# Copyright (c) 2020 Ultimaker B.V.
# Cura is released under the terms of the LGPLv3 or higher.
import math
import re
from typing import Dict, List, NamedTuple, Optional, Union, Set
import numpy
from UM.Backend import Backend
from UM.Job import Job
from UM.Logger import Logger
from UM.Math.Vector import Vector
from UM.Message import Message
from UM.i18n import i18nCatalog
from cura.CuraApplication import CuraApplication
from cura.LayerDataBuilder import LayerDataBuilder
from cura.LayerDataDecorator import LayerDataDecorator
from cura.LayerPolygon import LayerPolygon
from cura.Scene.CuraSceneNode import CuraSceneNode
from cura.Scene.GCodeListDecorator import GCodeListDecorator
from cura.Settings.ExtruderManager import ExtruderManager
catalog = i18nCatalog("cura")
PositionOptional = NamedTuple("Position", [("x", Optional[float]), ("y", Optional[float]), ("z", Optional[float]), ("f", Optional[float]), ("e", Optional[float])])
Position = NamedTuple("Position", [("x", float), ("y", float), ("z", float), ("f", float), ("e", List[float])])
class FlavorParser:
"""This parser is intended to interpret the common firmware codes among all the different flavors"""
def __init__(self) -> None:
CuraApplication.getInstance().hideMessageSignal.connect(self._onHideMessage)
self._cancelled = False
self._message = None # type: Optional[Message]
self._layer_number = 0
self._extruder_number = 0
# All extruder numbers that have been seen
self._extruders_seen = {0} # type: Set[int]
self._clearValues()
self._scene_node = None
# X, Y, Z position, F feedrate and E extruder values are stored
self._position = Position
self._is_layers_in_file = False # Does the Gcode have the layers comment?
self._extruder_offsets = {} # type: Dict[int, List[float]] # Offsets for multi extruders. key is index, value is [x-offset, y-offset]
self._current_layer_thickness = 0.2 # default
self._filament_diameter = 2.85 # default
self._previous_extrusion_value = 0.0 # keep track of the filament retractions
CuraApplication.getInstance().getPreferences().addPreference("gcodereader/show_caution", True)
def _clearValues(self) -> None:
self._extruder_number = 0
self._extrusion_length_offset = [0] # type: List[float]
self._layer_type = LayerPolygon.Inset0Type
self._layer_number = 0
self._previous_z = 0 # type: float
self._layer_data_builder = LayerDataBuilder()
self._is_absolute_positioning = True # It can be absolute (G90) or relative (G91)
self._is_absolute_extrusion = True # It can become absolute (M82, default) or relative (M83)
@staticmethod
def _getValue(line: str, code: str) -> Optional[Union[str, int, float]]:
n = line.find(code)
if n < 0:
return None
n += len(code)
pattern = re.compile("[;\\s]")
match = pattern.search(line, n)
m = match.start() if match is not None else -1
try:
if m < 0:
return line[n:]
return line[n:m]
except:
return None
def _getInt(self, line: str, code: str) -> Optional[int]:
value = self._getValue(line, code)
try:
return int(value) # type: ignore
except:
return None
def _getFloat(self, line: str, code: str) -> Optional[float]:
value = self._getValue(line, code)
try:
return float(value) # type: ignore
except:
return None
def _onHideMessage(self, message: str) -> None:
if message == self._message:
self._cancelled = True
def _createPolygon(self, layer_thickness: float, path: List[List[Union[float, int]]], extruder_offsets: List[float]) -> bool:
countvalid = 0
for point in path:
if point[5] > 0:
countvalid += 1
if countvalid >= 2:
# we know what to do now, no need to count further
continue
if countvalid < 2:
return False
try:
self._layer_data_builder.addLayer(self._layer_number)
self._layer_data_builder.setLayerHeight(self._layer_number, path[0][2])
self._layer_data_builder.setLayerThickness(self._layer_number, layer_thickness)
this_layer = self._layer_data_builder.getLayer(self._layer_number)
if not this_layer:
return False
except ValueError:
return False
count = len(path)
line_types = numpy.empty((count - 1, 1), numpy.int32)
line_widths = numpy.empty((count - 1, 1), numpy.float32)
