString(")"), // ending_delim
                                    mm,
@@ -340,6 +340,7 @@ static QHash<int, GcodeMeta> createMapping() {
     result.insert((int)GcodeSyntax::kORNL, ORNLMeta);
     result.insert((int)GcodeSyntax::kTormach, TormachMeta);
     result.insert((int)GcodeSyntax::kAdamantine, AdamantineMeta);
+    result.insert((int)GcodeSyntax::kORNLMetric, ORNLMetricMeta);
     return result;
 }
 

include/threading/gcode_amcm_saver.h

@@ -0,0 +1,33 @@
+#pragma once
+
+#include "QThread"
+#include "gcode/gcode_meta.h"
+
+namespace ORNL {
+/*!
+ * \class GCodeAMCMSaver
+ * \brief Threaded class that provides additional gcode processing.
+ */
+class GCodeAMCMSaver : public QThread {
+    Q_OBJECT
+  public:
+    //! \brief Constructor
+    //! \param tempLocation: location of gcode file
+    //! \param path: path to output
+    //! \param filename: filename to output
+    //! \param text: current gcode
+    //! \param meta: meta used to generate gcode
+    GCodeAMCMSaver(QString tempLocation, QString path, QString filename, QString text, GcodeMeta meta);
+
+    //! \brief Function that is run when start is called on this thread.
+    void run() override;
+
+  private:
+    //! \brief Temporary file location, output path, output filename, and text to output
+    QString m_temp_location, m_path, m_filename, m_text;
+
+    //! \brief Meta info determined from file
+    GcodeMeta m_selected_meta;
+
+}; // class GCodeAMCMSaver
+} // namespace ORNL

include/utilities/constants.h

@@ -311,6 +311,7 @@ class Constants {
             static QString kMach4;
             static QString kAeroBasic;
             static QString kAdamantine;
+            static QString kORNLMetric;
         };
     };
 
@@ -938,6 +939,7 @@ class Constants {
             static const QString kMarlinOutput;
             static const QString kMarlinTravels;
             static const QString kSimulationOutput;
+            static const QString kAMCMOutput;
         };
 
         class RotationOrigin {

include/utilities/enums.h

@@ -157,7 +157,8 @@ enum class GcodeSyntax : uint8_t {
     kSandia,
     k5AxisMarlin,
     kMeltio,
-    kAdamantine
+    kAdamantine,
+    kORNLMetric
 };
 
 inline QString toString(GcodeSyntax syntax) {
@@ -228,6 +229,8 @@ inline QString toString(GcodeSyntax syntax) {
             return PRS::SyntaxString::kAeroBasic;
         case GcodeSyntax::kAdamantine:
             return PRS::SyntaxString::kAdamantine;
+        case GcodeSyntax::kORNLMetric:
+            return PRS::SyntaxString::kORNLMetric;
         default:
             return PRS::SyntaxString::kCommon;
     }

