Cura/util/gcodeInterpreter.py

   1 from __future__ import absolute_import
   2
   3 import sys
   4 import math
   5 import os
   6 import time
   7 import numpy
   8
   9 from Cura.util import profile
  10
  11 class gcodePath(object):
  12         def __init__(self, newType, pathType, layerThickness, startPoint):
  13                 self.type = newType
  14                 self.pathType = pathType
  15                 self.layerThickness = layerThickness
  16                 self.points = [startPoint]
  17                 self.extrusion = [0]
  18
  19 class gcode(object):
  20         def __init__(self):
  21                 self.regMatch = {}
  22                 self.layerList = []
  23                 self.extrusionAmount = 0
  24                 self.totalMoveTimeMinute = 0
  25                 self.filename = None
  26                 self.progressCallback = None
  27
  28         def load(self, filename):
  29                 if os.path.isfile(filename):
  30                         self.filename = filename
  31                         self._fileSize = os.stat(filename).st_size
  32                         gcodeFile = open(filename, 'r')
  33                         self._load(gcodeFile)
  34                         gcodeFile.close()
  35
  36         def loadList(self, l):
  37                 self.filename = None
  38                 self._load(l)
  39
  40         def calculateWeight(self):
  41                 #Calculates the weight of the filament in kg
  42                 radius = float(profile.getProfileSetting('filament_diameter')) / 2
  43                 volumeM3 = (self.extrusionAmount * (math.pi * radius * radius)) / (1000*1000*1000)
  44                 return volumeM3 * profile.getPreferenceFloat('filament_physical_density')
  45
  46         def calculateCost(self):
  47                 cost_kg = profile.getPreferenceFloat('filament_cost_kg')
  48                 cost_meter = profile.getPreferenceFloat('filament_cost_meter')
  49                 if cost_kg > 0.0 and cost_meter > 0.0:
  50                         return "%.2f / %.2f" % (self.calculateWeight() * cost_kg, self.extrusionAmount / 1000 * cost_meter)
  51                 elif cost_kg > 0.0:
  52                         return "%.2f" % (self.calculateWeight() * cost_kg)
  53                 elif cost_meter > 0.0:
  54                         return "%.2f" % (self.extrusionAmount / 1000 * cost_meter)
  55                 return None
  56
  57         def _load(self, gcodeFile):
  58                 pos = [0.0, 0.0, 0.0]
  59                 posOffset = [0.0, 0.0, 0.0]
  60                 currentE = 0.0
  61                 totalExtrusion = 0.0
  62                 maxExtrusion = 0.0
  63                 currentExtruder = 0
  64                 extrudeAmountMultiply = 1.0
  65                 totalMoveTimeMinute = 0.0
  66                 absoluteE = True
  67                 scale = 1.0
  68                 posAbs = True
  69                 feedRate = 3600.0
  70                 layerThickness = 0.1
  71                 pathType = 'CUSTOM';
  72                 currentLayer = []
  73                 currentPath = gcodePath('move', pathType, layerThickness, pos[:])
  74                 currentPath.extruder = currentExtruder
  75
  76                 currentLayer.append(currentPath)
  77                 for line in gcodeFile:
  78                         if type(line) is tuple:
  79                                 line = line[0]
  80
  81                         #Parse Cura_SF comments
  82                         if line.startswith(';TYPE:'):
  83                                 pathType = line[6:].strip()
  84
  85                         if ';' in line:
  86                                 #Slic3r GCode comment parser
  87                                 comment = line[line.find(';')+1:].strip()
  88                                 if comment == 'fill':
  89                                         pathType = 'FILL'
  90                                 elif comment == 'perimeter':
  91                                         pathType = 'WALL-INNER'
  92                                 elif comment == 'skirt':
  93                                         pathType = 'SKIRT'
  94                                 if comment.startswith('LAYER:'):
  95                                         currentPath = gcodePath(moveType, pathType, layerThickness, currentPath.points[-1])
  96                                         currentPath.extruder = currentExtruder
  97                                         for path in currentLayer:
  98                                                 path.points = numpy.array(path.points, numpy.float32)
  99                                                 path.extrusion = numpy.array(path.extrusion, numpy.float32)
 100                                         self.layerList.append(currentLayer)
 101                                         if self.progressCallback is not None:
 102                                                 if self.progressCallback(float(gcodeFile.tell()) / float(self._fileSize)):
 103                                                         #Abort the loading, we can safely return as the results here will be discarded
 104                                                         gcodeFile.close()
 105                                                         return
 106                                         currentLayer = [currentPath]
 107                                 line = line[0:line.find(';')]
 108                         T = getCodeInt(line, 'T')
 109                         if T is not None:
 110                                 if currentExtruder > 0:
 111                                         posOffset[0] -= profile.getPreferenceFloat('extruder_offset_x%d' % (currentExtruder))
 112                                         posOffset[1] -= profile.getPreferenceFloat('extruder_offset_y%d' % (currentExtruder))
 113                                 currentExtruder = T
 114                                 if currentExtruder > 0:
 115                                         posOffset[0] += profile.getPreferenceFloat('extruder_offset_x%d' % (currentExtruder))
 116                                         posOffset[1] += profile.getPreferenceFloat('extruder_offset_y%d' % (currentExtruder))
