Cura/util/gcodeInterpreter.py

   1 from __future__ import absolute_import
   2 import __init__
   3
   4 import sys
   5 import math
   6 import threading
   7 import re
   8 import os
   9
  10 from util import util3d
  11
  12 class gcodePath():
  13         def __init__(self, newType, pathType, layerNr, startPoint):
  14                 self.type = newType
  15                 self.pathType = pathType
  16                 self.list = [startPoint]
  17                 self.layerNr = layerNr
  18
  19 class gcode():
  20         def __init__(self):
  21                 self.regMatch = {}
  22                 self.layerCount = 0
  23                 self.pathList = []
  24                 self.extrusionAmount = 0
  25                 self.totalMoveTimeMinute = 0
  26                 self.progressCallback = None
  27
  28         def load(self, filename):
  29                 fileSize = os.stat(filename).st_size
  30                 filePos = 0
  31                 gcodeFile = open(filename, 'r')
  32                 pos = util3d.Vector3()
  33                 posOffset = util3d.Vector3()
  34                 currentE = 0.0
  35                 totalExtrusion = 0.0
  36                 maxExtrusion = 0.0
  37                 totalMoveTimeMinute = 0.0
  38                 pathList = []
  39                 scale = 1.0
  40                 posAbs = True
  41                 feedRate = 3600
  42                 pathType = 'CUSTOM';
  43                 layerNr = 0;    #Note layer 0 will be the start code.
  44                 startCodeDone = False
  45                 currentPath = gcodePath('move', pathType, layerNr, pos.copy())
  46                 currentPath.list[0].e = totalExtrusion
  47                 pathList.append(currentPath)
  48                 for line in gcodeFile:
  49                         if filePos != gcodeFile.tell():
  50                                 filePos = gcodeFile.tell()
  51                                 if self.progressCallback != None:
  52                                         self.progressCallback(float(filePos) / float(fileSize))
  53                         if line.startswith(';TYPE:'):
  54                                 pathType = line[6:].strip()
  55                                 if pathType != "CUSTOM":
  56                                         startCodeDone = True
  57
  58                         if ';' in line:
  59                                 #Slic3r GCode comment parser
  60                                 comment = line[line.find(';')+1:].strip()
  61                                 if comment == 'fill':
  62                                         pathType = 'FILL'
  63                                 elif comment == 'perimeter':
  64                                         pathType = 'WALL-INNER'
  65                                 elif comment == 'skirt':
  66                                         pathType = 'SKIRT'
  67                                 if pathType != "CUSTOM":
  68                                         startCodeDone = True
  69                                 line = line[0:line.find(';')]
  70
  71                         G = self.getCodeInt(line, 'G')
  72                         if G is not None:
  73                                 if G == 0 or G == 1:    #Move
  74                                         x = self.getCodeFloat(line, 'X')
  75                                         y = self.getCodeFloat(line, 'Y')
  76                                         z = self.getCodeFloat(line, 'Z')
  77                                         e = self.getCodeFloat(line, 'E')
  78                                         f = self.getCodeFloat(line, 'F')
  79                                         oldPos = pos.copy()
  80                                         if x is not None:
  81                                                 if posAbs:
  82                                                         pos.x = x * scale
  83                                                 else:
  84                                                         pos.x += x * scale
  85                                         if y is not None:
  86                                                 if posAbs:
  87                                                         pos.y = y * scale
  88                                                 else:
  89                                                         pos.y += y * scale
  90                                         if z is not None:
  91                                                 if posAbs:
  92                                                         pos.z = z * scale
  93                                                 else:
  94                                                         pos.z += z * scale
  95                                                 if oldPos.z != pos.z and startCodeDone:
  96                                                         layerNr += 1
  97                                         if f is not None:
  98                                                 feedRate = f
  99                                         if x is not None or y is not None or z is not None:
 100                                                 totalMoveTimeMinute += (oldPos - pos).vsize() / feedRate
 101                                         moveType = 'move'
 102                                         if e is not None:
 103                                                 if posAbs:
 104                                                         if e > currentE:
 105                                                                 moveType = 'extrude'
 106                                                         if e < currentE:
 107                                                                 moveType = 'retract'
 108                                                         totalExtrusion += e - currentE
 109                                                         currentE = e
 110                                                 else:
 111                                                         if e > 0:
 112                                                                 moveType = 'extrude'
 113                                                         if e < 0:
 114                                                                 moveType = 'retract'
 115                                                         totalExtrusion += e
 116                                                         currentE += e