line_thicknesses = numpy.empty((count - 1, 1), numpy.float32)
line_feedrates = numpy.empty((count - 1, 1), numpy.float32)
line_widths[:, 0] = 0.35 # Just a guess
line_thicknesses[:, 0] = layer_thickness
points = numpy.empty((count, 3), numpy.float32)
extrusion_values = numpy.empty((count, 1), numpy.float32)
i = 0
for point in path:
points[i, :] = [point[0] + extruder_offsets[0], point[2], -point[1] - extruder_offsets[1]]
extrusion_values[i] = point[4]
if i > 0:
line_feedrates[i - 1] = point[3]
line_types[i - 1] = point[5]
if point[5] in [LayerPolygon.MoveCombingType, LayerPolygon.MoveRetractionType]:
line_widths[i - 1] = 0.1
line_thicknesses[i - 1] = 0.0 # Travels are set as zero thickness lines
else:
line_widths[i - 1] = self._calculateLineWidth(points[i], points[i-1], extrusion_values[i], extrusion_values[i-1], layer_thickness)
i += 1
this_poly = LayerPolygon(self._extruder_number, line_types, points, line_widths, line_thicknesses, line_feedrates)
this_poly.buildCache()
this_layer.polygons.append(this_poly)
return True
def _createEmptyLayer(self, layer_number: int) -> None:
self._layer_data_builder.addLayer(layer_number)
self._layer_data_builder.setLayerHeight(layer_number, 0)
self._layer_data_builder.setLayerThickness(layer_number, 0)
def _calculateLineWidth(self, current_point: Position, previous_point: Position, current_extrusion: float, previous_extrusion: float, layer_thickness: float) -> float:
# Area of the filament
Af = (self._filament_diameter / 2) ** 2 * numpy.pi
# Length of the extruded filament
de = current_extrusion - previous_extrusion
# Volumne of the extruded filament
dVe = de * Af
# Length of the printed line
dX = numpy.sqrt((current_point[0] - previous_point[0])**2 + (current_point[2] - previous_point[2])**2)
# When the extruder recovers from a retraction, we get zero distance
if dX == 0:
return 0.1
# Area of the printed line. This area is a rectangle
Ae = dVe / dX
# This area is a rectangle with area equal to layer_thickness * layer_width
line_width = Ae / layer_thickness
# A threshold is set to avoid weird paths in the GCode
if line_width > 1.2:
return 0.35
# Prevent showing infinitely wide lines
if line_width < 0.0:
return 0.0
return line_width
def _gCode0(self, position: Position, params: PositionOptional, path: List[List[Union[float, int]]]) -> Position:
x, y, z, f, e = position
if self._is_absolute_positioning:
x = params.x if params.x is not None else x
y = params.y if params.y is not None else y
z = params.z if params.z is not None else z
else:
x += params.x if params.x is not None else 0
y += params.y if params.y is not None else 0
z += params.z if params.z is not None else 0
f = params.f if params.f is not None else f
if params.e is not None:
new_extrusion_value = params.e if self._is_absolute_extrusion else e[self._extruder_number] + params.e
if new_extrusion_value > e[self._extruder_number]:
path.append([x, y, z, f, new_extrusion_value + self._extrusion_length_offset[self._extruder_number], self._layer_type]) # extrusion
self._previous_extrusion_value = new_extrusion_value
else:
path.append([x, y, z, f, new_extrusion_value + self._extrusion_length_offset[self._extruder_number], LayerPolygon.MoveRetractionType]) # retraction
e[self._extruder_number] = new_extrusion_value
# Only when extruding we can determine the latest known "layer height" which is the difference in height between extrusions
# Also, 1.5 is a heuristic for any priming or whatsoever, we skip those.
if z > self._previous_z and (z - self._previous_z < 1.5):
self._current_layer_thickness = z - self._previous_z # allow a tiny overlap
self._previous_z = z
elif self._previous_extrusion_value > e[self._extruder_number]:
path.append([x, y, z, f, e[self._extruder_number] + self._extrusion_length_offset[self._extruder_number], LayerPolygon.MoveRetractionType])
else:
path.append([x, y, z, f, e[self._extruder_number] + self._extrusion_length_offset[self._extruder_number], LayerPolygon.MoveCombingType])
return self._position(x, y, z, f, e)
