forcing the Abstract link to use doubles as its base unit to deal with

the gcode devices needing to be in mm #26

src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java

@@ -4,7 +4,9 @@
 
 import javafx.scene.transform.Affine;
 
+import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.IGcodeExecuter;
 import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR;
+import com.neuronrobotics.sdk.common.IFlushable;
 import com.neuronrobotics.sdk.common.Log;
 import com.neuronrobotics.sdk.pid.PIDLimitEvent;
 import com.neuronrobotics.sdk.pid.PIDLimitEventType;
@@ -14,10 +16,10 @@
  * The Class AbstractLink.
  */
 // Kevin Shouldn't the Link's channel be kept in this level of Abstraction? The way I designg AbstractCartesianPositonDevice  Requires this
-public abstract class AbstractLink {
+public abstract class AbstractLink implements  IFlushable{
 
 	/** The target value. */
-	private int targetValue=0;
+	private double targetValue=0;
 
 	/** The target engineering units. */
 	private double targetEngineeringUnits=0;
@@ -122,15 +124,15 @@ public void flushAll(double time){
 	 *
 	 * @return the current position of the link
 	 */
-	public abstract int getCurrentPosition();
+	public abstract double getCurrentPosition();
 
 	/**
 	 * To engineering units.
 	 *
 	 * @param value the value
 	 * @return the double
 	 */
-	public double toEngineeringUnits(int value){
+	public double toEngineeringUnits(double value){
 		return ((value-getHome())*getScale());
 	}
 
@@ -236,7 +238,7 @@ public void setCurrentEngineeringUnits(double angle) {
 	 * @return the current engineering units
 	 */
 	public double getCurrentEngineeringUnits(){
-		int link = getCurrentPosition();
+		double link = getCurrentPosition();
 		double back = toEngineeringUnits(link);
 		//Log.info("Link space: "+link+" Joint space: "+back);
 		return back;
@@ -323,7 +325,7 @@ protected void setPosition(int val) {
 	 *
 	 * @param val the new target value
 	 */
-	protected void setTargetValue(int val) {
+	protected void setTargetValue(double val) {
 		Log.info("Setting cached value :"+val);
 		this.targetValue = val;
 		for(LinkConfiguration c:slaveLinks){
@@ -383,7 +385,7 @@ protected void setTargetValue(int val) {
 	 *
 	 * @return the target value
 	 */
-	public int getTargetValue() {
+	public double getTargetValue() {
 		return targetValue;
 	}
 

src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogPrismaticLink.java

@@ -53,7 +53,7 @@ public void flushAllDevice(double time) {
 	 * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition()
 	 */
 	@Override
-	public int getCurrentPosition() {
+	public double getCurrentPosition() {
 		int val=getChannel().getValue();
 		fireLinkListener(val);
 		return val;

src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogRotoryLink.java

@@ -52,7 +52,7 @@ public void flushAllDevice(double time) {
 	 * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition()
 	 */
 	@Override
-	public int getCurrentPosition() {
+	public double getCurrentPosition() {
 		int val=getChannel().getValue();
 		fireLinkListener(val);
 		return val;

src/main/java/com/neuronrobotics/sdk/addons/kinematics/CameraLink.java

@@ -40,7 +40,7 @@ public void flushAllDevice(double time) {
 	}
 
 	@Override
-	public int getCurrentPosition() {
+	public double getCurrentPosition() {
 		// TODO Auto-generated method stub
 		return 0;
 	}

src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java

@@ -5,6 +5,7 @@
 import com.neuronrobotics.imageprovider.AbstractImageProvider;
 import com.neuronrobotics.imageprovider.VirtualCameraFactory;
 import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice;
+import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodePrismatic;
 import com.neuronrobotics.sdk.common.BowlerAbstractDevice;
 import com.neuronrobotics.sdk.common.DeviceManager;
 import com.neuronrobotics.sdk.common.IFlushable;
@@ -140,6 +141,31 @@ private AbstractLink getLinkLocal(LinkConfiguration c){
 
