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GScri.cpp
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#include<iostream>
#include<string>
#include<vector>
#include<cstring>
#include<algorithm>
#include<windows.h>
#include<stdlib.h>
using namespace std;
void g_code_conv(string fn_g_code) {
std::string g_code = fn_g_code;
transform(g_code.begin(), g_code.end(), g_code.begin(), ::toupper);
std::cout << "\nYour entry: " << g_code << std::endl;
std::string input_1 = g_code.substr(0, 1);
std::cout << "\nIdentified Code as " << input_1 << std::endl;
std::cout << "Iteration Started for " << g_code << std::endl;
double unit = 1000;
float psx, psy, psz = 0.000000;
int pos_1, pos_2;
std::string ps_x;
if (input_1 == "G")
{
std::string input_2 = g_code.substr(1, 1);
std::cout << "Code: " << input_2 << std::endl;
int g_cmd1 = atoi(input_2.c_str());
switch (g_cmd1)
{
case 0: {
std::cout << "--------------------------" << std::endl;
std::cout << "Entered to G0" << std::endl;
std::vector<std::string>g1cmds = { "X","Y","Z" };
std::vector<int>g1cmdsindex;
for (auto i = g1cmds.cbegin(); i != g1cmds.cend(); ++i) {
std::string item = *i;
std::cout << item << " is at ";
int pos = g_code.find(item);
g1cmdsindex.push_back(pos);
g1cmdsindex.shrink_to_fit();
std::cout << pos << endl;
}
g1cmdsindex.shrink_to_fit();
std::cout << "Size of index vector: " << g1cmdsindex.size() << std::endl;
for (int i = 0; i <= g1cmdsindex.size() - 1; i++) {
//std::cout<<g1cmdsindex.size()-1<<std::endl;
if (g1cmdsindex.at(i) == -1) {
std::cout << g1cmds.at(i) << " element not present for position " << i << std::endl;
}
else {
std::cout << g1cmds.at(i) << " element present for index " << i << std::endl;
if (i == g1cmdsindex.size() - 1) {
switch (i) {
case 0: {
std::cout << "Last element case at " << i << " for " << g1cmds.at(i) << std::endl;
int buffer = g_code.length() + 1;
std::cout << "Additional Buffer for Last Case 0 is " << buffer << std::endl;
pos_1 = g1cmdsindex.at(i);
pos_2 = buffer;
int lpos1 = pos_1 + 1;
int lpos2_1 = pos_2 - 1;
int lpos2 = lpos2_1 - lpos1;
std::string coordinates = g_code.substr(lpos1, lpos2);
float g1_coordinate = atoi(coordinates.c_str());
psx = g1_coordinate / unit;
std::string movel_value = std::to_string(psx);
std::cout << movel_value << std::endl;
break; }
case 1: {
std::cout << "Last element case at " << i << " for " << g1cmds.at(i) << std::endl;
int buffer = g_code.length() + 1;
std::cout << "Additional buffer for Last Case 1 is " << buffer << std::endl;
pos_1 = g1cmdsindex.at(i);
pos_2 = buffer;
int lpos1 = pos_1 + 1;
int lpos2_1 = pos_2 - 1;
int lpos2 = lpos2_1 - lpos1;
std::string coordinates = g_code.substr(lpos1, lpos2);
float g1_coordinate = atoi(coordinates.c_str());
psy = g1_coordinate / unit;
std::string movel_value = std::to_string(psy);
std::cout << movel_value << std::endl;
break; }
case 2: {
std::cout << "Last element case at " << i << " for " << g1cmds.at(i) << std::endl;
int buffer = g_code.length() + 1;
std::cout << "Additional Buffer for Last Case 0 is " << buffer << std::endl;
pos_1 = g1cmdsindex.at(i);