 117                                                 if totalExtrusion > maxExtrusion:
 118                                                         maxExtrusion = totalExtrusion
 119                                         if currentPath.type != moveType or currentPath.pathType != pathType:
 120                                                 currentPath = gcodePath(moveType, pathType, layerNr, currentPath.list[-1])
 121                                                 pathList.append(currentPath)
 122                                         newPos = pos.copy()
 123                                         newPos.e = totalExtrusion
 124                                         currentPath.list.append(newPos)
 125                                 elif G == 20:   #Units are inches
 126                                         scale = 25.4
 127                                 elif G == 21:   #Units are mm
 128                                         scale = 1.0
 129                                 elif G == 28:   #Home
 130                                         x = self.getCodeFloat(line, 'X')
 131                                         y = self.getCodeFloat(line, 'Y')
 132                                         z = self.getCodeFloat(line, 'Z')
 133                                         if x is None and y is None and z is None:
 134                                                 pos = util3d.Vector3()
 135                                         else:
 136                                                 if x is not None:
 137                                                         pos.x = 0.0
 138                                                 if y is not None:
 139                                                         pos.y = 0.0
 140                                                 if z is not None:
 141                                                         pos.z = 0.0
 142                                 elif G == 90:   #Absolute position
 143                                         posAbs = True
 144                                 elif G == 91:   #Relative position
 145                                         posAbs = False
 146                                 elif G == 92:
 147                                         x = self.getCodeFloat(line, 'X')
 148                                         y = self.getCodeFloat(line, 'Y')
 149                                         z = self.getCodeFloat(line, 'Z')
 150                                         e = self.getCodeFloat(line, 'E')
 151                                         if e is not None:
 152                                                 currentE = e
 153                                         if x is not None:
 154                                                 posOffset.x = pos.x + x
 155                                         if y is not None:
 156                                                 posOffset.y = pos.y + y
 157                                         if z is not None:
 158                                                 posOffset.z = pos.z + z
 159                                 else:
 160                                         print "Unknown G code:" + str(G)
 161                         else:
 162                                 M = self.getCodeInt(line, 'M')
 163                                 if M is not None:
 164                                         if M == 1:      #Message with possible wait (ignored)
 165                                                 pass
 166                                         elif M == 84:   #Disable step drivers
 167                                                 pass
 168                                         elif M == 92:   #Set steps per unit
 169                                                 pass
 170                                         elif M == 104:  #Set temperature, no wait
 171                                                 pass
 172                                         elif M == 105:  #Get temperature
 173                                                 pass
 174                                         elif M == 106:  #Enable fan
 175                                                 pass
 176                                         elif M == 107:  #Disable fan
 177                                                 pass
 178                                         elif M == 108:  #Extruder RPM (these should not be in the final GCode, but they are)
 179                                                 pass
 180                                         elif M == 109:  #Set temperature, wait
 181                                                 pass
 182                                         elif M == 113:  #Extruder PWM (these should not be in the final GCode, but they are)
 183                                                 pass
 184                                         else:
 185                                                 print "Unknown M code:" + str(M)
 186                 gcodeFile.close()
 187                 self.layerCount = layerNr
 188                 self.pathList = pathList
 189                 self.extrusionAmount = maxExtrusion
 190                 self.totalMoveTimeMinute = totalMoveTimeMinute
 191                 print "Extruded a total of: %d mm of filament" % (self.extrusionAmount)
 192                 print "Estimated print duration: %.2f minutes" % (self.totalMoveTimeMinute)
 193
 194         def getCodeInt(self, line, code):
 195                 if code not in self.regMatch:
 196                         self.regMatch[code] = re.compile(code + '([^\s]+)')
 197                 m = self.regMatch[code].search(line)
 198                 if m == None:
 199                         return None
 200                 try:
 201                         return int(m.group(1))
 202                 except:
 203                         return None
 204
 205         def getCodeFloat(self, line, code):
 206                 if code not in self.regMatch:
 207                         self.regMatch[code] = re.compile(code + '([^\s]+)')
 208                 m = self.regMatch[code].search(line)
 209                 if m == None:
 210                         return None
 211                 try:
 212                         return float(m.group(1))
 213                 except:
 214                         return None
 215
 216 if __name__ == '__main__':
 217         for filename in sys.argv[1:]:
 218                 gcode().load(filename)
 219