 		AbstractLink tmp=null;
 		Log.info("Loading link: "+c.getName()+" type = "+c.getType()+" device= "+c.getDeviceScriptingName());
+		String gcodeAxis = "";
+		switch(c.getType()){
+		case GCODE_STEPPER_PRISMATIC:
+		case GCODE_STEPPER_ROTORY:
+		case GCODE_STEPPER_TOOL:
+			switch(c.getHardwareIndex()){
+			case 0:
+				gcodeAxis=("X");
+				break;
+			case 1:
+				gcodeAxis=("Y");
+				break;
+			case 2:
+				gcodeAxis=("Z");
+				break;
+			case 3:
+				gcodeAxis=("E");
+				break;
+			default:
+					throw new RuntimeException("Gcode devices only support 4 axis");
+			}
+			break;
+			default:
+				break;
+		}
 		switch(c.getType()){
 
 
@@ -221,6 +247,9 @@ private AbstractLink getLinkLocal(LinkConfiguration c){
 		case GCODE_HEATER_TOOL:
 			break;
 		case GCODE_STEPPER_PRISMATIC:
+			if(getGCODE(c)!=null){
+				tmp = new GcodePrismatic(c,getGCODE(c),gcodeAxis);
+			}
 			break;
 		case GCODE_STEPPER_ROTORY:
 			break;

src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java

@@ -7,7 +7,7 @@
 public class MockRotoryLink extends AbstractRotoryLink {
 
 	/** The val. */
-	int val=0;
+	double val=0;
 
 	/**
 	 * Instantiates a new mock rotory link.
@@ -45,7 +45,7 @@ public void flushDevice(double time) {
 	 * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition()
 	 */
 	@Override
-	public int getCurrentPosition() {
+	public double getCurrentPosition() {
 		// TODO Auto-generated method stub
 		return 35;
 	}

src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java

@@ -30,7 +30,7 @@ public PidPrismaticLink(PIDChannel c,LinkConfiguration conf) {
 	 */
 	@Override
 	public void cacheTargetValueDevice() {
-		channel.setCachedTargetValue(getTargetValue());
+		channel.setCachedTargetValue((int)getTargetValue());
 	}
 
 	/* (non-Javadoc)
@@ -54,7 +54,7 @@ public void flushAllDevice(double time) {
 	 * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition()
 	 */
 	@Override
-	public int getCurrentPosition() {
+	public double getCurrentPosition() {
 		int val=channel.GetPIDPosition();
 		fireLinkListener(val);
 		return val;

src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java

@@ -30,7 +30,7 @@ public PidRotoryLink(PIDChannel c,LinkConfiguration conf) {
 	 */
 	@Override
 	public void cacheTargetValueDevice() {
-		channel.setCachedTargetValue(getTargetValue());
+		channel.setCachedTargetValue((int)getTargetValue());
 	}
 
 	/* (non-Javadoc)
@@ -53,7 +53,7 @@ public void flushAllDevice(double time) {
 	 * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition()
 	 */
 	@Override
-	public int getCurrentPosition() {
+	public double getCurrentPosition() {
 		int val=channel.GetPIDPosition();
 		fireLinkListener(val);
 		return val;

src/main/java/com/neuronrobotics/sdk/addons/kinematics/ServoPrismaticLink.java

@@ -54,7 +54,7 @@ public ServoChannel getServoChannel() {
 	 * Save.
 	 */
 	public void save() {
-		getServoChannel().SavePosition(getTargetValue());
+		getServoChannel().SavePosition((int)getTargetValue());
 	}
 
 
@@ -64,24 +64,24 @@ public void save() {
 	@Override
 	public void cacheTargetValueDevice() {
 		Log.debug("Caching servo value="+getTargetValue());
-		getServoChannel().SetPosition(getTargetValue());
+		getServoChannel().SetPosition((int)getTargetValue());
 	}
 
 	/* (non-Javadoc)
 	 * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#flush(double)
 	 */
 	@Override
 	public void flushDevice(double time) {
-		getServoChannel().SetPosition(getTargetValue(),(float) time);
+		getServoChannel().SetPosition((int)getTargetValue(),(float) time);
 		getServoChannel().getChannel().flush();
-		fireLinkListener(getTargetValue());
+		fireLinkListener((int)getTargetValue());
 	}
 