pos_2 = buffer;
int lpos1 = pos_1 + 1;
int lpos2_1 = pos_2 - 1;
int lpos2 = lpos2_1 - lpos1;
std::string coordinates = g_code.substr(lpos1, lpos2);
float g1_coordinate = atoi(coordinates.c_str());
psz = g1_coordinate / unit;
std::string movel_value = std::to_string(psz);
std::cout << "Value for Z: " << movel_value << std::endl;
break; }
}
}
else {
std::cout << "Normal Condition starting at " << i << " for " << g1cmds.at(i) << std::endl;
switch (i) {
case 0: {
for (int j = i + 1; j <= g1cmdsindex.size() - 1; j++) {
if (g1cmdsindex.at(j) == -1) {
if (g1cmdsindex.at(j) = g1cmdsindex.size() - 1) {
std::cout << "Normal Element Case at" << i << " " << g1cmds.at(i) << std::endl;
int buffer = g_code.length() + 1;
std::cout << buffer << std::endl;
pos_1 = g1cmdsindex.at(i);
pos_2 = buffer;
int lxpos1 = pos_1 + 1;
int lxpos2_1 = pos_2 - 1;
int lxpos2 = lxpos2_1 - lxpos1;
std::string coordinates = g_code.substr(lxpos1, lxpos2);
float g1_coordinate = atoi(coordinates.c_str());
psx = g1_coordinate / unit;
std::string movel_value = std::to_string(psx);
std::cout << "Value for X: " << movel_value << std::endl;
}
else { continue; }
}
else {
pos_1 = g1cmdsindex.at(i);
pos_2 = g1cmdsindex.at(j);
int lxpos1 = pos_1 + 1;
int lxpos2_1 = pos_2 - 1;
int lxpos2 = lxpos2_1 - lxpos1;
std::string coordinates = g_code.substr(lxpos1, lxpos2);
float g1_coordinate = atoi(coordinates.c_str());
psx = g1_coordinate / unit;
std::string movel_value = std::to_string(psx);
std::cout << "Value for X: " << movel_value << std::endl;
}
}
break; }
case 1: {
for (int j = i + 1; j <= g1cmdsindex.size() - 1; j++) {
if (g1cmdsindex.at(j) == -1) {
if (g1cmdsindex.at(j) = g1cmdsindex.size() - 1) {
std::cout << "Normal Element Case at" << i << " " << g1cmds.at(i) << std::endl;
int buffer = g_code.length() + 1;
std::cout << buffer << std::endl;
pos_1 = g1cmdsindex.at(i);
pos_2 = buffer;
int lypos1 = pos_1 + 1;
int lypos2_1 = pos_2 - 1;
int lypos2 = lypos2_1 - lypos1;
std::string coordinates = g_code.substr(lypos1, lypos2);
float g1_coordinate = atoi(coordinates.c_str());
psy = g1_coordinate / unit;
std::string movel_value = std::to_string(psy);
std::cout << "Value for Y: " << movel_value << std::endl;
break;
}
else { continue; }
}
else {
pos_1 = g1cmdsindex.at(i);
pos_2 = g1cmdsindex.at(j);
int lypos1 = pos_1 + 1;
int lypos2_1 = pos_2 - 1;
int lypos2 = lypos2_1 - lypos1;
std::string coordinates = g_code.substr(lypos1, lypos2);
float g1_coordinate = atoi(coordinates.c_str());
psy = g1_coordinate / unit;
std::string movel_value = std::to_string(psy);
std::cout << "Value for Y: " << movel_value << std::endl;
}
}
break; }
case 2: {
for (int j = i + 1; j <= g1cmdsindex.size() - 1; j++) {
if (g1cmdsindex.at(j) == -1) {
if (g1cmdsindex.at(j) = g1cmdsindex.size() - 1) {
std::cout << "Normal Element Case at" << i << " " << g1cmds.at(i) << std::endl;
int buffer = g_code.length() + 1;
std::cout << buffer << std::endl;
pos_1 = g1cmdsindex.at(i);
pos_2 = buffer;
int lzpos1 = pos_1 + 1;
int lzpos2_1 = pos_2 - 1;
int lzpos2 = lzpos2_1 - lzpos1;
