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https://git.mirrors.martin98.com/https://github.com/petaflot/pygcode
synced 2025-08-15 12:25:54 +08:00
moved machinestate contents back to machine.py
This commit is contained in:
Peter Boin
parent
c62ee74b78
commit
3674f9d6aa
@ -1,4 +1,5 @@
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from collections import defaultdict
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from copy import copy
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from .words import Word
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@ -140,8 +141,9 @@ class GCode(object):
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# Parameters associated to this gcode
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param_letters = set()
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# Modal Group
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# Modal stuff
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modal_group = None
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modal_param_letters = set() # by default: no parameters are retained in modal state
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# Execution Order
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exec_order = 999 # if not otherwise specified, run last
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@ -208,15 +210,12 @@ class GCode(object):
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def description(self):
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return self.__doc__
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@property
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def mode(self):
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"""
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Mode word for modal GCodes
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:return: Word to save machine's state, or None if GCode is not modal
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"""
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if self.modal_group is None:
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return None
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return self.word
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def modal_copy(self):
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"""Copy of GCode instance containing only parameters listed in modal_param_letters"""
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return self.__class__(self.word, *[
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w for (l, w) in self.params.items()
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if l in self.modal_param_letters
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])
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# ======================= Motion =======================
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@ -4,7 +4,98 @@ from collections import defaultdict
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from .gcodes import MODAL_GROUP_MAP, GCode
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from .line import Line
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from .machinestate import MachineState
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class State(object):
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"""State of a Machine"""
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# State is very forgiving:
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# Anything possible in a machine's state may be changed & fetched.
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# For example: x, y, z, a, b, c may all be set & requested.
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# However, the machine for which this state is stored probably doesn't
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# have all possible 6 axes.
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# It is also possible to set an axis to an impossibly large distance.
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# It is the responsibility of the Machine using this class to be
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# discerning in these respects.
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def __init__(self):
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self.axes = defaultdict(lambda: 0.0) # aka: "machine coordinates"
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self.work_offset = defaultdict(lambda: 0.0)
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# TODO: how to manage work offsets? (probs not like the above)
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# read up on:
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# - G92: coordinate system offset
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# - G54-G59: select coordinate system (offsets from machine coordinates set by G10 L2)
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# TODO: Move this class into MachineState
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class MachineState(object):
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"""Machine's state, and mode"""
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# Default Mode
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default_mode = '''
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G17 (plane_selection: X/Y plane)
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G90 (distance: absolute position. ie: not "turtle" mode)
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G91.1 (arc_ijk_distance: IJK sets arc center vertex relative to current position)
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G94 (feed_rate_mode: feed-rate defined in units/min)
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G21 (units: mm)
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G40 (cutter_diameter_comp: no compensation)
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G49 (tool_length_offset: no offset)
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G61 (control_mode: exact path mode)
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G97 (spindle_speed_mode: RPM Mode)
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M0 (stopping: program paused)
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M5 (spindle: off)
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M9 (coolant: off)
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F100 (feed_rate: 100 mm/min)
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S1000 (tool: 1000 rpm, when it's switched on)
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'''
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# Mode is defined by gcodes set by processed blocks:
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# see modal_group in gcode.py module for details
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def __init__(self):
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self.modal_groups = defaultdict(lambda: None)
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# Initialize
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self.set_mode(*Line(self.default_mode).block.gcodes)
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def set_mode(self, *gcode_list):
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for g in sorted(gcode_list): # sorted by execution order
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if g.modal_group is not None:
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self.modal_groups[g.modal_group] = g.modal_copy()
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def __getattr__(self, key):
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if key in MODAL_GROUP_MAP:
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return self.modal_groups[MODAL_GROUP_MAP[key]]
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raise AttributeError("'{cls}' object has no attribute '{key}'".format(
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cls=self.__class__.__name__,
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key=key
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))
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def __setattr__(self, key, value):
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if key in MODAL_GROUP_MAP:
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# Set/Clear modal group gcode
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if value is None:
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# clear mode group
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self.modal_groups[MODAL_GROUP_MAP[key]] = None
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else:
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# set mode group explicitly
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# (recommended to use self.set_mode(value) instead)
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assert isinstance(value, GCode), "invalid value type: %r" % value
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assert value.modal_group == MODAL_GROUP_MAP[key], \
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"cannot set '%s' mode as %r, wrong group" % (key, value)
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self.modal_groups[MODAL_GROUP_MAP[key]] = value.modal_copy()
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else:
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self.__dict__[key] = value
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def __str__(self):
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gcode_list = []
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for modal_group in sorted(MODAL_GROUP_MAP.values()):
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if self.modal_groups[modal_group]:
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gcode_list.append(self.modal_groups[modal_group])
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return ' '.join(str(g) for g in gcode_list)
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def __repr__(self):
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return "<{class_name}: {gcodes}>".format(
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class_name=self.__class__.__name__, gcodes=str(self)
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)
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class Machine(object):
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@ -18,7 +109,15 @@ class Machine(object):
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:param modal_params: list of Word instances to be applied to current movement mode
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"""
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modal_params = kwargs.get('modal_params', [])
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#process_gcodes =
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for gcode in sorted(gcode_list):
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self.state.set_mode(gcode) # if gcode is not modal, it's ignored
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gcode.process(self.state)
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# TODO: gcode instance to change machine's state
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# Questions to drive design:
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# - how much time did the command take?
