MRGcodeProcessor.h

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#pragma once
#include "MRMeshFwd.h"
#include "MRVector3.h"
#include "MRMatrix3.h"
#include "MRCNCMachineSettings.h"
#include <vector>
#include <string>
#include <optional>
#include <functional>
 
 
namespace MR
{
 

class MRMESH_CLASS GcodeProcessor
{
public:
 
    template<typename Vec>
    struct BaseAction
    {
        std::vector<Vec> path;
        std::string warning;
    };
    using BaseAction2f = BaseAction<Vector2f>;
    using BaseAction3f = BaseAction<Vector3f>;
    struct MoveAction
    {
        BaseAction3f action;
        std::vector<Vector3f> toolDirection; 
        bool idle = true;
        float feedrate = 100.f;
        bool valid() const { return action.warning.empty(); }
        operator bool() const { return valid(); }
    };

    MRMESH_API void reset();

    MRMESH_API void setGcodeSource( const GcodeSource& gcodeSource );

    MRMESH_API std::vector<MoveAction> processSource();
 
    struct Command
    {
        char key; 
        float value;
    };

    MRMESH_API MoveAction processLine( const std::string_view& line, std::vector<Command> & externalStorage );

    MRMESH_API void setCNCMachineSettings( const CNCMachineSettings& settings );
    const CNCMachineSettings& getCNCMachineSettings() { return cncSettings_; }
 
private:
    enum class WorkPlane
    {
        xy,
        zx,
        yz
    };

    static void parseFrame_( const std::string_view& frame, std::vector<Command> & outCommands );
    void applyCommand_( const Command& command );
    void applyCommandG_( const Command& command );
    MoveAction generateMoveAction_();
    MoveAction generateReturnToHomeAction_();
    void resetTemporaryStates_();


    MoveAction moveLine_( const Vector3f& newPoint, const Vector3f& newAngles );
    MoveAction moveArc_( const Vector3f& newPoint, const Vector3f& newAngles, bool clockwise );

    void updateWorkPlane_( WorkPlane wp );

    void updateScaling_();


    BaseAction2f getArcPoints2_( const Vector2f& beginPoint, const Vector2f& endPoint, bool clockwise );
    BaseAction3f getArcPoints3_( const Vector3f& center, const Vector3f& beginPoint, const Vector3f& endPoint, bool clockwise );
    BaseAction3f getArcPoints3_( float r, const Vector3f& beginPoint, const Vector3f& endPoint, bool clockwise );

    MoveAction getToolRotationPoints_( const Vector3f& newRotationAngles );
 
    Vector3f calcNewTranslationPos_();
    Vector3f calcNewRotationAngles_();
    Vector3f calcRealCoord_( const Vector3f& translationPos, const Vector3f& rotationAngles );
    void updateRotationAngleAndMatrix_( const Vector3f& rotationAngles );
    Vector3f calcRealCoordCached_( const Vector3f& translationPos, const Vector3f& rotationAngles );
    Vector3f calcRealCoordCached_( const Vector3f& translationPos );

    enum class MoveMode
    {
        Idle, 
        Line, 
        Clockwise, 
        Counterclockwise 
    };
    enum class CoordType
    {
        Movement,
        ReturnToHome,
        Scaling
    };

    CoordType coordType_ = CoordType::Movement;
    MoveMode moveMode_ = MoveMode::Idle;
    WorkPlane workPlane_ = WorkPlane::xy;
    Matrix3f toWorkPlaneXf_; 
    Vector3f translationPos_; 
    Vector3f rotationAngles_; 
    bool absoluteCoordinates_ = true; 
    Vector3f scaling_ = Vector3f::diagonal( 1.f );
    bool inches_ = false;
    float feedrate_ = 100.f;
    float feedrateMax_ = 0.f;

    std::array<Matrix3f, 3> cacheRotationMatrix_; 

    Vector3f inputCoords_; 
    Vector3b inputCoordsReaded_; 
    std::optional<float> radius_; 
    std::optional<Vector3f> arcCenter_; 
    Vector3f inputRotation_; 
    Vector3b inputRotationReaded_; 
 
    std::vector<std::string_view> gcodeSource_; 

    float accuracy_ = 1.e-3f;
    CNCMachineSettings cncSettings_;
    std::vector<int> rotationAxesOrderMap_ = {0, 1, 2}; 
 
};
 
}