moved machinestate contents back to machine.py

pygcode/gcodes.py

@@ -1,4 +1,5 @@
 from collections import defaultdict
+from copy import copy
 
 from .words import Word
 
@@ -140,8 +141,9 @@ class GCode(object):
     # Parameters associated to this gcode
     param_letters = set()
 
-    # Modal Group
+    # Modal stuff
     modal_group = None
+    modal_param_letters = set() # by default: no parameters are retained in modal state
 
     # Execution Order
     exec_order = 999  # if not otherwise specified, run last
@@ -208,15 +210,12 @@ class GCode(object):
     def description(self):
         return self.__doc__
 
-    @property
+    def modal_copy(self):
-    def mode(self):
+        """Copy of GCode instance containing only parameters listed in modal_param_letters"""
-        """
+        return self.__class__(self.word, *[
-        Mode word for modal GCodes
+            w for (l, w) in self.params.items()
-        :return: Word to save machine's state, or None if GCode is not modal
+            if l in self.modal_param_letters
-        """
+        ])
-        if self.modal_group is None:
-            return None
-        return self.word
 
 
 # ======================= Motion =======================

pygcode/machine.py

@@ -4,7 +4,98 @@ from collections import defaultdict
 from .gcodes import MODAL_GROUP_MAP, GCode
 from .line import Line
 
-from .machinestate import MachineState
+
+class State(object):
+    """State of a Machine"""
+    # State is very forgiving:
+    #   Anything possible in a machine's state may be changed & fetched.
+    #   For example: x, y, z, a, b, c may all be set & requested.
+    #   However, the machine for which this state is stored probably doesn't
+    #   have all possible 6 axes.
+    #   It is also possible to set an axis to an impossibly large distance.
+    #   It is the responsibility of the Machine using this class to be
+    #   discerning in these respects.
+    def __init__(self):
+        self.axes = defaultdict(lambda: 0.0) # aka: "machine coordinates"
+
+        self.work_offset = defaultdict(lambda: 0.0)
+        # TODO: how to manage work offsets? (probs not like the above)
+        # read up on:
+        #   - G92: coordinate system offset
+        #   - G54-G59: select coordinate system (offsets from machine coordinates set by G10 L2)
+
+        # TODO: Move this class into MachineState
+
+
+class MachineState(object):
+    """Machine's state, and mode"""
+    # Default Mode
+    default_mode = '''
+        G17       (plane_selection: X/Y plane)
+        G90       (distance: absolute position. ie: not "turtle" mode)
+        G91.1     (arc_ijk_distance: IJK sets arc center vertex relative to current position)
+        G94       (feed_rate_mode: feed-rate defined in units/min)
+        G21       (units: mm)
+        G40       (cutter_diameter_comp: no compensation)
+        G49       (tool_length_offset: no offset)
+        G61       (control_mode: exact path mode)
+        G97       (spindle_speed_mode: RPM Mode)
+        M0        (stopping: program paused)
+        M5        (spindle: off)
+        M9        (coolant: off)
+        F100      (feed_rate: 100 mm/min)
+        S1000     (tool: 1000 rpm, when it's switched on)
+    '''
+
+    # Mode is defined by gcodes set by processed blocks:
+    #   see modal_group in gcode.py module for details
+    def __init__(self):
+        self.modal_groups = defaultdict(lambda: None)
+
+        # Initialize
+        self.set_mode(*Line(self.default_mode).block.gcodes)
+
+    def set_mode(self, *gcode_list):
+        for g in sorted(gcode_list): # sorted by execution order
+            if g.modal_group is not None:
+                self.modal_groups[g.modal_group] = g.modal_copy()
+
+    def __getattr__(self, key):
+        if key in MODAL_GROUP_MAP:
+            return self.modal_groups[MODAL_GROUP_MAP[key]]
+
+        raise AttributeError("'{cls}' object has no attribute '{key}'".format(
+            cls=self.__class__.__name__,
+            key=key
+        ))
+
+    def __setattr__(self, key, value):
+        if key in MODAL_GROUP_MAP:
+            # Set/Clear modal group gcode
+            if value is None:
+                # clear mode group
+                self.modal_groups[MODAL_GROUP_MAP[key]] = None
+            else:
+                # set mode group explicitly
+                # (recommended to use self.set_mode(value) instead)
+                assert isinstance(value, GCode), "invalid value type: %r" % value
+                assert value.modal_group == MODAL_GROUP_MAP[key], \
+                    "cannot set '%s' mode as %r, wrong group" % (key, value)
+                self.modal_groups[MODAL_GROUP_MAP[key]] = value.modal_copy()
+        else:
+            self.__dict__[key] = value
+
+    def __str__(self):
+        gcode_list = []
+        for modal_group in sorted(MODAL_GROUP_MAP.values()):
+            if self.modal_groups[modal_group]:
+                gcode_list.append(self.modal_groups[modal_group])
+        return ' '.join(str(g) for g in gcode_list)
+
+    def __repr__(self):
+        return "<{class_name}: {gcodes}>".format(
+            class_name=self.__class__.__name__, gcodes=str(self)
+        )
 
 
 class Machine(object):
@@ -18,7 +109,15 @@ class Machine(object):
         :param modal_params: list of Word instances to be applied to current movement mode
         """
         modal_params = kwargs.get('modal_params', [])
+
+        #process_gcodes =
+
         for gcode in sorted(gcode_list):
             self.state.set_mode(gcode)  # if gcode is not modal, it's ignored
 