resources/configs/master.conf

@@ -4,7 +4,7 @@
       "type":"enumeration",
       "tooltip":"Declares the syntax of the G-code (mm or in, comments () or ; etc",
       "depends":"",
-      "options":"Beam, Cincinnati, Common, Dmg Dmu, GKN, Gudel, Haas Inch, Haas Metric, Haas Metric No Comments, Hurco,Ingersoll,Marlin,Marlin Pellet,Mazak,MVP,RomiFanuc,RPBF,Siemens,SkyBaam,Thermwood,Wolf,RepRap,Mach4,AeroBasic,Meld,ORNL,Okuma,Tormach,AML3D,KraussMaffei,Sandia,5AxisMarlin,Meltio,Adamantine",
+      "options":"Beam, Cincinnati, Common, Dmg Dmu, GKN, Gudel, Haas Inch, Haas Metric, Haas Metric No Comments, Hurco,Ingersoll,Marlin,Marlin Pellet,Mazak,MVP,RomiFanuc,RPBF,Siemens,SkyBaam,Thermwood,Wolf,RepRap,Mach4,AeroBasic,Meld,ORNL,Okuma,Tormach,AML3D,KraussMaffei,Sandia,5AxisMarlin,Meltio,Adamantine,ORNL Metric",
       "default":0,
       "minor":"Machine Setup",
       "major":"Printer",
@@ -73,7 +73,7 @@
       "display":"Axis A",
       "type":"angle",
       "tooltip":"Sets the printing angle for the A axis",
-      "depends":{"OR": [{"syntax": 4}, {"syntax": 31}]},
+      "depends":{"OR": [{"syntax": 4}, {"OR": [{"syntax": 31}, {"OR": [{"syntax": 34},{"syntax": 25}]}]}]},
       "options":"",
       "default":0,
       "minor":"Machine Setup",
@@ -87,7 +87,7 @@
       "display":"Axis B",
       "type":"angle",
       "tooltip":"Sets the printing angle for the B axis",
-      "depends":{"OR": [{"syntax": 4}, {"syntax": 31}]},
+      "depends":{"OR": [{"syntax": 4}, {"OR": [{"syntax": 31}, {"OR": [{"syntax": 34},{"syntax": 25}]}]}]},
       "options":"",
       "default":0,
       "minor":"Machine Setup",
@@ -101,7 +101,7 @@
       "display":"Axis C",
       "type":"angle",
       "tooltip":"Sets the printing angle for the C axis",
-      "depends":{"OR": [{"syntax": 4}, {"syntax": 31}]},
+      "depends":{"OR": [{"syntax": 4}, {"OR": [{"syntax": 31}, {"OR": [{"syntax": 34},{"syntax": 25}]}]}]},
       "options":"",
       "default":0,
       "minor":"Machine Setup",
@@ -7383,6 +7383,20 @@
       "dependency_group":"",
       "local":false
   },
+  "amcm_file_output": {
+      "display":"Enable AMCM SRC File Output",
+      "type":"boolean",
+      "tooltip":"If enabled, a src file for AMCM will be saved when exporting the g-code file.",
+      "depends":{"OR": [{"syntax": 25}, {"syntax": 34}]},
+      "options":"",
+      "default":false,
+      "minor":"File Output",
+      "major":"Experimental",
+      "namespace":"Experimental::FileOutput",
+      "symbol":"kEnableAMCMSRCFileOutput",
+      "dependency_group":"",
+      "local":false
+  },
   "rotation_origin_offset_x": {
       "display":"Rotational Origin X Offset",
       "type":"location",

src/gcode/writers/writer_base.cpp

@@ -99,7 +99,8 @@ QString WriterBase::writeSettingsHeader(GcodeSyntax syntax) {
     //
 
     if (syntax != GcodeSyntax::kCincinnati && syntax != GcodeSyntax::kHaasInch && syntax != GcodeSyntax::kMeld &&
-        syntax != GcodeSyntax::kORNL && syntax != GcodeSyntax::kSiemens && syntax != GcodeSyntax::kSkyBaam) {
+        syntax != GcodeSyntax::kORNL && syntax != GcodeSyntax::kSiemens && syntax != GcodeSyntax::kORNLMetric &&
+        syntax != GcodeSyntax::kSkyBaam) {
         text += commentLine(
             QString("Nozzle Diameter: %0mm").arg(m_sb->setting<Distance>(PS::Layer::kNozzleDiameter).to(mm)));
     }
@@ -113,7 +114,8 @@ QString WriterBase::writeSettingsHeader(GcodeSyntax syntax) {
             QString("Filament Diameter: %0mm").arg(m_sb->setting<Distance>(MS::Filament::kDiameter).to(mm)));
     }
     if (syntax != GcodeSyntax::kCincinnati && syntax != GcodeSyntax::kHaasInch && syntax != GcodeSyntax::kMeld &&
-        syntax != GcodeSyntax::kORNL && syntax != GcodeSyntax::kSiemens && syntax != GcodeSyntax::kSkyBaam) {
+        syntax != GcodeSyntax::kORNL && syntax != GcodeSyntax::kSiemens && syntax != GcodeSyntax::kORNLMetric &&
+        syntax != GcodeSyntax::kSkyBaam) {
         text += commentLine(
             QString("Printer Base Offset: %0mm").arg(m_sb->setting<Distance>(PRS::Dimensions::kZOffset).to(mm)));
     }
@@ -126,7 +128,8 @@ QString WriterBase::writeSettingsHeader(GcodeSyntax syntax) {
             QString("Minimum Table Value: %0in").arg(m_sb->setting<Distance>(PRS::Dimensions::kWMin).to(in)));
     }
     if (syntax != GcodeSyntax::kCincinnati && syntax != GcodeSyntax::kHaasInch && syntax != GcodeSyntax::kMeld &&
-        syntax != GcodeSyntax::kORNL && syntax != GcodeSyntax::kSiemens && syntax != GcodeSyntax::kSkyBaam) {
+        syntax != GcodeSyntax::kORNL && syntax != GcodeSyntax::kSiemens && syntax != GcodeSyntax::kORNLMetric &&
+        syntax != GcodeSyntax::kSkyBaam) {
         text += commentLine(QString("Layer Height: %0mm").arg(m_sb->setting<Distance>(PS::Layer::kLayerHeight).to(mm)));
         text += commentLine(
             QString("Default Extrusion Width: %0mm").arg(m_sb->setting<Distance>(PS::Layer::kBeadWidth).to(mm)));

