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updated readme
made S, F, and T gcodes instantiatable
This commit is contained in:
Peter Boin
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README.rst
264
README.rst
@ -1,86 +1,232 @@
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=======
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pygcode
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=======
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GCODE Parser for Python
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Currently in development, this is planned to be a pythonic interpreter
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and encoder for g-code. I'll be learning along the way, but the plan is
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to follow the lead of `GRBL <https://github.com/gnea/grbl>`__.
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Currently in development, ``pygcode`` is a low-level GCode interpreter
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for python.
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Installation
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------------
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============
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Using `PyPi <https://pypi.python.org/pypi/pydemia>`__:
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``pip install pygcode``
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FIXME: well, that's the plan... give me some time to get it going
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though.
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Usage
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-----
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=====
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Just brainstorming here...
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Writing GCode
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-------------
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Writing gcode from python object instances to text
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::
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import pygcode
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import math
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import euclid
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>>> from pygcode import *
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>>> gcodes = [
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... GCodeRapidMove(Z=5),
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... GCodeStartSpindleCW(),
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... GCodeRapidMove(X=10, Y=20),
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... GCodeFeedRate(200),
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... GCodeLinearMove(Z=-1.5),
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... GCodeRapidMove(Z=5),
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... GCodeStopSpindle(),
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... ]
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>>> print('\n'.join(str(g) for g in gcodes))
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gfile_in = pygcode.parse('part1.gcode') #
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gfile_out = pygcode.GCodeFile('part2.gcode')
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total_travel = 0
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total_time = 0
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machine = pygcode.Machine()
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for line in gfile_in.iterlines():
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block = line.block
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if block is None:
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continue
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# validation
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if isinstance(block, pygcode.GCodeArc):
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error = block.r2 - block.r1
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if error > 0.0005:
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raise pygcode.GCodeValidationError("arc points are not on the same circle")
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#block.set_precision(0.0005, method=pygcode.GCodeArc.EFFECT_ENDPOINT)
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block.set_precision(0.0005, method=pygcode.GCodeArc.EFFECT_RADIUS)
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# random metrics
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travel_vector = block.position - machine.state.position # euclid.Vector3 instance
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distance = travel_vector.magnitude()
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travel = block.travel_distance(position=machine.state.position) # eg: distance != travel for G02 & G03
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total_travel += travel
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#total_time += block.time(feed_rate=machine.state.feed_rate) # doesn't consider the feedrate being changed in this block
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total_time += block.time(state=machine.state)
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# rotate : entire file 90deg CCW
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block.rotate(euclid.Quaternion.new_rotate_axis(
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math.pi / 2, euclid.Vector3(0, 0, 1)
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))
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# translate : entire file x += 1, y += 2 mm (after rotation)
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block.translate(euclid.Vector3(1, 2, 0), unit=pygcode.UNIT_MM)
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G00 Z5
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M03
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G00 X10 Y20
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F200
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G01 Z-1.5
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G00 Z5
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M05
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To plot along a lines of vectors, you could write...
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# TODO: then do something like write it to another file
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gfile_out.write(block)
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::
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>>> from pygcode import *
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>>> from euclid import Vector3
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>>> vectors = [
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... Vector3(0, 0, 0),
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... Vector3(10, 0, 0),
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... Vector3(10, 20, 0),
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... Vector3(10, 20, 3),
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... Vector3(0, 20, 3),
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... Vector3(0, 0, 3),
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... Vector3(0, 0, 0)
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... ]
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>>> to_coords = lambda v: {'X': v.x, 'Y': v.y, 'Z': v.z}
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>>> for v in vectors:
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... print("%s" % GCodeLinearMove(**to_coords(v)))
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G01 X0 Y0 Z0
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G01 X10 Y0 Z0
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G01 X10 Y20 Z0
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G01 X10 Y20 Z3
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G01 X0 Y20 Z3
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G01 X0 Y0 Z3
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G01 X0 Y0 Z0
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Reading / Interpreting GCode
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----------------------------
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To read gcode from a file, utilise the ``Line`` class.
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Each ``Line`` instance contains a ``Block`` and an optional ``Comment``.
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The ``Block`` contains a list of gcodes you're after.
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::
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from pygcode import Line
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with open('part.gcode', 'r') as fh:
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for line_text in fh.readlines():
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line = Line(line_text)
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print(line) # will print the line (with cosmetic changes)
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line.block.gcodes # is your list of gcodes
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line.block.modal_params # are all parameters not assigned to a gcode, assumed to be motion modal parameters
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if line.comment:
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line.comment.text # your comment text
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To elaborate, here are some line examples
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::
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>>> from pygcode import Line
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>>> line = Line('G01 x1 y2 f100 s1000 ; blah')
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>>> print(line)
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G01 X1 Y2 F100 S1000 ; blah
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>>> print(line.block)
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G01 X1 Y2 F100 S1000
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>>> print(line.comment)
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; blah
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>>> line = Line('G0 x1 y2 (foo) f100 (bar) s1000')
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>>> print(line)
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G00 X1 Y2 F100 S1000 (foo. bar)
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>>> print(line.comment)
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(foo. bar)
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Interpreting what a line of gcode does depends on the machine it's running on,
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and also that machine's state (or 'mode')
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The simple line of a rapid move to ``x=10, y=10`` may be ``G00 X10 Y10``.
