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