std::string coordinates = g_code.substr(lzpos1, lzpos2);
float g1_coordinate = atoi(coordinates.c_str());
psz = g1_coordinate / unit;
std::string movel_value = std::to_string(psz);
std::cout << "Value for Z: " << movel_value << std::endl;
break;
}
else { continue; }
}
else {
pos_1 = g1cmdsindex.at(i);
pos_2 = g1cmdsindex.at(j);
int lzpos1 = pos_1 + 1;
int lzpos2_1 = pos_2 - 1;
int lzpos2 = lzpos2_1 - lzpos1;
std::string coordinates = g_code.substr(lzpos1, lzpos2);
float g1_coordinate = atoi(coordinates.c_str());
psz = g1_coordinate / unit;
std::string movel_value = std::to_string(psz);
std::cout << "Value for Z: " << movel_value << std::endl;
}
}
break; }
}
}
}
}break; }
case 1: {
std::cout << "--------------------------" << std::endl;
std::cout << "Entered to G1" << std::endl;
std::vector<std::string>g1cmds = { "X","Y","Z","E","F" };
std::vector<int>g1cmdsindex;
for (auto i = g1cmds.cbegin(); i != g1cmds.cend(); ++i) {
std::string item = *i;
std::cout << item << " is at ";
int pos = g_code.find(item);
g1cmdsindex.push_back(pos);
g1cmdsindex.shrink_to_fit();
std::cout << pos << endl;
}
g1cmdsindex.shrink_to_fit();
std::cout << "Size of index vector: " << g1cmdsindex.size() << std::endl;
for (int i = 0; i <= g1cmdsindex.size() - 1; i++) {
//std::cout<<g1cmdsindex.size()-1<<std::endl;
if (g1cmdsindex.at(i) == -1) {
std::cout << g1cmds.at(i) << " element not present for position " << i << std::endl;
}
else {
std::cout << g1cmds.at(i) << " element present for index " << i << std::endl;
if (i == g1cmdsindex.size() - 1) {
switch (i) {
case 0: {
std::cout << "Last element case at " << i << " for " << g1cmds.at(i) << std::endl;
int buffer = g_code.length() + 1;
std::cout << "Additional Buffer for Last Case 0 is " << buffer << std::endl;
pos_1 = g1cmdsindex.at(i);
pos_2 = buffer;
int lpos1 = pos_1 + 1;
int lpos2_1 = pos_2 - 1;
int lpos2 = lpos2_1 - lpos1;
std::string coordinates = g_code.substr(lpos1, lpos2);
float g1_coordinate = atoi(coordinates.c_str());
psx = g1_coordinate / unit;
std::string movel_value = std::to_string(psx);
std::cout << movel_value << std::endl;
break; }
case 1: {
std::cout << "Last element case at " << i << " for " << g1cmds.at(i) << std::endl;
int buffer = g_code.length() + 1;
std::cout << "Additional buffer for Last Case 1 is " << buffer << std::endl;
pos_1 = g1cmdsindex.at(i);
pos_2 = buffer;
int lpos1 = pos_1 + 1;
int lpos2_1 = pos_2 - 1;
int lpos2 = lpos2_1 - lpos1;
std::string coordinates = g_code.substr(lpos1, lpos2);
float g1_coordinate = atoi(coordinates.c_str());
psy = g1_coordinate / unit;
std::string movel_value = std::to_string(psy);
std::cout << movel_value << std::endl;
break; }
case 2: {
std::cout << "Last element case at " << i << " for " << g1cmds.at(i) << std::endl;
int buffer = g_code.length() + 1;
std::cout << "Additional Buffer for Last Case 0 is " << buffer << std::endl;
pos_1 = g1cmdsindex.at(i);
pos_2 = buffer;
int lpos1 = pos_1 + 1;
int lpos2_1 = pos_2 - 1;
int lpos2 = lpos2_1 - lpos1;
std::string coordinates = g_code.substr(lpos1, lpos2);
float g1_coordinate = atoi(coordinates.c_str());
