contour.cs

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using System;
using System.Collections.Generic;
using System.Linq;
using System.IO;
using System.Threading;
 
namespace examples
{
    public static partial class Examples
    {
 
        public static int Contour(gclib gclib, string fileA, string fileB)
        {
            Record_Position(gclib, fileA, fileB); //Record positional data on Axis A and B
 
            List<string> positions_A = File.ReadAllText(fileA).Split(',').ToList();
            List<string> positions_B = File.ReadAllText(fileB).Split(',').ToList();
 
            gclib.GCommand("SH AB"); //Set servo here
            gclib.GCommand("PA 0, 0"); //Set current position to 0
            gclib.GMotionComplete("AB"); //Wait for motion to complete
            gclib.GCommand("CM AB"); //Put axis A & B in contour mode
            gclib.GCommand("DT -1"); //Pauses contour mode to pre-load buffer
            gclib.GCommand("CD 0,0"); //Pre load buffer with zeros to prevent under buffering
            gclib.GCommand("CD 0,0"); //Pre load buffer with zeros to prevent under buffering
            gclib.GCommand("CD 0,0"); //Pre load buffer with zeros to prevent under buffering
            gclib.GCommand("DT 1"); //Sets the time interval for contour mode to be 2 samples
 
            int capacity = 0; //Holds the capacity of the contour buffer
            int cmd = 0; //Holds the counter for which position to send next
 
            if (positions_A.Count() != positions_B.Count())
            {
                Console.WriteLine("Error: The two datasets are not the same size");
                return Examples.GALIL_EXAMPLE_ERROR;
            }
 
            do
            {
                //Sleep while buffer is emptying
                Thread.Sleep(400);
 
                //Stores the available space of the contour buffer in the capacity variable
                capacity = gclib.GCmdI("CM?");
            } while (Load_Buffer(gclib, positions_A, positions_B, capacity, ref cmd));
 
            gclib.GCommand("CD 0,0=0"); //End contour mode
 
            return Examples.GALIL_EXAMPLE_OK;
        }
 
        private static bool Load_Buffer(gclib gclib, List<string> positions_A, List<string> positions_B,
                                        int capacity, ref int cmd)
        {
            for (; capacity > 0; capacity--) //Fully load contour buffer
            {
                if (cmd + 1 < positions_A.Count())
                {
                    //Subtract previous position from new position to get how far of a move to make
                    double cdA = double.Parse(positions_A[cmd + 1]) - double.Parse(positions_A[cmd]);
 
                    //Subtract previous position from new position to get how far of a move to make
                    double cdB = double.Parse(positions_B[cmd + 1]) - double.Parse(positions_B[cmd]);
 
                    gclib.GCommand($"CD {cdA},{cdB}");
 
                    cmd++;
                }
                else
                    return false;
            }
            return true;
        }
    }
}