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modal groups
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Peter Boin
parent
e84901eccc
commit
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@ -2,14 +2,81 @@ from collections import defaultdict
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from .words import Word
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# Terminology of a "G-Code"
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# For the purposes of this library, so-called "G" codes do not necessarily
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# use the letter "G" in their word; other letters include M, F, S, and T
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# Why?
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# I've seen documentation thrown around using the term "gcode" interchangably
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# for any word that triggers an action, or mode change. The fact that the
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# entire language is called "gcode" obfuscates any other convention.
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# Considering it's much easier for me to call everything GCode, I'm taking
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# the lazy route, so sue me (but seriously, please don't sue me).
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#
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# Modality groups
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# Modal GCodes:
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# A machine's "mode" can be changed by any gcode with a modal_group.
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# This state is retained by the machine in the blocks to follow until
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# the "mode" is revoked, or changed.
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# A typical example of this is units:
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# G20
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# this will change the machine's "mode" to treat all positions as
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# millimeters; G20 does not have to be on every line, thus the machine's
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# "mode" is in millimeters for that, and every block after it until G21
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# is specified (changing units to inches).
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#
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# Modal Groups:
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# Only one mode of each modal group can be active. That is to say, a
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# modal g-code can only change the sate of a previously set mode if
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# they're in the same group.
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# For example:
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# G20 (mm), and G21 (inches) are in group 6
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# G1 (linear movement), and G2 (arc movement) are in group 1
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# A machine can't use mm and inches at the same time, just as it can't
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# move in a straight line, and move in an arc simultaneously.
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#
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# There are 15 groups:
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# ref: http://linuxcnc.org/docs/html/gcode/overview.html#_modal_groups
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#
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# Table 5. G-Code Modal Groups
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# MODAL GROUP MEANING MEMBER WORDS
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# Non-modal codes (Group 0) G4, G10 G28, G30, G53 G92, G92.1, G92.2, G92.3,
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# Motion (Group 1) G0, G1, G2, G3, G33, G38.x, G73, G76, G80, G81
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# G82, G83, G84, G85, G86, G87, G88,G89
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# Plane selection (Group 2) G17, G18, G19, G17.1, G18.1, G19.1
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# Distance Mode (Group 3) G90, G91
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# Arc IJK Distance Mode (Group 4) G90.1, G91.1
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# Feed Rate Mode (Group 5) G93, G94, G95
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# Units (Group 6) G20, G21
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# Cutter Diameter Compensation (Group 7) G40, G41, G42, G41.1, G42.1
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# Tool Length Offset (Group 8) G43, G43.1, G49
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# Canned Cycles Return Mode (Group 10) G98, G99
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# Coordinate System (Group 12) G54, G55, G56, G57, G58, G59,
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# G59.1, G59.2, G59.3
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# Control Mode (Group 13) G61, G61.1, G64
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# Spindle Speed Mode (Group 14) G96, G97
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# Lathe Diameter Mode (Group 15) G7, G8
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#
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# Table 6. M-Code Modal Groups
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# MODAL GROUP MEANING MEMBER WORDS
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# Stopping (Group 4) M0, M1, M2, M30, M60
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# Spindle (Group 7) M3, M4, M5
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# Coolant (Group 8) (M7 M8 can both be on), M9
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# Override Switches (Group 9) M48, M49
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# User Defined (Group 10) M100-M199
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#
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class GCode(object):
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# Defining Word
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word_key = None # Word instance to use in lookup
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word_matches = None # function (secondary)
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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_group = None
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def __init__(self, word, *params):
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assert isinstance(word, Word), "invalid gcode word %r" % code_word
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self.word = word
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@ -75,6 +142,7 @@ class GCode(object):
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class GCodeMotion(GCode):
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param_letters = set('XYZABCUVW')
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modal_group = 1
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class GCodeRapidMove(GCodeMotion):
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@ -106,6 +174,7 @@ class GCodeDwell(GCodeMotion):
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"""G4: Dwell"""
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param_letters = GCodeMotion.param_letters | set('P')
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word_key = Word('G', 4)
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modal_group = None # one of the few motion commands that isn't modal
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class GCodeCublcSpline(GCodeMotion):
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@ -168,7 +237,7 @@ class GCodeCancelCannedCycle(GCodeMotion):
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class GCodeCannedCycle(GCode):
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param_letters = set('XYZUVW')
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modal_group = 1
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class GCodeDrillingCycle(GCodeCannedCycle):
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"""G81: Drilling Cycle"""
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@ -226,31 +295,36 @@ class GCodeDistanceMode(GCode):
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class GCodeAbsoluteDistanceMode(GCodeDistanceMode):
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"""G90: Absolute Distance Mode"""
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word_key = Word('G', 90)
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modal_group = 3
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class GCodeIncrementalDistanceMode(GCodeDistanceMode):
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"""G91: Incremental Distance Mode"""
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word_key = Word('G', 91)
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modal_group = 3