psz = g1_coordinate / unit;
std::string movel_value = std::to_string(psz);
std::cout << "Value for Z: " << movel_value << std::endl;
break; }
}
}
else {
std::cout << "Normal Condition starting at " << i << " for " << g1cmds.at(i) << std::endl;
switch (i) {
case 0: {
for (int j = i + 1; j <= g1cmdsindex.size() - 1; j++) {
if (g1cmdsindex.at(j) == -1) {
if (g1cmdsindex.at(j) = g1cmdsindex.size() - 1) {
std::cout << "Normal Element Case at" << i << " " << g1cmds.at(i) << std::endl;
int buffer = g_code.length() + 1;
std::cout << buffer << std::endl;
pos_1 = g1cmdsindex.at(i);
pos_2 = buffer;
int lxpos1 = pos_1 + 1;
int lxpos2_1 = pos_2 - 1;
int lxpos2 = lxpos2_1 - lxpos1;
std::string coordinates = g_code.substr(lxpos1, lxpos2);
float g1_coordinate = atoi(coordinates.c_str());
psx = g1_coordinate / unit;
std::string movel_value = std::to_string(psx);
std::cout << "Value for X: " << movel_value << std::endl;
}
else { continue; }
}
else {
pos_1 = g1cmdsindex.at(i);
pos_2 = g1cmdsindex.at(j);
int lxpos1 = pos_1 + 1;
int lxpos2_1 = pos_2 - 1;
int lxpos2 = lxpos2_1 - lxpos1;
std::string coordinates = g_code.substr(lxpos1, lxpos2);
float g1_coordinate = atoi(coordinates.c_str());
psx = g1_coordinate / unit;
std::string movel_value = std::to_string(psx);
std::cout << "Value for X: " << movel_value << std::endl;
}
}
break; }
case 1: {
for (int j = i + 1; j <= g1cmdsindex.size() - 1; j++) {
if (g1cmdsindex.at(j) == -1) {
if (g1cmdsindex.at(j) = g1cmdsindex.size() - 1) {
std::cout << "Normal Element Case at" << i << " " << g1cmds.at(i) << std::endl;
int buffer = g_code.length() + 1;
std::cout << buffer << std::endl;
pos_1 = g1cmdsindex.at(i);
pos_2 = buffer;
int lypos1 = pos_1 + 1;
int lypos2_1 = pos_2 - 1;
int lypos2 = lypos2_1 - lypos1;
std::string coordinates = g_code.substr(lypos1, lypos2);
float g1_coordinate = atoi(coordinates.c_str());
psy = g1_coordinate / unit;
std::string movel_value = std::to_string(psy);
std::cout << "Value for Y: " << movel_value << std::endl;
break;
}
else { continue; }
}
else {
pos_1 = g1cmdsindex.at(i);
pos_2 = g1cmdsindex.at(j);
int lypos1 = pos_1 + 1;
int lypos2_1 = pos_2 - 1;
int lypos2 = lypos2_1 - lypos1;
std::string coordinates = g_code.substr(lypos1, lypos2);
int g1_coordinate = atoi(coordinates.c_str());
psy = g1_coordinate / unit;
std::string movel_value = std::to_string(psy);
std::cout << "Value for Y: " << movel_value << std::endl;
}
}
break; }
case 2: {
for (int j = i + 1; j <= g1cmdsindex.size() - 1; j++) {
if (g1cmdsindex.at(j) == -1) {
if (g1cmdsindex.at(j) = g1cmdsindex.size() - 1) {
std::cout << "Normal Element Case at" << i << " " << g1cmds.at(i) << std::endl;
int buffer = g_code.length() + 1;
std::cout << buffer << std::endl;
pos_1 = g1cmdsindex.at(i);
pos_2 = buffer;
int lzpos1 = pos_1 + 1;
int lzpos2_1 = pos_2 - 1;
int lzpos2 = lzpos2_1 - lzpos1;
std::string coordinates = g_code.substr(lzpos1, lzpos2);
float g1_coordinate = atoi(coordinates.c_str());
psz = g1_coordinate / unit;
std::string movel_value = std::to_string(psz);
std::cout << "Value for Z: " << movel_value << std::endl;
break;