src/threading/abs_slicing_thread.cpp

@@ -128,7 +128,7 @@ void AbstractSlicingThread::setGcodeOutput(QString output) {
             m_base = QSharedPointer<OkumaWriter>(new OkumaWriter(GcodeMetaList::HaasMetricMeta, GSM->getGlobal()));
             break;
         case GcodeSyntax::kORNL:
-            m_base = QSharedPointer<ORNLWriter>(new ORNLWriter(GcodeMetaList::ORNLMetricMeta, GSM->getGlobal()));
+            m_base = QSharedPointer<ORNLWriter>(new ORNLWriter(GcodeMetaList::ORNLMeta, GSM->getGlobal()));
             break;
         case GcodeSyntax::kRomiFanuc:
             m_base =
@@ -167,6 +167,10 @@ void AbstractSlicingThread::setGcodeOutput(QString output) {
             m_base =
                 QSharedPointer<AdamantineWriter>(new AdamantineWriter(GcodeMetaList::AdamantineMeta, GSM->getGlobal()));
             break;
+        case GcodeSyntax::kORNLMetric:
+            m_base =
+                QSharedPointer<ORNLWriter>(new ORNLWriter(GcodeMetaList::ORNLMetricMeta, GSM->getGlobal()));
+            break;
         default:
             m_base =
                 QSharedPointer<CincinnatiWriter>(new CincinnatiWriter(GcodeMetaList::CincinnatiMeta, GSM->getGlobal()));