# G0 and G1 should be handled exactly the same.
_gCode1 = _gCode0
def _gCode28(self, position: Position, params: PositionOptional, path: List[List[Union[float, int]]]) -> Position:
"""Home the head."""
return self._position(
params.x if params.x is not None else position.x,
params.y if params.y is not None else position.y,
params.z if params.z is not None else position.z,
position.f,
position.e)
def _gCode90(self, position: Position, params: PositionOptional, path: List[List[Union[float, int]]]) -> Position:
"""Set the absolute positioning"""
self._is_absolute_positioning = True
self._is_absolute_extrusion = True
return position
def _gCode91(self, position: Position, params: PositionOptional, path: List[List[Union[float, int]]]) -> Position:
"""Set the relative positioning"""
self._is_absolute_positioning = False
self._is_absolute_extrusion = False
return position
def _gCode92(self, position: Position, params: PositionOptional, path: List[List[Union[float, int]]]) -> Position:
"""Reset the current position to the values specified.
For example: G92 X10 will set the X to 10 without any physical motion.
"""
if params.e is not None:
# Sometimes a G92 E0 is introduced in the middle of the GCode so we need to keep those offsets for calculate the line_width
self._extrusion_length_offset[self._extruder_number] = position.e[self._extruder_number] - params.e
position.e[self._extruder_number] = params.e
self._previous_extrusion_value = params.e
else:
self._previous_extrusion_value = 0.0
return self._position(
params.x if params.x is not None else position.x,
params.y if params.y is not None else position.y,
params.z if params.z is not None else position.z,
params.f if params.f is not None else position.f,
position.e)
def processGCode(self, G: int, line: str, position: Position, path: List[List[Union[float, int]]]) -> Position:
func = getattr(self, "_gCode%s" % G, None)
line = line.split(";", 1)[0] # Remove comments (if any)
if func is not None:
s = line.upper().split(" ")
x, y, z, f, e = None, None, None, None, None
for item in s[1:]:
if len(item) <= 1:
continue
if item.startswith(";"):
continue
try:
if item[0] == "X":
x = float(item[1:])
elif item[0] == "Y":
y = float(item[1:])
elif item[0] == "Z":
z = float(item[1:])
elif item[0] == "F":
f = float(item[1:]) / 60
elif item[0] == "E":
e = float(item[1:])
except ValueError: # Improperly formatted g-code: Coordinates are not floats.
continue # Skip the command then.
params = PositionOptional(x, y, z, f, e)
return func(position, params, path)
return position
def processTCode(self, T: int, line: str, position: Position, path: List[List[Union[float, int]]]) -> Position:
self._extruder_number = T
if self._extruder_number + 1 > len(position.e):
self._extrusion_length_offset.extend([0] * (self._extruder_number - len(position.e) + 1))
position.e.extend([0] * (self._extruder_number - len(position.e) + 1))
return position
def processMCode(self, M: int, line: str, position: Position, path: List[List[Union[float, int]]]) -> Position:
pass
_type_keyword = ";TYPE:"
_layer_keyword = ";LAYER:"
def _extruderOffsets(self) -> Dict[int, List[float]]:
"""For showing correct x, y offsets for each extruder"""
result = {}
for extruder in ExtruderManager.getInstance().getActiveExtruderStacks():
result[int(extruder.getMetaData().get("position", "0"))] = [
extruder.getProperty("machine_nozzle_offset_x", "value"),
extruder.getProperty("machine_nozzle_offset_y", "value")]