}
else { continue; }
}
else {
pos_1 = g1cmdsindex.at(i);
pos_2 = g1cmdsindex.at(j);
int lzpos1 = pos_1 + 1;
int lzpos2_1 = pos_2 - 1;
int lzpos2 = lzpos2_1 - lzpos1;
std::string coordinates = g_code.substr(lzpos1, lzpos2);
float g1_coordinate = atoi(coordinates.c_str());
psz = g1_coordinate / unit;
std::string movel_value = std::to_string(psz);
std::cout << "Value for Z: " << movel_value << std::endl;
}
}
break; }
}
}
}
}}
}
if (input_2 == "0") { std::cout << "\nThe converted UR Command is-" << "\nmovej([" << psx << "," << psy << "," << psz << ",0,0,0" << "],accel_mss,speed_ms,0,0.000)" << std::endl; }
else if (input_2 == "1") { std::cout << "\nThe converted UR Script command is-" << "\nmovel([" << psx << "," << psy << "," << psz << ",0,0,0" << "],accel_mss,speed_ms,0,0.000)" << std::endl; }
else { system("Color 0C"); std::cout << "\n[Critical]Not sure on what happened" << std::endl; }
}
else { std::cout << "[Error]The entered code is not a GCode value" << std::endl; }//end of GCode
std::cout << "\n****************************\n" << std::endl;
std::cout << "Iteration Complete for " << g_code << std::endl;
std::cout << "Value for X: " << psx << std::endl;
std::cout << "Value for Y: " << psy << std::endl;
std::cout << "Value for Z: " << psz << std::endl;
std::cout << "--------------------------" << std::endl;
}
int main() {//driver
std::vector<std::string> movej;
std::vector<std::string> movel_vals;
std::vector<std::string> movel;
std::cout << " ___________ _ \n";
std::cout << " / ____/ ___/_________(_)\n";
std::cout << " / / __ \\__ V ___/ ___/ / \n";
std::cout << "/ /_/ /___/ / /__/ / / / \n";
std::cout << "\\____//____/\\___/_/ /_/ \n";
std::cout << "A GCODE to UR Script Command Converter | version 1.3" << std::endl;
std::cout << "MSc. Mechatronics - Mechatronics Design Build | University of Southern Denmark" << std::endl;
std::cout << "------------------------------------------------------------------------------" << std::endl;
std::cout << "\n\t\t\t Author: J A C O B T H O M A S P U T H U K E R I L\n\n";
std::cout << "\t\t\t\t\t\t Repo: github.com/Jacob8089" << std::endl;
std::cout << "\t\t\t\t\t\t\t\t Uni: sdu.dk\n\n";
std::cout << "==============================================================================" << std::endl;
bool op_status = true;
int i = 0;
string option;
while (op_status) {
// std::string dummy;
std::string tcp_vals;
std::cout << "\nEnter your TCP values in X, Y, Z, rx, ry & rz values in meters:" << std::endl;
std::getline(std::cin, tcp_vals);
std::string in_g_code;
std::cout << "\nEnter your Gcode:" << std::endl;
std::getline(std::cin, in_g_code);
int in_len = in_g_code.length();
try {
if (in_len != 0) { g_code_conv(in_g_code); }
else { throw(in_len); }
}
catch (int errorVal) {
cout << "Something went wrong. The length value is " << errorVal << endl;
}
cout << "\nDo you want to continue.?(Y/N)" << endl;
std::getline(std::cin, option);
if (option == "Y" || option == "y") {
continue;
}
else { op_status = false; }
}
cout << "\nGScri operation is terminated." << endl;
Sleep(1500);
return 0;
}