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
  10 from Cura.util import profile
  11
  12 #class gcodePath(object):
  13 #       def __init__(self, newType, pathType, layerThickness, startPoint):
  14 #               self.type = newType
  15 #               self.pathType = pathType
  16 #               self.layerThickness = layerThickness
  17 #               self.points = [startPoint]
  18 #               self.extrusion = [0.0]
  19 def gcodePath(newType, pathType, layerThickness, startPoint):
  20         return {'type': newType,
  21                         'pathType': pathType,
  22                         'layerThickness': layerThickness,
  23                         'points': [startPoint],
  24                         'extrusion': [0.0]}
  25
  26 class gcode(object):
  27         def __init__(self):
  28                 self.regMatch = {}
  29                 self.layerList = None
  30                 self.extrusionAmount = 0
  31                 self.totalMoveTimeMinute = 0
  32                 self.filename = None
  33                 self.progressCallback = None
  34
  35         def load(self, filename):
  36                 if os.path.isfile(filename):
  37                         self.filename = filename
  38                         self._fileSize = os.stat(filename).st_size
  39                         gcodeFile = open(filename, 'r')
  40                         self._load(gcodeFile)
  41                         gcodeFile.close()
  42
  43         def loadList(self, l):
  44                 self.filename = None
  45                 self._load(l)
  46
  47         def calculateWeight(self):
  48                 #Calculates the weight of the filament in kg
  49                 radius = float(profile.getProfileSetting('filament_diameter')) / 2
  50                 volumeM3 = (self.extrusionAmount * (math.pi * radius * radius)) / (1000*1000*1000)
  51                 return volumeM3 * profile.getPreferenceFloat('filament_physical_density')
  52
  53         def calculateCost(self):
  54                 cost_kg = profile.getPreferenceFloat('filament_cost_kg')
  55                 cost_meter = profile.getPreferenceFloat('filament_cost_meter')
  56                 if cost_kg > 0.0 and cost_meter > 0.0:
  57                         return "%.2f / %.2f" % (self.calculateWeight() * cost_kg, self.extrusionAmount / 1000 * cost_meter)
  58                 elif cost_kg > 0.0:
  59                         return "%.2f" % (self.calculateWeight() * cost_kg)
  60                 elif cost_meter > 0.0:
  61                         return "%.2f" % (self.extrusionAmount / 1000 * cost_meter)
  62                 return None
  63
  64         def _load(self, gcodeFile):
  65                 self.layerList = []
  66                 pos = [0.0,0.0,0.0]
  67                 posOffset = [0.0, 0.0, 0.0]
  68                 currentE = 0.0
  69                 totalExtrusion = 0.0
  70                 maxExtrusion = 0.0
  71                 currentExtruder = 0
  72                 extrudeAmountMultiply = 1.0
  73                 totalMoveTimeMinute = 0.0
  74                 absoluteE = True
  75                 scale = 1.0
  76                 posAbs = True
  77                 feedRate = 3600.0
  78                 moveType = 'move'
  79                 layerThickness = 0.1
  80                 pathType = 'CUSTOM'
  81                 currentLayer = []
  82                 currentPath = gcodePath('move', pathType, layerThickness, pos)
  83                 currentPath['extruder'] = currentExtruder
  84
  85                 currentLayer.append(currentPath)
  86                 for line in gcodeFile:
  87                         if type(line) is tuple:
  88                                 line = line[0]
  89
  90                         #Parse Cura_SF comments
  91                         if line.startswith(';TYPE:'):
  92                                 pathType = line[6:].strip()
  93
  94                         if ';' in line:
  95                                 #Slic3r GCode comment parser
  96                                 comment = line[line.find(';')+1:].strip()
  97                                 if comment == 'fill':
  98                                         pathType = 'FILL'
  99                                 elif comment == 'perimeter':
 100                                         pathType = 'WALL-INNER'
 101                                 elif comment == 'skirt':
 102                                         pathType = 'SKIRT'
 103                                 if comment.startswith('LAYER:'):
 104                                         currentPath = gcodePath(moveType, pathType, layerThickness, currentPath['points'][-1])
 105                                         currentPath['extruder'] = currentExtruder
 106                                         for path in currentLayer:
 107                                                 path['points'] = numpy.array(path['points'], numpy.float32)
 108                                                 path['extrusion'] = numpy.array(path['extrusion'], numpy.float32)
 109                                         self.layerList.append(currentLayer)
 110                                         if self.progressCallback is not None:
 111                                                 if self.progressCallback(float(gcodeFile.tell()) / float(self._fileSize)):
 112                                                         #Abort the loading, we can safely return as the results here will be discarded
 113                                                         gcodeFile.close()
 114                                                         return
 115                                         currentLayer = [currentPath]
 116                                 line = line[0:line.find(';')]
 117                         T = getCodeInt(line, 'T')
 118                         if T is not None:
 119                                 if currentExtruder > 0:
