Cura/util/gcodeInterpreter.py

   1 """
   2 The GCodeInterpreter module generates layer information from GCode.
   3 It does this by parsing the whole GCode file. On large files this can take a while and should be used from a thread.
   4 """
   5 __copyright__ = "Copyright (C) 2013 David Braam - Released under terms of the AGPLv3 License"
   6
   7 import sys
   8 import math
   9 import os
  10 import time
  11 import numpy
  12 import types
  13 import cStringIO as StringIO
  14
  15 from Cura.util import profile
  16
  17 def gcodePath(newType, pathType, layerThickness, startPoint):
  18         """
  19         Build a gcodePath object. This used to be objects, however, this code is timing sensitive and dictionaries proved to be faster.
  20         """
  21         if layerThickness <= 0.0:
  22                 layerThickness = 0.01
  23         if profile.getProfileSetting('spiralize') == 'True':
  24                 layerThickness = profile.getProfileSettingFloat('layer_height')
  25         return {'type': newType,
  26                         'pathType': pathType,
  27                         'layerThickness': layerThickness,
  28                         'points': [startPoint],
  29                         'extrusion': [0.0]}
  30
  31 class gcode(object):
  32         """
  33         The heavy lifting GCode parser. This is most likely the hardest working python code in Cura.
  34         It parses a GCode file and stores the result in layers where each layer as paths that describe the GCode.
  35         """
  36         def __init__(self):
  37                 self.regMatch = {}
  38                 self.layerList = None
  39                 self.extrusionAmount = 0
  40                 self.filename = None
  41                 self.progressCallback = None
  42
  43         def load(self, data):
  44                 self.filename = None
  45                 if type(data) in types.StringTypes and os.path.isfile(data):
  46                         self.filename = data
  47                         self._fileSize = os.stat(data).st_size
  48                         gcodeFile = open(data, 'r')
  49                         self._load(gcodeFile)
  50                         gcodeFile.close()
  51                 elif type(data) is list:
  52                         self._load(data)
  53                 else:
  54                         self._fileSize = len(data)
  55                         data.seekStart()
  56                         self._load(data)
  57
  58         def calculateWeight(self):
  59                 #Calculates the weight of the filament in kg
  60                 radius = float(profile.getProfileSetting('filament_diameter')) / 2
  61                 volumeM3 = (self.extrusionAmount * (math.pi * radius * radius)) / (1000*1000*1000)
  62                 return volumeM3 * profile.getPreferenceFloat('filament_physical_density')
  63
  64         def calculateCost(self):
  65                 cost_kg = profile.getPreferenceFloat('filament_cost_kg')
  66                 cost_meter = profile.getPreferenceFloat('filament_cost_meter')
  67                 if cost_kg > 0.0 and cost_meter > 0.0:
  68                         return "%.2f / %.2f" % (self.calculateWeight() * cost_kg, self.extrusionAmount / 1000 * cost_meter)
  69                 elif cost_kg > 0.0:
  70                         return "%.2f" % (self.calculateWeight() * cost_kg)
  71                 elif cost_meter > 0.0:
  72                         return "%.2f" % (self.extrusionAmount / 1000 * cost_meter)
  73                 return None
  74
  75         def _load(self, gcodeFile):
  76                 self.layerList = []
  77                 pos = [0.0,0.0,0.0]
  78                 posOffset = [0.0, 0.0, 0.0]
  79                 currentE = 0.0
  80                 currentExtruder = 0
  81                 extrudeAmountMultiply = 1.0
  82                 absoluteE = True
  83                 scale = 1.0
  84                 posAbs = True
  85                 feedRate = 3600.0
  86                 moveType = 'move'
  87                 layerThickness = 0.1
  88                 pathType = 'CUSTOM'
  89                 currentLayer = []
  90                 currentPath = gcodePath('move', pathType, layerThickness, pos)
  91                 currentPath['extruder'] = currentExtruder
  92
  93                 currentLayer.append(currentPath)
  94                 for line in gcodeFile:
  95                         if type(line) is tuple:
  96                                 line = line[0]
  97
  98                         #Parse Cura_SF comments
  99                         if line.startswith(';TYPE:'):
 100                                 pathType = line[6:].strip()
 101
 102                         if ';' in line:
 103                                 comment = line[line.find(';')+1:].strip()
 104                                 #Slic3r GCode comment parser
 105                                 if comment == 'fill':
 106                                         pathType = 'FILL'
 107                                 elif comment == 'perimeter':
 108                                         pathType = 'WALL-INNER'
 109                                 elif comment == 'skirt':
 110                                         pathType = 'SKIRT'
 111                                 #Cura layer comments.
