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Represents a G-code program executor. This class provides an interface to load and run G-code programs with a callback interface for M-codes. An instance of this class is created by the Robot class, access it via the Robot.Gcode property. More...
Functions | |
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void | FeedRateSet (double programmingUnitsPerMinute)=0 |
REQUIRED before Load() or LoadFile() if your g-code does not have 'F' in its contents. Sets the target feed rate for the machine (units/minute). Rotational moves are in (degrees/minute) | |
void | AccelerationRateSet (double programmingUnitsPerMinuteSquared)=0 |
REQUIRED before Load() or LoadFile(). Sets the target acceleration for the machine (units/minute^2). Rotational moves are in (degrees/minute^2). Should be set appropriately based on your hardware. | |
void | Load (const char *const text)=0 |
Load a G-code program from a string. | |
void | LoadFile (const char *const file)=0 |
Load a G-code program from a file. | |
void | Run ()=0 |
Run the loaded G-Code file (or string). The behavior is non-blocking. Use DoneWait() to block. | |
uint64_t | DoneWait (uint64_t timeoutMilliseconds)=0 |
Wait for the completion of G-code program execution with a timeout. | |
void | ReloadLines (int32_t start=0, int32_t end=-1)=0 |
Reloads the lines from the last call to GcodeLoad() but only between start line and end of file. This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
int32_t | LineCountGet ()=0 |
Get the number of lines in the last loaded G-Code program. | |
const char *const | ProgramGet ()=0 |
Gets the raw file contents of the last loaded program. | |
int32_t | SyntaxErrorLineNumberGet ()=0 |
Gets the line number of any errors in the G-Code syntax. Or use the exception thrown by Load or LoadFile. | |
const char *const | LineTextGet (uint32_t lineNumber)=0 |
Gives you the text of a specific line from the last loaded program excluding all comments and with only once space between chunks. | |
double | FeedRateGet ()=0 |
Gets the target feed rate for the machine (GcodeUnitsGet()/minute). Rotational only moves are in (degrees/minute). | |
double | AccelerationRateGet ()=0 |
Gets the target acceleration for the machine (GcodeUnitsGet()/minute^2). Rotational only moves are in (degrees/minute^2). | |
double | DurationGet ()=0 |
Get the time duration required to run the loaded G-Code program in seconds. | |
void | Cancel ()=0 |
Cancel the currently running G-code program. | |
RapidVector< RobotPosition > | PlannedPositionsGet (uint64_t startFrame, uint64_t frameCount)=0 |
Get RobotPositions representing the planned G-Code motion in cartesian space that will happen when run is called. Also includes the positions of the free axes. | |
void | UnitsSet (LinearUnits units)=0 |
Set the currently active unit (same as calling G20/G21) | |
LinearUnits | UnitsGet ()=0 |
Get the currently active unit as set by G20/G21. | |
void | WorkOffsetConfigure (GCodeWorkOffset workOffset, Vector3d offsetValues)=0 |
Save an XYZ offset to be used with specified G-Code work offset. | |
void | ActiveWorkOffsetSelect (GCodeWorkOffset workOffset)=0 |
Apply the offset saved under the specified location. | |
GCodeWorkOffset | ActiveWorkOffsetGet ()=0 |
Gets the enum representing the location where the current offset is saved. | |
const RobotPosition & | ActiveWorkOffsetValuesGet ()=0 |
Gets the actual values of the currently applied offset. | |
bool | IsRunning ()=0 |
Returns true if a Gcode program is executing, false otherwise. | |
int32_t | ExecutingLineNumberGet ()=0 |
Get the currently executing line number. | |
void | FreeAxisLetterSet (const char gcodeLetter, const int32_t freeAxisIndex)=0 |
Map a letter in a Gcode file to a free axis. It will be used to specify the free axis' motion. | |
void | CallbackRegister (Cartesian::GcodeCallback *callback)=0 |
G-code callback register. | |
const char *const | VersionGet () |
Get the RSI RapidCode version. | |
int32_t | MpiVersionMajor () |
Get the major MPI version. | |
int32_t | MpiVersionMinor () |
Get the minor MPI version. | |
int32_t | MpiVersionRelease () |
Get the release MPI version. | |
int32_t | RSIVersionMajor () |
Get the major RSI version. | |
int32_t | RSIVersionMinor () |
Get the minor RSI version. | |
int32_t | RSIVersionMicro () |
Get the micro RSI version. | |
int32_t | RSIVersionPatch () |
Get the patch RSI version. | |
int32_t | NumberGet () |
Get the zero-based index of this object. | |
int32_t | ErrorLogCountGet () |
Get the number of software errors in the error log. | |
const RsiError *const | ErrorLogGet () |
Get the next RsiError in the log. | |
void | ErrorLogClear () |
Clear the error log. | |
void | ThrowExceptions (bool state) |
Configure a class to throw exceptions. | |
const char *const | RsiErrorMessageGet (RSIErrorMessage msg) |
Get the RSI-specific error message text for a specific RSIErrorMessage. | |
const char *const | ErrorMessageGet (RSIErrorMessage msg) |
Get the detailed text message for an RSIErrorMessage. | |
bool | WarningMsgCheck (RSIErrorMessage msg) |
Check to see if an RSIErrorMessage is a warning (true) or not (false). | |
void | Trace (bool state) |
Enables/Disables trace output. | |
void | TraceMaskOnSet (RSITrace maskOn) |
Turn on a particular trace output mask. | |
bool | TraceMaskOnGet (RSITrace maskOn) |
Check to see if a particular trace output mask is turned on. | |
void | TraceMaskOffSet (RSITrace maskOff) |
Turn off a particular trace output mask. | |
void | TraceMaskClear () |
Clear the trace output mask. | |
void | TraceFileSet (const char *const fileName) |
Channels Tracing messages to specified file. | |
void | TraceFileClose () |
Stops Logging to the file. | |
void | TraceInjectMessage (RSITrace traceLevel, const char *const message) |
Add a message to the Trace Log. | |
Definition at line 1327 of file cartesianrobot.h.