 120                                         posOffset[0] -= profile.getMachineSettingFloat('extruder_offset_x%d' % (currentExtruder))
 121                                         posOffset[1] -= profile.getMachineSettingFloat('extruder_offset_y%d' % (currentExtruder))
 122                                 currentExtruder = T
 123                                 if currentExtruder > 0:
 124                                         posOffset[0] += profile.getMachineSettingFloat('extruder_offset_x%d' % (currentExtruder))
 125                                         posOffset[1] += profile.getMachineSettingFloat('extruder_offset_y%d' % (currentExtruder))
 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                                         #if f is not None:
 152                                         #       feedRate = f
 153                                         #if x is not None or y is not None or z is not None:
 154                                         #       diffX = oldPos[0] - pos[0]
 155                                         #       diffY = oldPos[1] - pos[1]
 156                                         #       totalMoveTimeMinute += math.sqrt(diffX * diffX + diffY * diffY) / feedRate
 157                                         moveType = 'move'
 158                                         if e is not None:
 159                                                 if absoluteE:
 160                                                         e -= currentE
 161                                                 if e > 0.0:
 162                                                         moveType = 'extrude'
 163                                                 if e < 0.0:
 164                                                         moveType = 'retract'
 165                                                 totalExtrusion += e
 166                                                 currentE += e
 167                                                 if totalExtrusion > maxExtrusion:
 168                                                         maxExtrusion = totalExtrusion
 169                                         else:
 170                                                 e = 0.0
 171                                         if moveType == 'move' and oldPos[2] != pos[2]:
 172                                                 if oldPos[2] > pos[2] and abs(oldPos[2] - pos[2]) > 5.0 and pos[2] < 1.0:
 173                                                         oldPos[2] = 0.0
 174                                                 layerThickness = abs(oldPos[2] - pos[2])
 175                                         if currentPath['type'] != moveType or currentPath['pathType'] != pathType:
 176                                                 currentPath = gcodePath(moveType, pathType, layerThickness, currentPath['points'][-1])
 177                                                 currentPath['extruder'] = currentExtruder
 178                                                 currentLayer.append(currentPath)
 179
 180                                         currentPath['points'].append(pos)
 181                                         currentPath['extrusion'].append(e * extrudeAmountMultiply)
 182                                 elif G == 4:    #Delay
 183                                         S = getCodeFloat(line, 'S')
 184                                         if S is not None:
 185                                                 totalMoveTimeMinute += S / 60.0
 186                                         P = getCodeFloat(line, 'P')
 187                                         if P is not None:
 188                                                 totalMoveTimeMinute += P / 60.0 / 1000.0
 189                                 elif G == 10:   #Retract
 190                                         pass
 191                                 elif G == 11:   #Push back after retract
 192                                         pass
 193                                 elif G == 20:   #Units are inches
 194                                         scale = 25.4
 195                                 elif G == 21:   #Units are mm
 196                                         scale = 1.0
 197                                 elif G == 28:   #Home
 198                                         x = getCodeFloat(line, 'X')
 199                                         y = getCodeFloat(line, 'Y')
 200                                         z = getCodeFloat(line, 'Z')
 201                                         center = [0.0,0.0,0.0]
 202                                         if x is None and y is None and z is None:
 203                                                 pos = center
 204                                         else:
 205                                                 pos = pos[:]
 206                                                 if x is not None:
 207                                                         pos[0] = center[0]
 208                                                 if y is not None:
 209                                                         pos[1] = center[1]
 210                                                 if z is not None:
 211                                                         pos[2] = center[2]
 212                                 elif G == 90:   #Absolute position
 213                                         posAbs = True
 214                                 elif G == 91:   #Relative position
 215                                         posAbs = False
 216                                 elif G == 92:
 217                                         x = getCodeFloat(line, 'X')
 218                                         y = getCodeFloat(line, 'Y')
 219                                         z = getCodeFloat(line, 'Z')
 220                                         e = getCodeFloat(line, 'E')
 221                                         if e is not None:
 222                                                 currentE = e
