com.willwinder.universalgcodesender.gcode.processors.Translator.java Source code

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Here is the source code for com.willwinder.universalgcodesender.gcode.processors.Translator.java

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/*
Copyright 2017 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.GcodePreprocessorUtils;
import com.willwinder.universalgcodesender.gcode.GcodeState;
import com.willwinder.universalgcodesender.gcode.util.GcodeParserException;
import com.willwinder.universalgcodesender.model.Position;
import com.willwinder.universalgcodesender.model.UnitUtils;
import java.util.Collections;
import java.util.List;
import org.apache.commons.lang3.StringUtils;

/**
 *
 * @author wwinder
 */
public class Translator implements CommandProcessor {

    private final Position offset;

    public Translator(Position offset) {
        this.offset = offset;
    }

    private String shift(String part, double amount) {
        return "" + part.charAt(0) + (Double.valueOf(part.substring(1)) + amount);
    }

    @Override
    public List<String> processCommand(String command, GcodeState state) throws GcodeParserException {
        // If the file is in absolute mode, no translation is needed.
        if (!state.inAbsoluteMode) {
            return Collections.singletonList(command);
        }

        String comment = GcodePreprocessorUtils.parseComment(command);
        String rawCommand = GcodePreprocessorUtils.removeComment(command);
        List<String> parts = GcodePreprocessorUtils.splitCommand(rawCommand);
        StringBuilder sb = new StringBuilder();

        double x = offset.getPositionIn(UnitUtils.Units.getUnits(state.units)).x;
        double y = offset.getPositionIn(UnitUtils.Units.getUnits(state.units)).y;
        double z = offset.getPositionIn(UnitUtils.Units.getUnits(state.units)).z;

        for (String part : parts) {
            switch (Character.toUpperCase(part.charAt(0))) {
            case 'X':
                sb.append(shift(part, x));
                break;
            case 'Y':
                sb.append(shift(part, y));
                break;
            case 'Z':
                sb.append(shift(part, z));
                break;

            // Grbl doesn't support absolute arcs, but what the hell.
            case 'I':
                if (state.inAbsoluteIJKMode) {
                    sb.append(shift(part, x));
                    break;
                }
                // fall through if not in absolute mode...
            case 'J':
                if (state.inAbsoluteIJKMode) {
                    sb.append(shift(part, y));
                    break;
                }
                // fall through if not in absolute mode...
            case 'K':
                if (state.inAbsoluteIJKMode) {
                    sb.append(shift(part, z));
                    break;
                }
                // fall through if not in absolute mode...
            default:
                sb.append(part);
            }
        }

        if (StringUtils.isNotBlank(comment)) {
            sb.append("(").append(comment).append(")");
        }

        return Collections.singletonList(sb.toString());
    }

    @Override
    public String getHelp() {
        return "Translates gcode location.";
    }
}