diff --git a/js/cam/Cam.js b/js/cam/Cam.js
index 61c422aae4cabd61b4c3de1f35096b583aa16fc2..8ee2ac19fc970feee0c2cdde8e825d544b0ebd1a 100644
--- a/js/cam/Cam.js
+++ b/js/cam/Cam.js
@@ -324,20 +324,7 @@ define(['underscore', 'three', 'backbone', 'appState', 'latticeCAM', 'threeModel
var self = this;
this._getExporter(function(exporter){
- var data = "";
- data += exporter.makeHeader(scaledSettings);
- data += "\n\n";
- data += exporter.addComment("begin program");
- data += "\n";
-
- data += self.get("assembler").postProcess(scaledSettings, exporter);
-
- data += "\n\n";
- data += exporter.addComment("end program");
- data += "\n";
- data += exporter.makeFooter(scaledSettings);
-
- self.set("dataOut", data);
+ self.set("dataOut", self.get("assembler").postProcess(scaledSettings, exporter));
self.set("editsMadeToProgram", false);
self.set("exporter", exporter);
if (!appState.get("stockSimulationPlaying")) self.resetSimulation();
diff --git a/js/cam/assemblers/Assembler.js b/js/cam/assemblers/Assembler.js
index cf41d039ac5298ade2bc86c1c96785df6996ffd5..78dbf6ccb8bf0e21b792985bf46b950c269f766d 100644
--- a/js/cam/assemblers/Assembler.js
+++ b/js/cam/assemblers/Assembler.js
@@ -23,7 +23,6 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
this.object3D = new THREE.Object3D();
three.sceneAdd(this.object3D);
-
var componentsJSON = json.components;
this.components = this._buildAssemblerComponents(componentsJSON);
this._loadSTLs(json, this.components);
@@ -99,11 +98,6 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
});
};
-
-
-
-
-
Assembler.prototype.setVisibility = function(visible){
this.object3D.visible = visible;
this._setTranslucent();
@@ -113,17 +107,33 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
Assembler.prototype._setTranslucent = function(){
assemblerMaterial.transparent = (appState.get("currentTab") == "cam" || appState.get("currentTab") == "assemblerSetup");
};
-
- Assembler.prototype.moveMachine = function(origin){//origin selection
- this.object3D.position.set(origin.x, origin.y, origin.z);
- three.render();
- };
-
+
+
+
+
+ //post process
+
+ Assembler.prototype.postProcess = function(settings, exporter){
+ var data = "";
+ data += exporter.makeHeader(settings);
+ data += "\n\n";
+ data += exporter.addComment("begin program");
+ data += "\n";
+
+ data += this._postProcessCells(settings, exporter);
+
+ data += "\n\n";
+ data += exporter.addComment("end program");
+ data += "\n";
+ data += exporter.makeFooter(settings);
+
+ return data;
+ };
- Assembler.prototype.postProcess = function(settings, exporter){//override in subclasses
+ Assembler.prototype._postProcessCells = function(settings, exporter){
var data = "";
var self = this;
@@ -145,15 +155,16 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
// data += self._postMoveXY(exporter, stockPosition.x-wcs.x, stockPosition.y-wcs.y);
// data += self._postMoveToStock(exporter, thisStockPosition, rapidHeight, wcs, safeHeight);
}
- data += self._postMoveXY(cellPosition.x-settings.originPosition.x, cellPosition.y-settings.originPosition.y, settings, exporter);
- data += self._postReleaseStock(cellPosition, cell, settings, exporter);
+ data += self._postMoveXY(cellPosition.clone().sub(settings.originPosition), settings, exporter);
+ data += self._postReleaseStock(cellIndex, cellPosition, settings, exporter);
data += "\n";
});
+
return data;
};
- Assembler.prototype._postMoveXY = function(x, y, settings, exporter){
- return exporter.rapidXY(x, y, settings);
+ Assembler.prototype._postMoveXY = function(position, settings, exporter){