 	/* (non-Javadoc)
 	 * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition()
 	 */
 	@Override
-	public int getCurrentPosition() {
+	public double getCurrentPosition() {
 		int val = getServoChannel().getValue();
 		fireLinkListener(val);
 		return val;
@@ -93,9 +93,9 @@ public int getCurrentPosition() {
 	@Override
 	public void flushAllDevice(double time) {
 		// TODO Auto-generated method stub
-		getServoChannel().SetPosition(getTargetValue(),(float) time);
+		getServoChannel().SetPosition((int)getTargetValue(),(float) time);
 		getServoChannel().getChannel().getDevice().flushCache((float)time);
-		fireLinkListener(getTargetValue());
+		fireLinkListener((int)getTargetValue());
 	}
 
 }

src/main/java/com/neuronrobotics/sdk/addons/kinematics/ServoRotoryLink.java

@@ -54,7 +54,7 @@ public ServoChannel getServoChannel() {
 	 * Save.
 	 */
 	public void save() {
-		getServoChannel().SavePosition(getTargetValue());
+		getServoChannel().SavePosition((int)getTargetValue());
 	}
 
 
@@ -64,24 +64,24 @@ public void save() {
 	@Override
 	public void cacheTargetValueDevice() {
 		Log.debug("Caching servo value="+getTargetValue());
-		getServoChannel().SetPosition(getTargetValue());
+		getServoChannel().SetPosition((int)getTargetValue());
 	}
 
 	/* (non-Javadoc)
 	 * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#flush(double)
 	 */
 	@Override
 	public void flushDevice(double time) {
-		getServoChannel().SetPosition(getTargetValue(),(float) time);
+		getServoChannel().SetPosition((int)getTargetValue(),(float) time);
 		getServoChannel().getChannel().flush();
-		fireLinkListener(getTargetValue());
+		fireLinkListener((int)getTargetValue());
 	}
 
 	/* (non-Javadoc)
 	 * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition()
 	 */
 	@Override
-	public int getCurrentPosition() {
+	public double getCurrentPosition() {
 		int val = getServoChannel().getValue();
 		fireLinkListener(val);
 		return val;
@@ -93,9 +93,9 @@ public int getCurrentPosition() {
 	@Override
 	public void flushAllDevice(double time) {
 		// TODO Auto-generated method stub
-		getServoChannel().SetPosition(getTargetValue(),(float) time);
+		getServoChannel().SetPosition((int)getTargetValue(),(float) time);
 		getServoChannel().getChannel().getDevice().flushCache((float)time);
-		fireLinkListener(getTargetValue());
+		fireLinkListener((int)getTargetValue());
 	}
 
 }

src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperPrismaticLink.java

@@ -28,7 +28,7 @@ public StepperPrismaticLink(CounterOutputChannel chan, LinkConfiguration conf) {
 	 */
 	@Override
 	public void cacheTargetValueDevice() {
-		channel.setValue(getTargetValue());
+		channel.setValue((int)getTargetValue());
 	}
 
 	/* (non-Javadoc)
@@ -53,7 +53,7 @@ public void flushAllDevice(double time) {
 	 * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition()
 	 */
 	@Override
-	public int getCurrentPosition() {
+	public double getCurrentPosition() {
 		int val=channel.getValue();
 		fireLinkListener(val);
 		return val;

src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperRotoryLink.java

@@ -28,7 +28,7 @@ public StepperRotoryLink(CounterOutputChannel chan, LinkConfiguration conf) {
 	 */
 	@Override
 	public void cacheTargetValueDevice() {
-		channel.setValue(getTargetValue());
+		channel.setValue((int)getTargetValue());
 	}
 
 	/* (non-Javadoc)
@@ -53,7 +53,7 @@ public void flushAllDevice(double time) {
 	 * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition()
 	 */
 	@Override
-	public int getCurrentPosition() {
+	public double getCurrentPosition() {
 		int val=channel.getValue();
 		fireLinkListener(val);
 		return val;