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class GCodeAbsoluteArcDistanceMode(GCodeDistanceMode):
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"""G90.1: Absolute Distance Mode for Arc IJK Parameters"""
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word_key = Word('G', 90.1)
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modal_group = 4
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class GCodeIncrementalArcDistanceMode(GCodeDistanceMode):
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"""G91.1: Incremental Distance Mode for Arc IJK Parameters"""
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word_key = Word('G', 91.1)
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modal_group = 4
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class GCodeLatheDiameterMode(GCodeDistanceMode):
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"""G7: Lathe Diameter Mode"""
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word_key = Word('G', 7)
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modal_group = 15
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class GCodeLatheRadiusMode(GCodeDistanceMode):
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"""G8: Lathe Radius Mode"""
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word_key = Word('G', 8)
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modal_group = 15
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# ======================= Feed Rate Mode =======================
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@ -258,7 +332,7 @@ class GCodeLatheRadiusMode(GCodeDistanceMode):
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# G93, G94, G95 Feed Rate Mode
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class GCodeFeedRateMode(GCode):
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pass
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modal_group = 5
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class GCodeInverseTimeMode(GCodeFeedRateMode):
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@ -290,18 +364,20 @@ class GCodeStartSpindleCW(GCodeSpindle):
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"""M3: Start Spindle Clockwise"""
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param_letters = set('S')
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word_key = Word('M', 3)
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modal_group = 7
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class GCodeStartSpindleCCW(GCodeSpindle):
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"""M4: Start Spindle Counter-Clockwise"""
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param_letters = set('S')
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word_key = Word('M', 4)
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modal_group = 7
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class GCodeStopSpindle(GCodeSpindle):
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"""M5: Stop Spindle"""
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param_letters = set('S')
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word_key = Word('M', 5)
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modal_group = 7
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class GCodeOrientSpindle(GCodeSpindle):
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@ -313,12 +389,14 @@ class GCodeSpindleConstantSurfaceSpeedMode(GCodeSpindle):
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"""G96: Spindle Constant Surface Speed"""
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param_letters = set('DS')
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word_key = Word('G', 96)
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modal_group = 14
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class GCodeSpindleRPMMode(GCodeSpindle):
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"""G97: Spindle RPM Speed"""
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param_letters = set('D')
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word_key = Word('G', 97)
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modal_group = 14
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@ -327,7 +405,7 @@ class GCodeSpindleRPMMode(GCodeSpindle):
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# M7, M8, M9 Coolant Control
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class GCodeCoolant(GCode):
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pass
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modal_group = 8
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class GCodeCoolantMistOn(GCodeCoolant):
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@ -353,7 +431,7 @@ class GCodeCoolantOff(GCodeCoolant):
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# G49 Cancel Tool Length Compensation
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class GCodeToolLength(GCode):
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pass
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modal_group = 8
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class GCodeToolLengthOffset(GCodeToolLength):
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@ -385,7 +463,7 @@ class GCodeCancelToolLengthOffset(GCodeToolLength):
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# M60 Pallet Change Pause
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class GCodeProgramControl(GCode):
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pass
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modal_group = 4
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class GCodePauseProgram(GCodeProgramControl):
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@ -418,12 +496,14 @@ class GCodePalletChangePause(GCodeProgramControl):
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# G20, G21 Units
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class GCodeUnit(GCode):
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pass
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modal_group = 6
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class GCodeUseInches(GCodeUnit):
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"""G20: use inches for length units"""
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word_key = Word('G', 20)
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class GCodeUseMillimeters(GCodeUnit):
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"""G21: use millimeters for length units"""
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word_key = Word('G', 21)
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@ -435,7 +515,7 @@ class GCodeUseMillimeters(GCodeUnit):
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# G17 - G19.1 Plane Select
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class GCodePlaneSelect(GCode):
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pass
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modal_group = 2
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class GCodeSelectZYPlane(GCodePlaneSelect):
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@ -475,7 +555,7 @@ class GCodeSelectVWPlane(GCodePlaneSelect):
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# G41.1, G42.1 D L Dynamic Cutter Compensation
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class GCodeCutterRadiusComp(GCode):
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pass
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modal_group = 7
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class GCodeCutterRadiusCompOff(GCodeCutterRadiusComp):
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@ -513,7 +593,7 @@ class GCodeDynamicCutterCompRight(GCodeCutterRadiusComp):
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# G64 P Q Path Blending
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class GCodePathControlMode(GCode):
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pass
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modal_group = 13
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class GCodeExactPathMode(GCodePathControlMode):
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@ -537,7 +617,7 @@ class GCodePathBlendingMode(GCodePathControlMode):
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# G98 Canned Cycle Return Level
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class GCodeCannedReturnMode(GCode):
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pass
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modal_group = 10
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class GCodeCannedCycleReturnLevel(GCodeCannedReturnMode):
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@ -566,12 +646,21 @@ class GCodeFeedRate(GCodeOtherModal):
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@classmethod
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def word_matches(cls, w):
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return w.letter == 'F'
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# Modal Group n/a:
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# although this sets the machine's state, there are no other codes to
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# group with this one, so although it's modal, it has no group.