src/threading/gcode_amcm_saver.cpp

@@ -0,0 +1,177 @@
+#include "threading/gcode_amcm_saver.h"
+
+#include "QDir"
+#include "QFile"
+#include "QRegularExpression"
+#include "QStringBuilder"
+#include "QStringList"
+#include "QTextStream"
+#include "managers/settings/settings_manager.h"
+#include <qmath.h>
+
+namespace ORNL {
+GCodeAMCMSaver::GCodeAMCMSaver(QString tempLocation, QString path, QString filename, QString text, GcodeMeta meta)
+    : m_temp_location(tempLocation), m_path(path), m_filename(filename), m_text(text), m_selected_meta(meta) {
+    // NOP
+}
+
+void GCodeAMCMSaver::run() {
+    // First, get necessary parameters from settings to rotate all pathing
+    QChar comma(','), newline('\n'), space(' '), x('X'), y('Y'), z('Z'), f('F'), s('S'), zero('0');
+    qint16 layerNum = 0;
+    QStringList lines = m_text.split(newline);
+    QString G0("G0"), G1("G1"), M3("M3 "), M5("M5"), commaSpace(", ");
+    QString xval("0"), yval("0"), zval("0"), velocity, feedrate;
+    QString aval = QString::number(qRadiansToDegrees(GSM->getGlobal()->setting<Angle>(PRS::MachineSetup::kAxisA)()));
+    QString bval = QString::number(qRadiansToDegrees(GSM->getGlobal()->setting<Angle>(PRS::MachineSetup::kAxisB)()));
+    QString cval = QString::number(qRadiansToDegrees(GSM->getGlobal()->setting<Angle>(PRS::MachineSetup::kAxisC)()));
+    QString maxVelocity = QString::number(
+        GSM->getGlobal()->setting<Velocity>(PRS::MachineSpeed::kMaxXYSpeed).to(m_selected_meta.m_velocity_unit), 'f',
+        4);
+    zval = QString::number(
+        GSM->getGlobal()->setting<Distance>(PRS::Dimensions::kZMax).to(m_selected_meta.m_distance_unit), 'f', 4);
+    feedrate = QString::number(0);
+
+    QFile tempFile(m_temp_location % "temp");
+    if (tempFile.open(QIODevice::WriteOnly | QIODevice::Truncate | QIODevice::Text)) {
+        QTextStream out(&tempFile);
+        out << m_text;
+        tempFile.close();
+
+        QFile::rename(tempFile.fileName(), m_filename);
+    }
+
+    QFileInfo fi(m_filename);
+    QString filePath = fi.absolutePath() + QDir::separator() + fi.baseName() + "_output.src";
+
+    QFile file(filePath);
+    file.open(QIODevice::WriteOnly | QIODevice::Truncate | QIODevice::Text);
+    QTextStream out(&file);
+
+    // File Header
+    out << "&ACCESS RVP" % newline;
+    out << "&REL 1" % newline;
+    out << "&PARAM TEMPLATE = C:\\KRC\\Roboter\\Template\\vorgabe" % newline;
+    out << "&PARAM EDITMASK = *" % newline;
+    out << "DEF Hexagon ( )" % newline % newline;
+
+    out << "; GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )" % newline;
+    out << "; INTERRUPT ON 3" % newline % newline;
+
+	out << ";FOLD Initialise and set default speed" % newline;
+	out << "BAS (#INITMOV,0)" % newline;
+	out << "BAS (#VEL_PTP,100)" % newline;
+	out << "BAS (#ACC_PTP,20)" % newline;
+	out << "$VEL.CP=0.2" % newline;
+	out << "BAS (#TOOL,0)" % newline;
+	out << "BAS (#BASE,0)" % newline;
+	out << ";ENDFOLD" % newline % newline;
+
+	out << ";;FOLD STARTPOS" % newline;
+	out << ";$BWDSTART = FALSE" % newline;
+	out << ";PDAT_ACT = PDEFAULT" % newline;
+	out << ";BAS(#PTP_DAT)" % newline;
+	out << ";FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}" % newline;
+	out << ";BAS(#FRAMES)" % newline;
+	out << ";;ENDFOLD" % newline % newline;
+
+	out << "$ADVANCE = 5" % newline;
+
+	out << ";FOLD ---- Quickly skip BCO ----" % newline;
+	out << "; PTP $AXIS_ACT" % newline;
+	out << ";ENDFOLD" % newline % newline;
+
+	out << ";FOLD ---- GO HOME ----" % newline;
+	out << "; PTP {A1 0.000, A2 -90.000, A3 90.000, A4 0.000, A5 0.000, A6 0.000, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}" % newline;
+	out << ";ENDFOLD" % newline % newline;
+
+	out << "; Program generated by ORNL Slicer for KUKA KR 300 R2500 ultra" % newline;
+	out << "; Using nominal kinematics." % newline;
+	out << "$APO.CPTP = 1.000" % newline;
+	out << "$APO.CDIS = 1.000" % newline;
+	out << "$VEL.CP = 0.06000" % newline;
+	out << "; ---- Setting reference (Base) ----" % newline;
+	out << "; BASE_DATA[14] = {FRAME: X 1022.920,Y -1522.720,Z -588.000,A 135.000,B 0.000,C 0.000}" % newline;
+	out << "; $BASE = {FRAME: X 1022.920,Y -1522.720,Z -588.000,A 135.000,B 0.000,C 0.000}" % newline;
+	out << "$BASE = BASE_DATA[14]" % newline;
+	out << "; --------------------------" % newline;
+	out << "; ---- Setting tool (TCP) ----" % newline;
+	out << "; TOOL_DATA[5] = {FRAME: X 843.812,Y 0.000,Z 301.216,A 0.000,B 0.000,C -90.000}" % newline;
+	out << "; $TOOL = {FRAME: X 843.812,Y 0.000,Z 301.216,A 0.000,B 0.000,C -90.000}" % newline;
+	out << "$TOOL = TOOL_DATA[5]" % newline;
+	out << "; --------------------------" % newline;
+	out << "; Show Tool 5" % newline;
+	out << "PTP {A1 60.68200,A2 -65.00000,A3 124.01700,A4 18.60870,A5 -57.89280,A6 -10.14630,E1 0.00000} C_PTP" % newline;
+
+
+    QString line;
+
+    for (int i = 0; i < lines.size(); i++)
+    {
+        line = lines[i];
+        if (line.startsWith(G0)) {
+            velocity = QString::number(
+                GSM->getGlobal()->setting<Velocity>(PS::Travel::kSpeed).to(m_selected_meta.m_velocity_unit), 'f',
+                4);
+            QString temp = line.mid(0, line.indexOf(m_selected_meta.m_comment_starting_delimiter));
+            QVector<QString> params = temp.split(space);
+
+            if (params[0] == G0) {
+                for (int i = 1, end = params.size(); i < end; ++i) {
+                    if (params[i].startsWith(x))
+                        xval = params[i].mid(1);
+                    else if (params[i].startsWith(y))
+                        yval = params[i].mid(1);
+                    else if (params[i].startsWith(z))
+                        zval = params[i].mid(1);
+                }
+            }
+
+            if (velocity != feedrate) {
+                out << "$VEL.CP = " % velocity % newline;
+                feedrate = velocity;
+            }
+
+            out << "LIN {X " % xval % ", Y " % yval % ", Z " % zval % ", A " % aval % ", B " % bval % ", C " %
+                           cval % ", E1 0.000} C_DIS" % newline;
+        }
+        else if (line.startsWith(G1)) {
+            QString temp = line.mid(0, line.indexOf(m_selected_meta.m_comment_starting_delimiter));
+            QVector<QString> params = temp.split(space);
+
+            if (params[0] == G1) {
+                for (int i = 1, end = params.size(); i < end; ++i) {
+                    if (params[i].startsWith(x))
+                        xval = params[i].mid(1);
+                    else if (params[i].startsWith(y))
+                        yval = params[i].mid(1);
+                    else if (params[i].startsWith(z))
+                        zval = params[i].mid(1);
+                    else if (params[i].startsWith(f))
+                        velocity = params[i].mid(1);
+                }
+            }
+            if (velocity != feedrate) {
+                out << "$VEL.CP = " % velocity % newline;
+                feedrate = velocity;
+            }
+
+            out << "LIN {X " % xval % ", Y " % yval % ", Z " % zval % ", A " % aval % ", B " % bval % ", C " %
+                           cval % ", E1 0.000} C_DIS" % newline;
+            if (line.contains("S0")){
+                out << "; Stop Extrusion" % newline;
+            }
+        }
+        else if (line.startsWith(M3)) {
+            out << "; Start Extrusion" % newline;
+        }
+        else if (line.startsWith(M5)) {
+            out << "; Stop Extrusion" % newline;
+        }
+    }
+
+    out << newline % "END";
+    file.close();
+}
+
+} // namespace ORNL

