Cura/util/gcodeInterpreter.py

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