# Copyright (c) 2016 Aleph Objects, Inc.
# Cura is released under the terms of the LGPLv3 or higher.
from UM.Application import Application
from UM.Backend import Backend
from UM.Job import Job
from UM.Logger import Logger
from UM.Math.AxisAlignedBox import AxisAlignedBox
from UM.Math.Vector import Vector
from UM.Mesh.MeshReader import MeshReader
from UM.Message import Message
from UM.Scene.SceneNode import SceneNode
from UM.i18n import i18nCatalog
from UM.Preferences import Preferences
catalog = i18nCatalog("cura")
from cura import LayerDataBuilder
from cura import LayerDataDecorator
from cura.LayerPolygon import LayerPolygon
from cura.GCodeListDecorator import GCodeListDecorator
from cura.Settings.ExtruderManager import ExtruderManager
import numpy
import math
import re
from collections import namedtuple
# Class for loading and parsing G-code files
class GCodeReader(MeshReader):
def __init__(self):
super(GCodeReader, self).__init__()
self._supported_extensions = [".gcode", ".g"]
Application.getInstance().hideMessageSignal.connect(self._onHideMessage)
self._cancelled = False
self._message = None
self._layer_number = 0
self._extruder_number = 0
self._clearValues()
self._scene_node = None
self._position = namedtuple('Position', ['x', 'y', 'z', 'e'])
self._is_layers_in_file = False # Does the Gcode have the layers comment?
self._extruder_offsets = {} # Offsets for multi extruders. key is index, value is [x-offset, y-offset]
self._current_layer_thickness = 0.2 # default
Preferences.getInstance().addPreference("gcodereader/show_caution", True)
def _clearValues(self):
self._extruder_number = 0
self._layer_type = LayerPolygon.Inset0Type
self._layer_number = 0
self._previous_z = 0
self._layer_data_builder = LayerDataBuilder.LayerDataBuilder()
self._center_is_zero = False
@staticmethod
def _getValue(line, code):
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, code):
value = self._getValue(line, code)
try:
return int(value)
except:
return None
def _getFloat(self, line, code):
value = self._getValue(line, code)
try:
return float(value)
except:
return None
def _onHideMessage(self, message):
if message == self._message:
self._cancelled = True
@staticmethod
def _getNullBoundingBox():
return AxisAlignedBox(minimum=Vector(0, 0, 0), maximum=Vector(10, 10, 10))
def _createPolygon(self, layer_thickness, path, extruder_offsets):
countvalid = 0
for point in path:
if point[3] > 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)
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)
# TODO: need to calculate actual line width based on E values
line_widths[:, 0] = 0.35 # Just a guess
line_thicknesses[:, 0] = layer_thickness
points = numpy.empty((count, 3), numpy.float32)
i = 0
for point in path:
points[i, :] = [point[0] + extruder_offsets[0], point[2], -point[1] - extruder_offsets[1]]
if i > 0:
line_types[i - 1] = point[3]
if point[3] in [LayerPolygon.MoveCombingType, LayerPolygon.MoveRetractionType]:
line_widths[i - 1] = 0.1
i += 1
this_poly = LayerPolygon(self._extruder_number, line_types, points, line_widths, line_thicknesses)
this_poly.buildCache()
this_layer.polygons.append(this_poly)
return True
def _gCode0(self, position, params, path):
x, y, z, e = position
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 position.z
if params.e is not None:
if params.e > e[self._extruder_number]:
path.append([x, y, z, self._layer_type]) # extrusion
else:
path.append([x, y, z, LayerPolygon.MoveRetractionType]) # retraction
e[self._extruder_number] = params.e
# 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 + 0.05 # allow a tiny overlap
self._previous_z = z
else:
path.append([x, y, z, LayerPolygon.MoveCombingType])
return self._position(x, y, z, e)
# G0 and G1 should be handled exactly the same.
_gCode1 = _gCode0
## Home the head.
def _gCode28(self, position, params, path):
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,
0,
position.e)