+ return exporter.rapidXY(position, settings);
};
// Assembler.prototype._postMoveToStock = function(exporter, stockPosition, rapidHeight, wcs, safeHeight){
@@ -167,23 +178,38 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
// };
Assembler.prototype._postGetStock = function(index, position, settings, exporter){
- return exporter.addComment("get stock");
+ var json = {
+ index:index,
+ position: position
+ };
+ return exporter.addComment("get stock " + JSON.stringify(json));
};
- Assembler.prototype._postReleaseStock = function(cellPosition, cell, settings, exporter){
+ Assembler.prototype._postReleaseStock = function(index, position, settings, exporter){
+ var json = {
+ index:index,
+ position: position
+ };
var data = "";
- data += exporter.rapidZ(cellPosition.z-settings.originPosition.z+settings.safeHeight, settings);
- data += exporter.moveZ(cellPosition.z-settings.originPosition.z, settings);
- data += exporter.addComment(JSON.stringify(cell.getAbsoluteIndex()));
- data += exporter.moveZ(cellPosition.z-settings.originPosition.z+settings.safeHeight, settings);
+ data += exporter.rapidZ(position.z-settings.originPosition.z+settings.safeHeight, settings);
+ data += exporter.moveZ(position.z-settings.originPosition.z, settings);
+ data += exporter.addComment(JSON.stringify(json));
+ data += exporter.moveZ(position.z-settings.originPosition.z+settings.safeHeight, settings);
data += exporter.rapidZ(settings.rapidHeight, settings);
return data;
};
+
+
//animation methods
+
+ Assembler.prototype.moveMachine = function(origin){//origin selection
+ this.object3D.position.set(origin.x, origin.y, origin.z);
+ three.render();
+ };
Assembler.prototype.updateCellMode = function(){//message from cam
_.each(this.stock, function(stock){
@@ -203,9 +229,10 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
});
};
- Assembler.prototype.releaseStock = function(index, settings){
- console.log(index);
- lattice.showCellAtIndex(JSON.parse(index));
+ Assembler.prototype.releaseStock = function(json, settings){
+ json = JSON.parse(json);
+ console.log(json.index);
+ lattice.showCellAtIndex(json.index);
_.each(this.stock, function(stock){
stock.hide();
});
@@ -214,14 +241,8 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
Assembler.prototype.pause = function(){
};
- Assembler.prototype.moveTo = function(x, y, z, speed, settings, callback){
- x = this._makeAbsPosition(x, settings.originPosition.x);
- y = this._makeAbsPosition(y, settings.originPosition.y);
- z = this._makeAbsPosition(z, settings.originPosition.z);
- this._moveTo(x, y, z, speed, callback);
- };
-
- Assembler.prototype._moveTo = function(x, y, z, speed, callback){
+ Assembler.prototype.moveTo = function(position, speed, settings, callback){
+
var totalThreads = 3;
function sketchyCallback(){
totalThreads -= 1;
@@ -229,54 +250,35 @@ define(['underscore', 'appState', 'lattice', 'stlLoader', 'threeModel', 'cam', '
callback();
}
var startingPos = {x:this.components.xAxis.getPosition().x, y:this.components.yAxis.getPosition().y, z:this.components.zAxis.getPosition().z};
- speed = this._normalizeSpeed(startingPos, x, y, this._reorganizeSpeed(speed));
- this.components.xAxis.moveTo(this._makeAxisVector(x, "x"), speed.x, sketchyCallback);
- this.components.yAxis.moveTo(this._makeAxisVector(y, "y"), speed.y, sketchyCallback);
- this.components.zAxis.moveTo(this._makeAxisVector(z, "z"), speed.z, sketchyCallback);
- };
-
- Assembler.prototype._makeAbsPosition = function(target, origin){
