Diff: shared/GCodeMovement/GCodeMovement.cpp

Revision:

0:ee7e9405e1c7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/shared/GCodeMovement/GCodeMovement.cpp	Wed Apr 14 07:26:19 2021 +0000
@@ -0,0 +1,43 @@
+#include "GCodeMovement.h"
+
+GCodeMovement::GCodeMovement(AutomaticMovement *automatic_movement, Eigen::Vector3d *current_position, Eigen::Vector3d *target_position)
+	: _automatic_movement(automatic_movement), GCodeReader(current_position, target_position)
+{}
+
+Eigen::Vector3d GCodeMovement::move_g_code(Eigen::Vector3d current_position)
+{
+	Eigen::Vector3d speed_move;
+	Eigen::Vector3d difference;
+
+	*GCodeReader::_current_position = current_position;
+
+	if(_g_code_list.size() == 0)
+		_g_code_list.push(std::string("g0"));
+
+	read_g_code(_g_code_list.front());
+
+	difference = *GCodeReader::_target_position - *GCodeReader::_current_position;
+
+	if( (difference.array().abs() < _near_position.array()).all() )
+		_g_code_list.pop();
+
+	speed_move = _automatic_movement->move_automatic(*GCodeReader::_target_position, *GCodeReader::_current_position);
+
+	return speed_move;
+}
+
+void GCodeMovement::push_g_code(const std::string g_code)
+{
+	_g_code_list.push(g_code);
+}
+
+void GCodeMovement::reset_g_code()
+{
+	while(!_g_code_list.empty())
+		_g_code_list.pop();
+}
+
+void GCodeMovement::set_near_position(const Eigen::Vector3d &near_position)
+{
+	_near_position = near_position;
+}