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# - what was the tool's distance / displacement
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# - did the tool travel outside machine boundaries?
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@ -1,97 +0,0 @@
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from .gcodes import GCode
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from .line import Line
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class State(object):
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"""State of a Machine"""
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# State is very forgiving:
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# Anything possible in a machine's state may be changed & fetched.
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# For example: x, y, z, a, b, c may all be set & requested.
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# However, the machine for which this state is stored probably doesn't
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# have all possible 6 axes.
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# It is also possible to set an axis to an impossibly large distance.
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# It is the responsibility of the Machine using this class to be
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# discerning in these respects.
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def __init__(self):
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self.axes = defaultdict(lambda: 0.0) # aka: "machine coordinates"
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self.work_offset = defaultdict(lambda: 0.0)
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# TODO: how to manage work offsets? (probs not like the above)
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# read up on:
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# - G92: coordinate system offset
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# - G54-G59: select coordinate system (offsets from machine coordinates set by G10 L2)
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# TODO: Move this class into MachineState
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class MachineState(object):
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"""Machine's state, and mode"""
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# Mode is defined by gcodes set by processed blocks:
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# see modal_group in gcode.py module for details
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def __init__(self):
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self.modal_groups = defaultdict(lambda: None)
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# populate with all groups
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for modal_group in MODAL_GROUP_MAP.values():
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self.modal_groups[modal_group] = None
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# Default mode:
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self.set_mode(*Line('''
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G17 (plane_selection: X/Y plane)
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G90 (distance: absolute position. ie: not "turtle" mode)
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G91.1 (arc_ijk_distance: IJK sets arc center vertex relative to current position)
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G94 (feed_rate_mode: feed-rate defined in units/min)
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G21 (units: mm)
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G40 (cutter_diameter_comp: no compensation)
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G49 (tool_length_offset: no offset)
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G61 (control_mode: exact path mode)
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G97 (spindle_speed_mode: RPM Mode)
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M0 (stopping: program paused)
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M5 (spindle: off)
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M9 (coolant: off)
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F100 (feed_rate: 100 mm/min)
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S1000 (tool: 1000 rpm, when it's switched on)
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''').block.gcodes) # note: although this is not a single line
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# '\n' is just treated like any other whitespace,
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# so it behaves like a single line.
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def set_mode(self, *gcode_list):
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for g in sorted(gcode_list): # sorted by execution order
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if g.modal_group is not None:
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self.modal_groups[g.modal_group] = g
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def __getattr__(self, key):
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if key in MODAL_GROUP_MAP:
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return self.modal_groups[MODAL_GROUP_MAP[key]]
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raise AttributeError("'{cls}' object has no attribute '{key}'".format(
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cls=self.__class__.__name__,
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key=key
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))
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def __setattr__(self, key, value):
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if key in MODAL_GROUP_MAP:
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# Set/Clear modal group gcode
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if value is None:
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# clear mode group
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self.modal_groups[MODAL_GROUP_MAP[key]] = None
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else:
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# set mode group explicitly
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# (recommended to use self.set_mode(value) instead)
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assert isinstance(value, GCode), "invalid value type: %r" % value
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assert value.modal_group == MODAL_GROUP_MAP[key], \
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"cannot set '%s' mode as %r, wrong group" % (key, value)
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self.modal_groups[MODAL_GROUP_MAP[key]] = value
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else:
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self.__dict__[key] = value
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def __str__(self):
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gcode_list = []
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for modal_group in sorted(MODAL_GROUP_MAP.values()):
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if self.modal_groups[modal_group]:
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gcode_list.append(self.modal_groups[modal_group])
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return ' '.join(str(g) for g in gcode_list)
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def __repr__(self):
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return "<{class_name}: {gcodes}>".format(
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class_name=self.__class__.__name__, gcodes=str(self)
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)
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