 117
 118                         G = getCodeInt(line, 'G')
 119                         if G is not None:
 120                                 if G == 0 or G == 1:    #Move
 121                                         x = getCodeFloat(line, 'X')
 122                                         y = getCodeFloat(line, 'Y')
 123                                         z = getCodeFloat(line, 'Z')
 124                                         e = getCodeFloat(line, 'E')
 125                                         f = getCodeFloat(line, 'F')
 126                                         oldPos = pos[:]
 127                                         if posAbs:
 128                                                 if x is not None:
 129                                                         pos[0] = x * scale + posOffset[0]
 130                                                 if y is not None:
 131                                                         pos[1] = y * scale + posOffset[1]
 132                                                 if z is not None:
 133                                                         pos[2] = z * scale + posOffset[2]
 134                                         else:
 135                                                 if x is not None:
 136                                                         pos[0] += x * scale
 137                                                 if y is not None:
 138                                                         pos[1] += y * scale
 139                                                 if z is not None:
 140                                                         pos[2] += z * scale
 141                                         if f is not None:
 142                                                 feedRate = f
 143                                         #if x is not None or y is not None or z is not None:
 144                                         #       diffX = oldPos[0] - pos[0]
 145                                         #       diffY = oldPos[1] - pos[1]
 146                                         #       totalMoveTimeMinute += math.sqrt(diffX * diffX + diffY * diffY) / feedRate
 147                                         moveType = 'move'
 148                                         if e is not None:
 149                                                 if absoluteE:
 150                                                         e -= currentE
 151                                                 if e > 0:
 152                                                         moveType = 'extrude'
 153                                                 if e < 0:
 154                                                         moveType = 'retract'
 155                                                 totalExtrusion += e
 156                                                 currentE += e
 157                                                 if totalExtrusion > maxExtrusion:
 158                                                         maxExtrusion = totalExtrusion
 159                                         else:
 160                                                 e = 0.0
 161                                         if moveType == 'move' and oldPos[2] != pos[2]:
 162                                                 if oldPos[2] > pos[2] and abs(oldPos[2] - pos[2]) > 5.0 and pos[2] < 1.0:
 163                                                         oldPos[2] = 0.0
 164                                                 layerThickness = abs(oldPos[2] - pos[2])
 165                                         if currentPath.type != moveType or currentPath.pathType != pathType:
 166                                                 currentPath = gcodePath(moveType, pathType, layerThickness, currentPath.points[-1])
 167                                                 currentPath.extruder = currentExtruder
 168                                                 currentLayer.append(currentPath)
 169
 170                                         currentPath.points.append(pos[:])
 171                                         currentPath.extrusion.append(e * extrudeAmountMultiply)
 172                                 elif G == 4:    #Delay
 173                                         S = getCodeFloat(line, 'S')
 174                                         if S is not None:
 175                                                 totalMoveTimeMinute += S / 60.0
 176                                         P = getCodeFloat(line, 'P')
 177                                         if P is not None:
 178                                                 totalMoveTimeMinute += P / 60.0 / 1000.0
 179                                 elif G == 20:   #Units are inches
 180                                         scale = 25.4
 181                                 elif G == 21:   #Units are mm
 182                                         scale = 1.0
 183                                 elif G == 28:   #Home
 184                                         x = getCodeFloat(line, 'X')
 185                                         y = getCodeFloat(line, 'Y')
 186                                         z = getCodeFloat(line, 'Z')
 187                                         if x is None and y is None and z is None:
 188                                                 pos = [0.0,0.0,0.0]
 189                                         else:
 190                                                 if x is not None:
 191                                                         pos[0] = 0.0
 192                                                 if y is not None:
 193                                                         pos[0] = 0.0
 194                                                 if z is not None:
 195                                                         pos[0] = 0.0
 196                                 elif G == 90:   #Absolute position
 197                                         posAbs = True
 198                                 elif G == 91:   #Relative position
 199                                         posAbs = False
 200                                 elif G == 92:
 201                                         x = getCodeFloat(line, 'X')
 202                                         y = getCodeFloat(line, 'Y')