return result
#
# CURA-6643
# This function needs the filename so it can be set to the SceneNode. Otherwise, if you load a GCode file and press
# F5, that gcode SceneNode will be removed because it doesn't have a file to be reloaded from.
#
def processGCodeStream(self, stream: str, filename: str) -> Optional["CuraSceneNode"]:
Logger.log("d", "Preparing to load g-code")
self._cancelled = False
# We obtain the filament diameter from the selected extruder to calculate line widths
global_stack = CuraApplication.getInstance().getGlobalContainerStack()
if not global_stack:
return None
self._filament_diameter = global_stack.extruderList[self._extruder_number].getProperty("material_diameter", "value")
scene_node = CuraSceneNode()
gcode_list = []
self._is_layers_in_file = False
self._extruder_offsets = self._extruderOffsets() # dict with index the extruder number. can be empty
##############################################################################################
## This part is where the action starts
##############################################################################################
file_lines = 0
current_line = 0
for line in stream.split("\n"):
file_lines += 1
gcode_list.append(line + "\n")
if not self._is_layers_in_file and line[:len(self._layer_keyword)] == self._layer_keyword:
self._is_layers_in_file = True
file_step = max(math.floor(file_lines / 100), 1)
self._clearValues()
self._message = Message(catalog.i18nc("@info:status", "Parsing G-code"),
lifetime=0,
title = catalog.i18nc("@info:title", "G-code Details"))
assert(self._message is not None) # use for typing purposes
self._message.setProgress(0)
self._message.show()
Logger.log("d", "Parsing g-code...")
current_position = Position(0, 0, 0, 0, [0])
current_path = [] #type: List[List[float]]
min_layer_number = 0
negative_layers = 0
previous_layer = 0
self._previous_extrusion_value = 0.0
for line in stream.split("\n"):
if self._cancelled:
Logger.log("d", "Parsing g-code file cancelled.")
return None
current_line += 1
if current_line % file_step == 0:
self._message.setProgress(math.floor(current_line / file_lines * 100))
Job.yieldThread()
if len(line) == 0:
continue
if line.find(self._type_keyword) == 0:
type = line[len(self._type_keyword):].strip()
if type == "WALL-INNER":
self._layer_type = LayerPolygon.InsetXType
elif type == "WALL-OUTER":
self._layer_type = LayerPolygon.Inset0Type
elif type == "SKIN":
self._layer_type = LayerPolygon.SkinType
elif type == "SKIRT":
self._layer_type = LayerPolygon.SkirtType
elif type == "SUPPORT":
self._layer_type = LayerPolygon.SupportType
elif type == "FILL":
self._layer_type = LayerPolygon.InfillType
elif type == "SUPPORT-INTERFACE":
self._layer_type = LayerPolygon.SupportInterfaceType
elif type == "PRIME-TOWER":
self._layer_type = LayerPolygon.PrimeTowerType
else:
Logger.log("w", "Encountered a unknown type (%s) while parsing g-code.", type)
# When the layer change is reached, the polygon is computed so we have just one layer per extruder
if self._is_layers_in_file and line[:len(self._layer_keyword)] == self._layer_keyword:
try:
layer_number = int(line[len(self._layer_keyword):])
self._createPolygon(self._current_layer_thickness, current_path, self._extruder_offsets.get(self._extruder_number, [0, 0]))
current_path.clear()
# Start the new layer at the end position of the last layer
current_path.append([current_position.x, current_position.y, current_position.z, current_position.f, current_position.e[self._extruder_number], LayerPolygon.MoveCombingType])
# When using a raft, the raft layers are stored as layers < 0, it mimics the same behavior
# as in ProcessSlicedLayersJob
if layer_number < min_layer_number:
min_layer_number = layer_number
if layer_number < 0:
layer_number += abs(min_layer_number)
negative_layers += 1
else:
layer_number += negative_layers
# In case there is a gap in the layer count, empty layers are created
for empty_layer in range(previous_layer + 1, layer_number):
self._createEmptyLayer(empty_layer)
self._layer_number = layer_number
previous_layer = layer_number
except:
pass
# This line is a comment. Ignore it (except for the layer_keyword)
if line.startswith(";"):
continue
G = self._getInt(line, "G")
if G is not None:
# When find a movement, the new posistion is calculated and added to the current_path, but
# don't need to create a polygon until the end of the layer
current_position = self.processGCode(G, line, current_position, current_path)
continue
# When changing the extruder, the polygon with the stored paths is computed
if line.startswith("T"):
T = self._getInt(line, "T")
if T is not None:
self._extruders_seen.add(T)
self._createPolygon(self._current_layer_thickness, current_path, self._extruder_offsets.get(self._extruder_number, [0, 0]))
current_path.clear()