 112                                 if comment.startswith('LAYER:'):
 113                                         currentPath = gcodePath(moveType, pathType, layerThickness, currentPath['points'][-1])
 114                                         layerThickness = 0.0
 115                                         currentPath['extruder'] = currentExtruder
 116                                         for path in currentLayer:
 117                                                 path['points'] = numpy.array(path['points'], numpy.float32)
 118                                                 path['extrusion'] = numpy.array(path['extrusion'], numpy.float32)
 119                                         self.layerList.append(currentLayer)
 120                                         if self.progressCallback is not None:
 121                                                 if self.progressCallback(float(gcodeFile.tell()) / float(self._fileSize)):
 122                                                         #Abort the loading, we can safely return as the results here will be discarded
 123                                                         return
 124                                         currentLayer = [currentPath]
 125                                 line = line[0:line.find(';')]
 126
 127                         G = getCodeInt(line, 'G')
 128                         if G is not None:
 129                                 if G == 0 or G == 1:    #Move
 130                                         x = getCodeFloat(line, 'X')
 131                                         y = getCodeFloat(line, 'Y')
 132                                         z = getCodeFloat(line, 'Z')
 133                                         e = getCodeFloat(line, 'E')
 134                                         #f = getCodeFloat(line, 'F')
 135                                         oldPos = pos
 136                                         pos = pos[:]
 137                                         if posAbs:
 138                                                 if x is not None:
 139                                                         pos[0] = x * scale + posOffset[0]
 140                                                 if y is not None:
 141                                                         pos[1] = y * scale + posOffset[1]
 142                                                 if z is not None:
 143                                                         pos[2] = z * scale + posOffset[2]
 144                                         else:
 145                                                 if x is not None:
 146                                                         pos[0] += x * scale
 147                                                 if y is not None:
 148                                                         pos[1] += y * scale
 149                                                 if z is not None:
 150                                                         pos[2] += z * scale
 151                                         moveType = 'move'
 152                                         if e is not None:
 153                                                 if absoluteE and posAbs:
 154                                                         e -= currentE
 155                                                 if e > 0.0:
 156                                                         moveType = 'extrude'
 157                                                 if e < 0.0:
 158                                                         moveType = 'retract'
 159                                                 currentE += e
 160                                         else:
 161                                                 e = 0.0
 162                                         if moveType == 'move' and oldPos[2] != pos[2]:
 163                                                 if oldPos[2] > pos[2] and abs(oldPos[2] - pos[2]) > 5.0 and pos[2] < 1.0:
 164                                                         oldPos[2] = 0.0
 165                                                 if layerThickness == 0.0:
 166                                                         layerThickness = abs(oldPos[2] - pos[2])
 167                                         if currentPath['type'] != moveType or currentPath['pathType'] != pathType:
 168                                                 currentPath = gcodePath(moveType, pathType, layerThickness, currentPath['points'][-1])
 169                                                 currentPath['extruder'] = currentExtruder
 170                                                 currentLayer.append(currentPath)
 171
 172                                         currentPath['points'].append(pos)
 173                                         currentPath['extrusion'].append(e * extrudeAmountMultiply)
 174                                 elif G == 4:    #Delay
 175                                         S = getCodeFloat(line, 'S')
 176                                         P = getCodeFloat(line, 'P')
 177                                 elif G == 10:   #Retract
 178                                         currentPath = gcodePath('retract', pathType, layerThickness, currentPath['points'][-1])
 179                                         currentPath['extruder'] = currentExtruder
 180                                         currentLayer.append(currentPath)
 181                                         currentPath['points'].append(currentPath['points'][0])
 182                                 elif G == 11:   #Push back after retract
 183                                         pass
 184                                 elif G == 20:   #Units are inches
 185                                         scale = 25.4
 186                                 elif G == 21:   #Units are mm
 187                                         scale = 1.0
 188                                 elif G == 28:   #Home
 189                                         x = getCodeFloat(line, 'X')
 190                                         y = getCodeFloat(line, 'Y')
 191                                         z = getCodeFloat(line, 'Z')
 192                                         center = [0.0,0.0,0.0]
 193                                         if x is None and y is None and z is None:
 194                                                 pos = center
 195                                         else:
 196                                                 pos = pos[:]
 197                                                 if x is not None:
 198                                                         pos[0] = center[0]
 199                                                 if y is not None:
 200                                                         pos[1] = center[1]
 201                                                 if z is not None:
 202                                                         pos[2] = center[2]
 203                                 elif G == 29:   #Probe Z
 204                                         pos[2] = 0.0
 205                                 elif G == 90:   #Absolute position
 206                                         posAbs = True
 207                                 elif G == 91:   #Relative position
 208                                         posAbs = False
 209                                 elif G == 92:
 210                                         x = getCodeFloat(line, 'X')
 211                                         y = getCodeFloat(line, 'Y')