- if (target == "" || target == null || target === undefined) return null;
- return parseFloat(target)+origin;
+ speed = this._normalizeSpeed(startingPos, position, new THREE.Vector3(speed, speed, speed));
+ this.components.xAxis.moveTo(this._makeAxisVector(position, "x"), speed.x, sketchyCallback);
+ this.components.yAxis.moveTo(this._makeAxisVector(position, "y"), speed.y, sketchyCallback);
+ this.components.zAxis.moveTo(this._makeAxisVector(position, "z"), speed.z, sketchyCallback);
};
- Assembler.prototype._reorganizeSpeed = function(speed){
- var newSpeed = {};
- newSpeed.x = speed.xy;
- newSpeed.y = speed.xy;
- newSpeed.z = speed.z;
- return newSpeed;
- };
-
- Assembler.prototype._normalizeSpeed = function(startingPos, x, y, speed){//xy moves need speed normalization
- var normSpeed = {};
- if (x == "" || y == "" || x === null || y === null) return speed;
- var deltaX = x-startingPos.x;
- var deltaY = y-startingPos.y;
+ Assembler.prototype._normalizeSpeed = function(startingPos, position, speed){//todo make this more general
+ if (position.x === null && position.y === null) return speed;
+ var deltaX = position.x-startingPos.x;
+ var deltaY = position.y-startingPos.y;
var totalDistance = Math.sqrt(Math.pow(deltaX, 2) + Math.pow(deltaY, 2));
if (totalDistance == 0) return speed;
- normSpeed.x = Math.abs(deltaX/totalDistance*speed.x);
- normSpeed.y = Math.abs(deltaY/totalDistance*speed.y);
- normSpeed.z = speed.z;
- return normSpeed;
+ speed.x = Math.abs(deltaX/totalDistance*speed.x);
+ speed.y = Math.abs(deltaY/totalDistance*speed.y);
+ return speed;
};
Assembler.prototype._makeAxisVector = function(position, axis){
- switch (axis){
- case "x":
- return {x:position, y:0, z:0};
- case "y":
- return {x:0, y:position, z:0};
- case "z":
- return {x:0, y:0, z:position};
- default:
- console.warn(axis + " axis not recognized");
- return null;
- }
+ if (position[axis] == null) return null;
+ var vector = new THREE.Vector3(0,0,0);
+ vector[axis] = position[axis];
+ return vector;
};
-
+
+
+
+
//helper
diff --git a/js/cam/assemblers/Component.js b/js/cam/assemblers/Component.js
index 331fc3c6c27f6c5c379d5f560da4ff031b0542b7..56c2902d0c0feb182b808fabcdb8e7eb872a764a 100644
--- a/js/cam/assemblers/Component.js
+++ b/js/cam/assemblers/Component.js
@@ -78,55 +78,33 @@ define(['underscore', 'cam', 'three'], function(_, cam, THREE){
};
Component.prototype.moveTo = function(target, speed, callback){
+ if (target === null){
+ if (callback) callback();
+ return;
+ }
var currentPosition = this.getPosition();
- var diff = _.clone(target);
- _.each(_.keys(target), function(key){
- if (target[key] === null) diff[key] = 0;
- else diff[key] -= currentPosition[key];
- });
-
- var diffLength = this._getLength(diff);
var increment = speed/25*cam.get("simSpeed");
+ var incrVector = target.clone().sub(currentPosition);
- if (increment == 0 || diffLength == 0) {
+ if (increment == 0 || incrVector.length() == 0) {
if (callback) callback();
return;
}
increment = Math.max(increment, 0.00001);//need to put a min on the increment - otherwise this stalls out with floating pt tol
- var incrementVector = diff;
- _.each(_.keys(incrementVector), function(key){
- incrementVector[key] *= increment/diffLength;
- });
- this._incrementalMove(incrementVector, target, callback);
- };
-
- Component.prototype._remainingDistanceToTarget = function(target){
- var position = this.getPosition();
- var dist = 0;
- _.each(_.keys(target), function(key){
- dist += Math.pow(target[key] - position[key], 2);
- });
- return dist;
- };
-