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#modal_group = n/a
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class GCodeSpindleSpeed(GCodeOtherModal):
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"""S: Set Spindle Speed"""
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@classmethod
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def word_matches(cls, w):
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return w.letter == 'S'
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# Modal Group n/a:
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# although this sets the machine's state, there are no other codes to
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# group with this one, so although it's modal, it has no group.
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#modal_group = n/a
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class GCodeSelectTool(GCodeOtherModal):
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@ -579,16 +668,22 @@ class GCodeSelectTool(GCodeOtherModal):
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@classmethod
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def word_matches(cls, w):
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return w.letter == 'T'
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# Modal Group n/a:
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# although this sets the machine's state, there are no other codes to
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# group with this one, so although it's modal, it has no group.
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#modal_group = n/a
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class GCodeSpeedAndFeedOverrideOn(GCodeOtherModal):
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"""M48: Speed and Feed Override Control On"""
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word_key = Word('M', 48)
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modal_group = 9
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class GCodeSpeedAndFeedOverrideOff(GCodeOtherModal):
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"""M49: Speed and Feed Override Control Off"""
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word_key = Word('M', 49)
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modal_group = 9
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class GCodeFeedOverride(GCodeOtherModal):
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@ -630,6 +725,7 @@ class GCodeSelectCoordinateSystem(GCodeOtherModal):
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@classmethod
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def word_matches(cls, w):
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return (w.letter == 'G') and (w.value in [54, 55, 56, 57, 58, 59, 59.1, 59.2, 59.3])
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modal_group = 12
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# ======================= Flow-control Codes =======================
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@ -1,7 +1,7 @@
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import sys
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import os
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import inspect
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import re
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import unittest
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# Units Under Test
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@ -22,6 +22,62 @@ class TestGCodeWordMapping(unittest.TestCase):
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"conflict with %s and %s" % (fn_class, key_class)
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)
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class TestGCodeModalGroups(unittest.TestCase):
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def test_modal_groups(self):
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# Modal groups taken (and slightly modified) from LinuxCNC documentation:
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# link: http://linuxcnc.org/docs/html/gcode/overview.html#_modal_groups
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table_rows = ''
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# Table 5. G-Code Modal Groups
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# MODAL GROUP MEANING MEMBER WORDS
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table_rows += '''
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Non-modal codes (Group 0) G4,G10,G28,G30,G53,G92,G92.1,G92.2,G92.3
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Motion (Group 1) G0,G1,G2,G3,G33,G38.2,G38.3,G38.4
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Motion (Group 1) G38.5,G73,G76,G80,G81,G82,G83,G85,G89
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Plane selection (Group 2) G17, G18, G19, G17.1, G18.1, G19.1
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Distance Mode (Group 3) G90, G91
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Arc IJK Distance Mode (Group 4) G90.1, G91.1
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Feed Rate Mode (Group 5) G93, G94, G95
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Units (Group 6) G20, G21
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Cutter Diameter Compensation (Group 7) G40, G41, G42, G41.1, G42.1
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Tool Length Offset (Group 8) G43, G43.1, G49
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Canned Cycles Return Mode (Group 10) G98
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Coordinate System (Group 12) G54,G55,G56,G57,G58,G59,G59.1,G59.2,G59.3
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Control Mode (Group 13) G61, G61.1, G64
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Spindle Speed Mode (Group 14) G96, G97
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Lathe Diameter Mode (Group 15) G7,G8
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'''
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# Table 6. M-Code Modal Groups
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# MODAL GROUP MEANING MEMBER WORDS
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table_rows += '''
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Stopping (Group 4) M0, M1, M2, M30, M60
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Spindle (Group 7) M3, M4, M5
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Coolant (Group 8) M7, M8, M9
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Override Switches (Group 9) M48, M49
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'''
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for row in table_rows.split('\n'):
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match = re.search(r'^\s*(?P<title>.*)\s*\(Group (?P<group>\d+)\)\s*(?P<words>.*)$', row, re.I)
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if match:
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for word_str in re.split(r'\s*,\s*', match.group('words')):
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word = list(words.iter_words(word_str))[0]
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gcode_class = gcodes.word_gcode_class(word)
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# GCode class found for each word in the table
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self.assertIsNotNone(gcode_class)
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# GCode's modal group equals that defined in the table
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expected_group = int(match.group('group'))
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if expected_group == 0:
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self.assertIsNone(
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gcode_class.modal_group,
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"%s modal_group: %s is not None" % (gcode_class, gcode_class.modal_group)
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)
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else:
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self.assertEqual(
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gcode_class.modal_group, expected_group,
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"%s != %s (%r)" % (gcode_class.modal_group, expected_group, word)
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)
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class TestWordsToGCodes(unittest.TestCase):
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def test_stuff(self): # FIXME: function name
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line = 'G1 X82.6892 Y-38.6339 F1500'
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