 203                                         z = getCodeFloat(line, 'Z')
 204                                         e = getCodeFloat(line, 'E')
 205                                         if e is not None:
 206                                                 currentE = e
 207                                         if x is not None:
 208                                                 posOffset[0] = pos[0] - x
 209                                         if y is not None:
 210                                                 posOffset[1] = pos[1] - y
 211                                         if z is not None:
 212                                                 posOffset[2] = pos[2] - z
 213                                 else:
 214                                         print "Unknown G code:" + str(G)
 215                         else:
 216                                 M = getCodeInt(line, 'M')
 217                                 if M is not None:
 218                                         if M == 0:      #Message with possible wait (ignored)
 219                                                 pass
 220                                         elif M == 1:    #Message with possible wait (ignored)
 221                                                 pass
 222                                         elif M == 80:   #Enable power supply
 223                                                 pass
 224                                         elif M == 81:   #Suicide/disable power supply
 225                                                 pass
 226                                         elif M == 82:   #Absolute E
 227                                                 absoluteE = True
 228                                         elif M == 83:   #Relative E
 229                                                 absoluteE = False
 230                                         elif M == 84:   #Disable step drivers
 231                                                 pass
 232                                         elif M == 92:   #Set steps per unit
 233                                                 pass
 234                                         elif M == 101:  #Enable extruder
 235                                                 pass
 236                                         elif M == 103:  #Disable extruder
 237                                                 pass
 238                                         elif M == 104:  #Set temperature, no wait
 239                                                 pass
 240                                         elif M == 105:  #Get temperature
 241                                                 pass
 242                                         elif M == 106:  #Enable fan
 243                                                 pass
 244                                         elif M == 107:  #Disable fan
 245                                                 pass
 246                                         elif M == 108:  #Extruder RPM (these should not be in the final GCode, but they are)
 247                                                 pass
 248                                         elif M == 109:  #Set temperature, wait
 249                                                 pass
 250                                         elif M == 110:  #Reset N counter
 251                                                 pass
 252                                         elif M == 113:  #Extruder PWM (these should not be in the final GCode, but they are)
 253                                                 pass
 254                                         elif M == 117:  #LCD message
 255                                                 pass
 256                                         elif M == 140:  #Set bed temperature
 257                                                 pass
 258                                         elif M == 190:  #Set bed temperature & wait
 259                                                 pass
 260                                         elif M == 221:  #Extrude amount multiplier
 261                                                 s = getCodeFloat(line, 'S')
 262                                                 if s is not None:
 263                                                         extrudeAmountMultiply = s / 100.0
 264                                         else:
 265                                                 print "Unknown M code:" + str(M)
 266                 for path in currentLayer:
 267                         path.points = numpy.array(path.points, numpy.float32)
 268                         path.extrusion = numpy.array(path.extrusion, numpy.float32)
 269                 self.layerList.append(currentLayer)
 270                 if self.progressCallback is not None and self._fileSize > 0:
 271                         self.progressCallback(float(gcodeFile.tell()) / float(self._fileSize))
 272                 self.extrusionAmount = maxExtrusion
 273                 self.totalMoveTimeMinute = totalMoveTimeMinute
 274                 #print "Extruded a total of: %d mm of filament" % (self.extrusionAmount)
 275                 #print "Estimated print duration: %.2f minutes" % (self.totalMoveTimeMinute)
 276
 277 def getCodeInt(line, code):
 278         n = line.find(code) + 1
 279         if n < 1:
 280                 return None
 281         m = line.find(' ', n)
 282         try:
 283                 if m < 0:
 284                         return int(line[n:])
 285                 return int(line[n:m])
 286         except:
 287                 return None
 288
 289 def getCodeFloat(line, code):
 290         n = line.find(code) + 1
 291         if n < 1:
 292                 return None
 293         m = line.find(' ', n)
 294         try:
 295                 if m < 0:
 296                         return float(line[n:])
 297                 return float(line[n:m])
 298         except:
 299                 return None
 300
 301 if __name__ == '__main__':
 302         t = time.time()
 303         for filename in sys.argv[1:]:
 304                 g = gcode()
 305                 g.load(filename)
 306                 print g.totalMoveTimeMinute
 307         print time.time() - t
 308