# When changing tool, store the end point of the previous path, then process the code and finally
# add another point with the new position of the head.
current_path.append([current_position.x, current_position.y, current_position.z, current_position.f, current_position.e[self._extruder_number], LayerPolygon.MoveCombingType])
current_position = self.processTCode(T, line, current_position, current_path)
current_path.append([current_position.x, current_position.y, current_position.z, current_position.f, current_position.e[self._extruder_number], LayerPolygon.MoveCombingType])
if line.startswith("M"):
M = self._getInt(line, "M")
if M is not None:
self.processMCode(M, line, current_position, current_path)
# "Flush" leftovers. Last layer paths are still stored
if len(current_path) > 1:
if self._createPolygon(self._current_layer_thickness, current_path, self._extruder_offsets.get(self._extruder_number, [0, 0])):
self._layer_number += 1
current_path.clear()
material_color_map = numpy.zeros((8, 4), dtype = numpy.float32)
material_color_map[0, :] = [0.0, 0.7, 0.9, 1.0]
material_color_map[1, :] = [0.7, 0.9, 0.0, 1.0]
material_color_map[2, :] = [0.9, 0.0, 0.7, 1.0]
material_color_map[3, :] = [0.7, 0.0, 0.0, 1.0]
material_color_map[4, :] = [0.0, 0.7, 0.0, 1.0]
material_color_map[5, :] = [0.0, 0.0, 0.7, 1.0]
material_color_map[6, :] = [0.3, 0.3, 0.3, 1.0]
material_color_map[7, :] = [0.7, 0.7, 0.7, 1.0]
layer_mesh = self._layer_data_builder.build(material_color_map)
decorator = LayerDataDecorator()
decorator.setLayerData(layer_mesh)
scene_node.addDecorator(decorator)
gcode_list_decorator = GCodeListDecorator()
gcode_list_decorator.setGcodeFileName(filename)
gcode_list_decorator.setGCodeList(gcode_list)
scene_node.addDecorator(gcode_list_decorator)
# gcode_dict stores gcode_lists for a number of build plates.
active_build_plate_id = CuraApplication.getInstance().getMultiBuildPlateModel().activeBuildPlate
gcode_dict = {active_build_plate_id: gcode_list}
CuraApplication.getInstance().getController().getScene().gcode_dict = gcode_dict #type: ignore #Because gcode_dict is generated dynamically.
Logger.log("d", "Finished parsing g-code.")
self._message.hide()
if self._layer_number == 0:
Logger.log("w", "File doesn't contain any valid layers")
if not global_stack.getProperty("machine_center_is_zero", "value"):
machine_width = global_stack.getProperty("machine_width", "value")
machine_depth = global_stack.getProperty("machine_depth", "value")
scene_node.setPosition(Vector(-machine_width / 2, 0, machine_depth / 2))
Logger.log("d", "G-code loading finished.")
if CuraApplication.getInstance().getPreferences().getValue("gcodereader/show_caution"):
caution_message = Message(catalog.i18nc(
"@info:generic",
"Make sure the g-code is suitable for your printer and printer configuration before sending the file to it. The g-code representation may not be accurate."),
lifetime=0,
title = catalog.i18nc("@info:title", "G-code Details"))
caution_message.show()
# The "save/print" button's state is bound to the backend state.
backend = CuraApplication.getInstance().getBackend()
backend.backendStateChange.emit(Backend.BackendState.Disabled)
return scene_node