- Component.prototype._getLength = function(vector){
- var length = 0;
- _.each(_.keys(vector), function(key){
- length += Math.pow(vector[key], 2);
- });
- return length;
+ incrVector.normalize().multiplyScalar(increment);
+ this._incrementalMove(incrVector, target, callback);
};
Component.prototype._incrementalMove = function(increment, target, callback){
var self = this;
setTimeout(function(){
- var remainingDist = Math.abs(self._remainingDistanceToTarget(target));
+ var remainingDist = (target.clone().sub(self.getPosition())).length();
var nextPos;
if (remainingDist == 0) {
if (callback) callback();
return;
- } else if (remainingDist < self._getLength(increment)){
+ } else if (remainingDist < increment.length()){
nextPos = target;//don't overshoot
} else {
nextPos = self.getPosition();
diff --git a/js/cam/processes/GCodeExporter.js b/js/cam/processes/GCodeExporter.js
index aa57830f05ed9e0954bae7af4cea5fdf54fdd07b..9b173600d39e510e8c04e32e2087a8ccb4a835f2 100644
--- a/js/cam/processes/GCodeExporter.js
+++ b/js/cam/processes/GCodeExporter.js
@@ -43,16 +43,16 @@ define(['underscore', 'cam', 'lattice'], function(_, cam, lattice){
GCodeExporter.prototype._setSpeed = function(speed){
return "F"+ speed + "\n";
- }
+ };
//GCodeExporter.prototype._rapidXYZ = function(x, y, z){
// return this._goXYZ(x,y,z);
//};
- GCodeExporter.prototype.rapidXY = function(x, y, settings){
+ GCodeExporter.prototype.rapidXY = function(position, settings){
var data = "";
if (this.postSpeed != settings.rapidSpeeds.x) data += this._setSpeed(settings.rapidSpeeds.x);
- return data + this._goXYZ(x, y, null);
+ return data + this._goXYZ(position.x, position.y, null);
};
GCodeExporter.prototype.rapidZ = function(z, settings){
@@ -97,7 +97,7 @@ define(['underscore', 'cam', 'lattice'], function(_, cam, lattice){
};
GCodeExporter.prototype.simulate = function(line, machine, settings, callback){
- if (line == "(get stock)"){
+ if (line.substr(0,11) == "(get stock)"){
machine.pickUpStock(settings);
return callback();
}
@@ -113,24 +113,27 @@ define(['underscore', 'cam', 'lattice'], function(_, cam, lattice){
return callback();
}
if (line.substr(0,3) == "G01"){
- return this._simulateGetPosition(line, {xy:this.animationSpeed, z:this.animationSpeed}, machine, settings, callback);
+ return this._simulateG01(line, this.animationSpeed, machine, settings, callback);
} else {
console.warn("problem parsing gcode: " + line);
return callback();
}
};
- GCodeExporter.prototype._simulateGetPosition = function(line, speed, machine, settings, callback){
+ GCodeExporter.prototype._simulateG01 = function(line, speed, machine, settings, callback){
var data = line.split(" ");
- var position = {x:"",y:"",z:""};
- if (data.length<2) console.warn("problem parsing gcode " + line);
+ var position = {x:null,y:null,z:null};
+ if (data.length<2) {
+ console.warn("problem parsing gcode " + line);
+ return callback();
+ }
for (var i=1;i<data.length;i++){
var item = data[i];
- if (item[0] == "X") position.x = item.substr(1) / settings.scale;
- if (item[0] == "Y") position.y = item.substr(1) / settings.scale;
- if (item[0] == "Z") position.z = item.substr(1) / settings.scale;
+ if (item[0] == "X") position.x = parseFloat(item.substr(1)) / settings.scale;
+ if (item[0] == "Y") position.y = parseFloat(item.substr(1)) / settings.scale;
+ if (item[0] == "Z") position.z = parseFloat(item.substr(1)) / settings.scale;
}
- machine.moveTo(position.x, position.y, position.z, speed, settings, callback);
+ machine.moveTo(position, speed, settings, callback);
};
return GCodeExporter;