 223                                         if x is not None:
 224                                                 posOffset[0] = pos[0] - x
 225                                         if y is not None:
 226                                                 posOffset[1] = pos[1] - y
 227                                         if z is not None:
 228                                                 posOffset[2] = pos[2] - z
 229                                 else:
 230                                         print "Unknown G code:" + str(G)
 231                         else:
 232                                 M = getCodeInt(line, 'M')
 233                                 if M is not None:
 234                                         if M == 0:      #Message with possible wait (ignored)
 235                                                 pass
 236                                         elif M == 1:    #Message with possible wait (ignored)
 237                                                 pass
 238                                         elif M == 80:   #Enable power supply
 239                                                 pass
 240                                         elif M == 81:   #Suicide/disable power supply
 241                                                 pass
 242                                         elif M == 82:   #Absolute E
 243                                                 absoluteE = True
 244                                         elif M == 83:   #Relative E
 245                                                 absoluteE = False
 246                                         elif M == 84:   #Disable step drivers
 247                                                 pass
 248                                         elif M == 92:   #Set steps per unit
 249                                                 pass
 250                                         elif M == 101:  #Enable extruder
 251                                                 pass
 252                                         elif M == 103:  #Disable extruder
 253                                                 pass
 254                                         elif M == 104:  #Set temperature, no wait
 255                                                 pass
 256                                         elif M == 105:  #Get temperature
 257                                                 pass
 258                                         elif M == 106:  #Enable fan
 259                                                 pass
 260                                         elif M == 107:  #Disable fan
 261                                                 pass
 262                                         elif M == 108:  #Extruder RPM (these should not be in the final GCode, but they are)
 263                                                 pass
 264                                         elif M == 109:  #Set temperature, wait
 265                                                 pass
 266                                         elif M == 110:  #Reset N counter
 267                                                 pass
 268                                         elif M == 113:  #Extruder PWM (these should not be in the final GCode, but they are)
 269                                                 pass
 270                                         elif M == 117:  #LCD message
 271                                                 pass
 272                                         elif M == 140:  #Set bed temperature
 273                                                 pass
 274                                         elif M == 190:  #Set bed temperature & wait
 275                                                 pass
 276                                         elif M == 221:  #Extrude amount multiplier
 277                                                 s = getCodeFloat(line, 'S')
 278                                                 if s is not None:
 279                                                         extrudeAmountMultiply = s / 100.0
 280                                         else:
 281                                                 print "Unknown M code:" + str(M)
 282                 for path in currentLayer:
 283                         path['points'] = numpy.array(path['points'], numpy.float32)
 284                         path['extrusion'] = numpy.array(path['extrusion'], numpy.float32)
 285                 self.layerList.append(currentLayer)
 286                 if self.progressCallback is not None and self._fileSize > 0:
 287                         self.progressCallback(float(gcodeFile.tell()) / float(self._fileSize))
 288                 self.extrusionAmount = maxExtrusion
 289                 self.totalMoveTimeMinute = totalMoveTimeMinute
 290                 #print "Extruded a total of: %d mm of filament" % (self.extrusionAmount)
 291                 #print "Estimated print duration: %.2f minutes" % (self.totalMoveTimeMinute)
 292
 293 def getCodeInt(line, code):
 294         n = line.find(code) + 1
 295         if n < 1:
 296                 return None
 297         m = line.find(' ', n)
 298         try:
 299                 if m < 0:
 300                         return int(line[n:])
 301                 return int(line[n:m])
 302         except:
 303                 return None
 304
 305 def getCodeFloat(line, code):
 306         n = line.find(code) + 1
 307         if n < 1:
 308                 return None
 309         m = line.find(' ', n)
 310         try:
 311                 if m < 0:
 312                         return float(line[n:])
 313                 return float(line[n:m])
 314         except:
 315                 return None
 316
 317 if __name__ == '__main__':
 318         t = time.time()
 319         for filename in sys.argv[1:]:
 320                 g = gcode()
 321                 g.load(filename)
 322                 print g.totalMoveTimeMinute
 323         print time.time() - t
 324