Cura/util/gcodeInterpreter.py

   1 from __future__ import absolute_import
   2 import __init__
   3
   4 import sys
   5 import math
   6 import re
   7 import os
   8
   9 from util import util3d
  10
  11 class gcodePath():
  12         def __init__(self, newType, pathType, startPoint):
  13                 self.type = newType
  14                 self.pathType = pathType
  15                 self.list = [startPoint]
  16
  17 class gcode():
  18         def __init__(self):
  19                 self.regMatch = {}
  20                 self.layerList = []
  21                 self.extrusionAmount = 0
  22                 self.totalMoveTimeMinute = 0
  23                 self.progressCallback = None
  24
  25         def load(self, filename):
  26                 self._fileSize = os.stat(filename).st_size
  27                 gcodeFile = open(filename, 'r')
  28                 self._load(gcodeFile)
  29                 gcodeFile.close()
  30
  31         def loadList(self, l):
  32                 self._load(l)
  33
  34         def _load(self, gcodeFile):
  35                 filePos = 0
  36                 pos = util3d.Vector3()
  37                 posOffset = util3d.Vector3()
  38                 currentE = 0.0
  39                 totalExtrusion = 0.0
  40                 maxExtrusion = 0.0
  41                 totalMoveTimeMinute = 0.0
  42                 scale = 1.0
  43                 posAbs = True
  44                 feedRate = 3600
  45                 pathType = 'CUSTOM';
  46                 startCodeDone = False
  47                 currentLayer = []
  48                 currentPath = gcodePath('move', pathType, pos.copy())
  49                 currentPath.list[0].e = totalExtrusion
  50                 currentLayer.append(currentPath)
  51                 for line in gcodeFile:
  52                         if self.progressCallback != None:
  53                                 if filePos != gcodeFile.tell():
  54                                         filePos = gcodeFile.tell()
  55                                         self.progressCallback(float(filePos) / float(self._fileSize))
  56
  57                         #Parse Cura_SF comments
  58                         if line.startswith(';TYPE:'):
  59                                 pathType = line[6:].strip()
  60                                 if pathType != "CUSTOM":
  61                                         startCodeDone = True
  62
  63                         if ';' in line:
  64                                 #Slic3r GCode comment parser
  65                                 comment = line[line.find(';')+1:].strip()
  66                                 if comment == 'fill':
  67                                         pathType = 'FILL'
  68                                 elif comment == 'perimeter':
  69                                         pathType = 'WALL-INNER'
  70                                 elif comment == 'skirt':
  71                                         pathType = 'SKIRT'
  72                                 if pathType != "CUSTOM":
  73                                         startCodeDone = True
  74                                 line = line[0:line.find(';')]
  75
  76                         G = self.getCodeInt(line, 'G')
  77                         if G is not None:
  78                                 if G == 0 or G == 1:    #Move
  79                                         x = self.getCodeFloat(line, 'X')
  80                                         y = self.getCodeFloat(line, 'Y')
  81                                         z = self.getCodeFloat(line, 'Z')
  82                                         e = self.getCodeFloat(line, 'E')
  83                                         f = self.getCodeFloat(line, 'F')
  84                                         oldPos = pos.copy()
  85                                         if x is not None:
  86                                                 if posAbs:
  87                                                         pos.x = x * scale
  88                                                 else:
  89                                                         pos.x += x * scale
  90                                         if y is not None:
  91                                                 if posAbs:
  92                                                         pos.y = y * scale
  93                                                 else:
  94                                                         pos.y += y * scale
  95                                         if z is not None:
  96                                                 if posAbs:
  97                                                         pos.z = z * scale
  98                                                 else:
  99                                                         pos.z += z * scale
 100                                                 #Check if we have a new layer.