src/threading/gcode_loader.cpp

@@ -572,10 +572,14 @@ void GCodeLoader::setParser(QStringList& originalLines, QStringList& lines) {
                 m_parser.reset(new CommonParser(GcodeMetaList::HaasMetricMeta, m_adjust_file, originalLines, lines));
                 m_selected_meta = GcodeMetaList::ORNLMeta;
             }
-            else if (m_lines[m_current_line].contains(toString(GcodeSyntax::kORNL).toUpper())) {
+            else if (m_lines[m_current_line].contains(toString(GcodeSyntax::kORNLMetric).toUpper())) {
                 m_parser.reset(new CommonParser(GcodeMetaList::ORNLMetricMeta, m_adjust_file, originalLines, lines));
                 m_selected_meta = GcodeMetaList::ORNLMetricMeta;
             }
+            else if (m_lines[m_current_line].contains(toString(GcodeSyntax::kORNL).toUpper())) {
+                m_parser.reset(new CommonParser(GcodeMetaList::ORNLMeta, m_adjust_file, originalLines, lines));
+                m_selected_meta = GcodeMetaList::ORNLMeta;
+            }
             else if (m_lines[m_current_line].contains(toString(GcodeSyntax::kRomiFanuc).toUpper())) {
                 m_parser.reset(new CommonParser(GcodeMetaList::RomiFanucMeta, m_adjust_file, originalLines, lines));
                 m_selected_meta = GcodeMetaList::RomiFanucMeta;