+            gcode.process(self.state)
             # TODO: gcode instance to change machine's state
+            # Questions to drive design:
+            #   - how much time did the command take?
+            #   - what was the tool's distance / displacement
+            #   - did the tool travel outside machine boundaries?

pygcode/machinestate.py

@@ -1,97 +0,0 @@
-from .gcodes import GCode
-from .line import Line
-
-
-class State(object):
-    """State of a Machine"""
-    # State is very forgiving:
-    #   Anything possible in a machine's state may be changed & fetched.
-    #   For example: x, y, z, a, b, c may all be set & requested.
-    #   However, the machine for which this state is stored probably doesn't
-    #   have all possible 6 axes.
-    #   It is also possible to set an axis to an impossibly large distance.
-    #   It is the responsibility of the Machine using this class to be
-    #   discerning in these respects.
-    def __init__(self):
-        self.axes = defaultdict(lambda: 0.0) # aka: "machine coordinates"
-
-        self.work_offset = defaultdict(lambda: 0.0)
-        # TODO: how to manage work offsets? (probs not like the above)
-        # read up on:
-        #   - G92: coordinate system offset
-        #   - G54-G59: select coordinate system (offsets from machine coordinates set by G10 L2)
-
-        # TODO: Move this class into MachineState
-
-
-class MachineState(object):
-    """Machine's state, and mode"""
-    # Mode is defined by gcodes set by processed blocks:
-    #   see modal_group in gcode.py module for details
-    def __init__(self):
-        self.modal_groups = defaultdict(lambda: None)
-        # populate with all groups
-        for modal_group in MODAL_GROUP_MAP.values():
-            self.modal_groups[modal_group] = None
-
-        # Default mode:
-        self.set_mode(*Line('''
-            G17       (plane_selection: X/Y plane)
-            G90       (distance: absolute position. ie: not "turtle" mode)
-            G91.1     (arc_ijk_distance: IJK sets arc center vertex relative to current position)
-            G94       (feed_rate_mode: feed-rate defined in units/min)
-            G21       (units: mm)
-            G40       (cutter_diameter_comp: no compensation)
-            G49       (tool_length_offset: no offset)
-            G61       (control_mode: exact path mode)
-            G97       (spindle_speed_mode: RPM Mode)
-            M0        (stopping: program paused)
-            M5        (spindle: off)
-            M9        (coolant: off)
-            F100      (feed_rate: 100 mm/min)
-            S1000     (tool: 1000 rpm, when it's switched on)
-        ''').block.gcodes) # note: although this is not a single line
-                           #    '\n' is just treated like any other whitespace,
-                           #    so it behaves like a single line.
-
-    def set_mode(self, *gcode_list):
-        for g in sorted(gcode_list): # sorted by execution order
-            if g.modal_group is not None:
-                self.modal_groups[g.modal_group] = g
-
-    def __getattr__(self, key):
-        if key in MODAL_GROUP_MAP:
-            return self.modal_groups[MODAL_GROUP_MAP[key]]
-
-        raise AttributeError("'{cls}' object has no attribute '{key}'".format(
-            cls=self.__class__.__name__,
-            key=key
-        ))
-
-    def __setattr__(self, key, value):
-        if key in MODAL_GROUP_MAP:
-            # Set/Clear modal group gcode
-            if value is None:
-                # clear mode group
-                self.modal_groups[MODAL_GROUP_MAP[key]] = None
-            else:
-                # set mode group explicitly
-                # (recommended to use self.set_mode(value) instead)
-                assert isinstance(value, GCode), "invalid value type: %r" % value
-                assert value.modal_group == MODAL_GROUP_MAP[key], \
-                    "cannot set '%s' mode as %r, wrong group" % (key, value)
-                self.modal_groups[MODAL_GROUP_MAP[key]] = value
-        else:
-            self.__dict__[key] = value
-
-    def __str__(self):
-        gcode_list = []
-        for modal_group in sorted(MODAL_GROUP_MAP.values()):
-            if self.modal_groups[modal_group]:
-                gcode_list.append(self.modal_groups[modal_group])
-        return ' '.join(str(g) for g in gcode_list)
-
-    def __repr__(self):
-        return "<{class_name}: {gcodes}>".format(
-            class_name=self.__class__.__name__, gcodes=str(self)
-        )