 101                                                 if oldPos.z != pos.z and startCodeDone:
 102                                                         self.layerList.append(currentLayer)
 103                                                         currentLayer = []
 104                                         if f is not None:
 105                                                 feedRate = f
 106                                         if x is not None or y is not None or z is not None:
 107                                                 totalMoveTimeMinute += (oldPos - pos).vsize() / feedRate
 108                                         moveType = 'move'
 109                                         if e is not None:
 110                                                 if posAbs:
 111                                                         if e > currentE:
 112                                                                 moveType = 'extrude'
 113                                                         if e < currentE:
 114                                                                 moveType = 'retract'
 115                                                         totalExtrusion += e - currentE
 116                                                         currentE = e
 117                                                 else:
 118                                                         if e > 0:
 119                                                                 moveType = 'extrude'
 120                                                         if e < 0:
 121                                                                 moveType = 'retract'
 122                                                         totalExtrusion += e
 123                                                         currentE += e
 124                                                 if totalExtrusion > maxExtrusion:
 125                                                         maxExtrusion = totalExtrusion
 126                                         if currentPath.type != moveType or currentPath.pathType != pathType:
 127                                                 currentPath = gcodePath(moveType, pathType, currentPath.list[-1])
 128                                                 currentLayer.append(currentPath)
 129                                         newPos = pos.copy()
 130                                         newPos.e = totalExtrusion
 131                                         currentPath.list.append(newPos)
 132                                 elif G == 20:   #Units are inches
 133                                         scale = 25.4
 134                                 elif G == 21:   #Units are mm
 135                                         scale = 1.0
 136                                 elif G == 28:   #Home
 137                                         x = self.getCodeFloat(line, 'X')
 138                                         y = self.getCodeFloat(line, 'Y')
 139                                         z = self.getCodeFloat(line, 'Z')
 140                                         if x is None and y is None and z is None:
 141                                                 pos = util3d.Vector3()
 142                                         else:
 143                                                 if x is not None:
 144                                                         pos.x = 0.0
 145                                                 if y is not None:
 146                                                         pos.y = 0.0
 147                                                 if z is not None:
 148                                                         pos.z = 0.0
 149                                 elif G == 90:   #Absolute position
 150                                         posAbs = True
 151                                 elif G == 91:   #Relative position
 152                                         posAbs = False
 153                                 elif G == 92:
 154                                         x = self.getCodeFloat(line, 'X')
 155                                         y = self.getCodeFloat(line, 'Y')
 156                                         z = self.getCodeFloat(line, 'Z')
 157                                         e = self.getCodeFloat(line, 'E')
 158                                         if e is not None:
 159                                                 currentE = e
 160                                         if x is not None:
 161                                                 posOffset.x = pos.x + x
 162                                         if y is not None:
 163                                                 posOffset.y = pos.y + y
 164                                         if z is not None:
 165                                                 posOffset.z = pos.z + z
 166                                 else:
 167                                         print "Unknown G code:" + str(G)
 168                         else:
 169                                 M = self.getCodeInt(line, 'M')
 170                                 if M is not None:
 171                                         if M == 1:      #Message with possible wait (ignored)
 172                                                 pass
 173                                         elif M == 84:   #Disable step drivers
 174                                                 pass
 175                                         elif M == 92:   #Set steps per unit
 176                                                 pass
 177                                         elif M == 104:  #Set temperature, no wait
 178                                                 pass
 179                                         elif M == 105:  #Get temperature
 180                                                 pass
 181                                         elif M == 106:  #Enable fan
 182                                                 pass
 183                                         elif M == 107:  #Disable fan
 184                                                 pass
 185                                         elif M == 108:  #Extruder RPM (these should not be in the final GCode, but they are)
 186                                                 pass
 187                                         elif M == 109:  #Set temperature, wait
 188                                                 pass
 189                                         elif M == 113:  #Extruder PWM (these should not be in the final GCode, but they are)
 190                                                 pass
 191                                         else:
 192                                                 print "Unknown M code:" + str(M)
 193                 self.layerList.append(currentLayer)
 194                 self.extrusionAmount = maxExtrusion
 195                 self.totalMoveTimeMinute = totalMoveTimeMinute
 196                 print "Extruded a total of: %d mm of filament" % (self.extrusionAmount)
 197                 print "Estimated print duration: %.2f minutes" % (self.totalMoveTimeMinute)
 198
 199         def getCodeInt(self, line, code):
 200                 if code not in self.regMatch:
 201                         self.regMatch[code] = re.compile(code + '([^\s]+)')
 202                 m = self.regMatch[code].search(line)
 203                 if m == None:
 204                         return None
 205                 try:
 206                         return int(m.group(1))
 207                 except:
 208                         return None
 209
 210         def getCodeFloat(self, line, code):
 211                 if code not in self.regMatch:
 212                         self.regMatch[code] = re.compile(code + '([^\s]+)')
 213                 m = self.regMatch[code].search(line)
 214                 if m == None:
 215                         return None
 216                 try:
 217                         return float(m.group(1))
 218                 except:
 219                         return None
 220
 221 if __name__ == '__main__':
 222         for filename in sys.argv[1:]:
 223                 gcode().load(filename)
 224