 212                                         z = getCodeFloat(line, 'Z')
 213                                         e = getCodeFloat(line, 'E')
 214                                         if e is not None:
 215                                                 currentE = e
 216                                         #if x is not None:
 217                                         #       posOffset[0] = pos[0] - x
 218                                         #if y is not None:
 219                                         #       posOffset[1] = pos[1] - y
 220                                         #if z is not None:
 221                                         #       posOffset[2] = pos[2] - z
 222                                 else:
 223                                         print "Unknown G code:" + str(G)
 224                         else:
 225                                 M = getCodeInt(line, 'M')
 226                                 if M is not None:
 227                                         if M == 0:      #Message with possible wait (ignored)
 228                                                 pass
 229                                         elif M == 1:    #Message with possible wait (ignored)
 230                                                 pass
 231                                         elif M == 25:   #Stop SD printing
 232                                                 pass
 233                                         elif M == 80:   #Enable power supply
 234                                                 pass
 235                                         elif M == 81:   #Suicide/disable power supply
 236                                                 pass
 237                                         elif M == 82:   #Absolute E
 238                                                 absoluteE = True
 239                                         elif M == 83:   #Relative E
 240                                                 absoluteE = False
 241                                         elif M == 84:   #Disable step drivers
 242                                                 pass
 243                                         elif M == 92:   #Set steps per unit
 244                                                 pass
 245                                         elif M == 101:  #Enable extruder
 246                                                 pass
 247                                         elif M == 103:  #Disable extruder
 248                                                 pass
 249                                         elif M == 104:  #Set temperature, no wait
 250                                                 pass
 251                                         elif M == 105:  #Get temperature
 252                                                 pass
 253                                         elif M == 106:  #Enable fan
 254                                                 pass
 255                                         elif M == 107:  #Disable fan
 256                                                 pass
 257                                         elif M == 108:  #Extruder RPM (these should not be in the final GCode, but they are)
 258                                                 pass
 259                                         elif M == 109:  #Set temperature, wait
 260                                                 pass
 261                                         elif M == 110:  #Reset N counter
 262                                                 pass
 263                                         elif M == 113:  #Extruder PWM (these should not be in the final GCode, but they are)
 264                                                 pass
 265                                         elif M == 117:  #LCD message
 266                                                 pass
 267                                         elif M == 140:  #Set bed temperature
 268                                                 pass
 269                                         elif M == 190:  #Set bed temperature & wait
 270                                                 pass
 271                                         elif M == 203:  #Set maximum feedrate
 272                                                 pass
 273                                         elif M == 204:  #Set default acceleration
 274                                                 pass
 275                                         elif M == 400:  #Wait for current moves to finish
 276                                                 pass
 277                                         elif M == 221:  #Extrude amount multiplier
 278                                                 s = getCodeFloat(line, 'S')
 279                                                 if s is not None:
 280                                                         extrudeAmountMultiply = s / 100.0
 281                                         else:
 282                                                 print "Unknown M code:" + str(M)
 283                                 else:
 284                                         T = getCodeInt(line, 'T')
 285                                         if T is not None:
 286                                                 if currentExtruder > 0:
 287                                                         posOffset[0] -= profile.getMachineSettingFloat('extruder_offset_x%d' % (currentExtruder))
 288                                                         posOffset[1] -= profile.getMachineSettingFloat('extruder_offset_y%d' % (currentExtruder))
 289                                                 currentExtruder = T
 290                                                 if currentExtruder > 0:
 291                                                         posOffset[0] += profile.getMachineSettingFloat('extruder_offset_x%d' % (currentExtruder))
 292                                                         posOffset[1] += profile.getMachineSettingFloat('extruder_offset_y%d' % (currentExtruder))
 293
 294                 for path in currentLayer:
 295                         path['points'] = numpy.array(path['points'], numpy.float32)
 296                         path['extrusion'] = numpy.array(path['extrusion'], numpy.float32)
 297                 self.layerList.append(currentLayer)
 298                 if self.progressCallback is not None and self._fileSize > 0:
 299                         self.progressCallback(float(gcodeFile.tell()) / float(self._fileSize))
 300
 301 def getCodeInt(line, code):
 302         n = line.find(code) + 1
 303         if n < 1:
 304                 return None
 305         m = line.find(' ', n)
 306         try:
 307                 if m < 0:
 308                         return int(line[n:])
 309                 return int(line[n:m])
 310         except:
 311                 return None
 312
 313 def getCodeFloat(line, code):
 314         n = line.find(code) + 1
 315         if n < 1:
 316                 return None
 317         m = line.find(' ', n)
 318         try:
 319                 if m < 0:
 320                         return float(line[n:])
 321                 return float(line[n:m])
 322         except:
 323                 return None
 324
 325 if __name__ == '__main__':
 326         t = time.time()
 327         for filename in sys.argv[1:]:
 328                 g = gcode()
 329                 g.load(filename)
 330         print time.time() - t
 331