## Reset the current position to the values specified.
# For example: G92 X10 will set the X to 10 without any physical motion.
def _gCode92(self, position, params, path):
if params.e is not None:
position.e[self._extruder_number] = params.e
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.e)
def _processGCode(self, G, line, position, path):
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, e = None, None, None, None
for item in s[1:]:
if len(item) <= 1:
continue
if item.startswith(";"):
continue
if item[0] == "X":
x = float(item[1:])
if item[0] == "Y":
y = float(item[1:])
if item[0] == "Z":
z = float(item[1:])
if item[0] == "E":
e = float(item[1:])
if (x is not None and x < 0) or (y is not None and y < 0):
self._center_is_zero = True
params = self._position(x, y, z, e)
return func(position, params, path)
return position
def _processTCode(self, T, line, position, path):
self._extruder_number = T
if self._extruder_number + 1 > len(position.e):
position.e.extend([0] * (self._extruder_number - len(position.e) + 1))
return position
_type_keyword = ";TYPE:"
_layer_keyword = ";LAYER:"
## For showing correct x, y offsets for each extruder
def _extruderOffsets(self):
result = {}
for extruder in ExtruderManager.getInstance().getExtruderStacks():
result[int(extruder.getMetaData().get("position", "0"))] = [
extruder.getProperty("machine_nozzle_offset_x", "value"),
extruder.getProperty("machine_nozzle_offset_y", "value")]
return result
def read(self, file_name):
Logger.log("d", "Preparing to load %s" % file_name)
self._cancelled = False
scene_node = SceneNode()
# Override getBoundingBox function of the sceneNode, as this node should return a bounding box, but there is no
# real data to calculate it from.
scene_node.getBoundingBox = self._getNullBoundingBox
gcode_list = []
self._is_layers_in_file = False
Logger.log("d", "Opening file %s" % file_name)
self._extruder_offsets = self._extruderOffsets() # dict with index the extruder number. can be empty
last_z = 0
with open(file_name, "r") as file:
file_lines = 0
current_line = 0
for line in file:
file_lines += 1
gcode_list.append(line)
if not self._is_layers_in_file and line[:len(self._layer_keyword)] == self._layer_keyword:
self._is_layers_in_file = True
file.seek(0)
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"))
self._message.setProgress(0)
self._message.show()
Logger.log("d", "Parsing %s..." % file_name)
current_position = self._position(0, 0, 0, [0])
current_path = []
for line in file:
if self._cancelled:
Logger.log("d", "Parsing %s cancelled" % file_name)
return None
current_line += 1
last_z = current_position.z
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
else:
Logger.log("w", "Encountered a unknown type (%s) while parsing g-code.", type)
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()
self._layer_number = 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:
current_position = self._processGCode(G, line, current_position, current_path)
# < 2 is a heuristic for a movement only, that should not be counted as a layer
if current_position.z > last_z and abs(current_position.z - last_z) < 2:
if self._createPolygon(self._current_layer_thickness, current_path, self._extruder_offsets.get(self._extruder_number, [0, 0])):
current_path.clear()
if not self._is_layers_in_file:
self._layer_number += 1
continue
if line.startswith("T"):
T = self._getInt(line, "T")
if T is not None:
self._createPolygon(self._current_layer_thickness, current_path, self._extruder_offsets.get(self._extruder_number, [0, 0]))
current_path.clear()
current_position = self._processTCode(T, line, current_position, current_path)
# "Flush" leftovers
if not self._is_layers_in_file and 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((10, 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]
layer_mesh = self._layer_data_builder.build(material_color_map)
decorator = LayerDataDecorator.LayerDataDecorator()
decorator.setLayerData(layer_mesh)
scene_node.addDecorator(decorator)
gcode_list_decorator = GCodeListDecorator()
gcode_list_decorator.setGCodeList(gcode_list)
scene_node.addDecorator(gcode_list_decorator)
Application.getInstance().getController().getScene().gcode_list = gcode_list
Logger.log("d", "Finished parsing %s" % file_name)
self._message.hide()
if self._layer_number == 0:
Logger.log("w", "File %s doesn't contain any valid layers" % file_name)
settings = Application.getInstance().getGlobalContainerStack()
machine_width = settings.getProperty("machine_width", "value")
machine_depth = settings.getProperty("machine_depth", "value")
if not self._center_is_zero:
scene_node.setPosition(Vector(-machine_width / 2, 0, machine_depth / 2))
Logger.log("d", "Loaded %s" % file_name)
if Preferences.getInstance().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 = Application.getInstance().getBackend()
backend.backendStateChange.emit(Backend.BackendState.Disabled)
return scene_node