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However, if the machine in question is in "Incremental Motion" mode ``G91`` then
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the machine will only end up at ``x=10, y=10`` if it started at ``x=0, y=0``
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So, GCode interpretation is done via a virtual machine:
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::
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>>> from pygcode import Machine, GCodeRapidMove
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>>> m = Machine()
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>>> m.pos
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<Position: X0 Y0 Z0>
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>>> g = GCodeRapidMove(X=10, Y=20)
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>>> m.process_gcodes(g)
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>>> m.pos
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<Position: X10 Y20 Z0>
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>>> m.process_gcodes(g)
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>>> m.pos
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<Position: X10 Y20 Z0> # same position; machine in absolute mode
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>>> m.mode.distance
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<GCodeAbsoluteDistanceMode: G90> # see
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>>> m.process_gcodes(GCodeIncrementalDistanceMode())
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>>> m.process_gcodes(g) # same gcode as above
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>>> m.pos
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<Position: X20 Y40 Z0>
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all valid ``m.mode`` attributes can be found with ``from pygcode.gcodes import MODAL_GROUP_MAP; MODAL_GROUP_MAP.keys()``
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Also note that the order codes are interpreted is important.
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For example, the following code is WRONG
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::
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from pygcode import Machine, Line
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m = Machine()
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line = Line('G0 x10 y10 G91')
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m.process_gcodes(*line.block.gcodes) # WRONG!
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This will process the movement to ``x=10, y=10``, and **then** it will change the
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distance mode to *Incremental*... there are 2 ways to do this correctly.
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- ``m.process_gcodes(*sorted(line.block.gcodes))``, or simply
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- ``m.process_block(line.block)``
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sorting a list of gcodes will sort them in execution order (as specified by
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`LinuxCNC's order of execution <http://linuxcnc.org/docs/html/gcode/overview.html#_g_code_order_of_execution>`__).
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``process_block`` does this automatically.
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If you need to process & change one type of gcode (usually a movement),
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you must split a list of gcodes into those executed before, and after the one
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in question.
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::
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from pygcode import GCodeRapidMove, GCodeLinearMove
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from pygcode import Machine, Line, split_gcodes
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m = Machine()
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line = Line('M0 G0 x10 y10 G91')
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(befores, (g,), afters) = split_gcodes(line.block.gcodes, (GCodeRapidMove, GCodeLinearMove))
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m.process_gcodes(*sorted(befores))
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if g.X is not None:
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g.X += 100 # shift linear movements (rapid or otherwise)
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m.process_gcodes(g)
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m.process_gcodes(*sorted(afters))
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For a more practical use of machines & interpreting gcode, have a look at
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`pygcode-normalize.py <https://github.com/fragmuffin/pygcode/blob/master/scripts/pygcode-normalize.py>`__
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At the time of writing this, that script converts arcs to linear codes, and
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expands drilling cycles to basic movements (so my
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`GRBL <https://github.com/gnea/grbl>`__ machine can understand them)
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Development
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===========
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This library came from my own needs to interpret and convert erroneous
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arcs to linear segments, and to expand canned drilling cycles, but also
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as a means to *learn* GCode.
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As such there is no direct plan for further development, however I'm
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interested in what you'd like to use it for, and cater for that.
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Generally, in terms of what to support, I'm following the lead of:
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- `GRBL <https://github.com/gnea/grbl>`__ and
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- `LinuxCNC <http://linuxcnc.org/>`__
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More support will come with increased interest.
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So that is... if you don't like what it does, or how it's documented, make some
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noise in the `issue section <https://github.com/fragmuffin/pygcode/issues>`__.
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if you get in early, you may get some free labour out of me ;)
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gfile_in.close()
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gfile_out.close()
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Supported G-Codes
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-----------------
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GCode support is planned to follow that of
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`GRBL <https://github.com/gnea/grbl>`__ which follows
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`LinuxCNC <http://linuxcnc.org>`__ (list of gcodes documented
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`here <http://linuxcnc.org/docs/html/gcode.html>`__).
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All GCodes supported by `LinuxCNC <http://linuxcnc.org>`__ can be written, and
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parsed by ``pygcode``.
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But anything pre v1.0 will be a sub-set, focusing on the issues I'm
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having... I'm selfish that way.
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Few GCodes are accurately interpreted by a virtual CNC ``Machine`` instance.
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Supported movements are currently;
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TBD: list of gcodes (also as a TODO list)
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- linear movements
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- arc movements
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- canned drilling cycles
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@ -1,6 +1,7 @@
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import sys
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from collections import defaultdict
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from copy import copy
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import six
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from .utils import Vector3, Quaternion, quat2coord_system
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from .words import Word, text2words
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@ -141,6 +142,8 @@ class GCode(object):
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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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default_word = None
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word_letter = 'G'
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word_value_configurable = False # if set, word value can be the first parameter
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# Parameters associated to this gcode
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param_letters = set()
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@ -161,6 +164,8 @@ class GCode(object):
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param_words = words[1:]
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if gcode_word_list:
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gcode_word = gcode_word_list[0]
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if self.word_value_configurable and isinstance(gcode_word, six.integer_types + (float,)):
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gcode_word = Word(self.word_letter, gcode_word) # cast to Word()
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else:
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gcode_word = self._default_word()
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assert isinstance(gcode_word, Word), "invalid gcode word %r" % gcode_word
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@ -610,6 +615,7 @@ class GCodeUnitsPerRevolution(GCodeFeedRateMode):
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# G96, G97 S D Spindle Control Mode
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class GCodeSpindle(GCode):
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word_letter = 'M'
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exec_order = 90
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@ -642,6 +648,7 @@ class GCodeOrientSpindle(GCodeSpindle):
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class GCodeSpindleSpeedMode(GCodeSpindle):
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word_letter = 'G'
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modal_group = MODAL_GROUP_MAP['spindle_speed_mode']
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@ -663,6 +670,7 @@ class GCodeSpindleRPMMode(GCodeSpindleSpeedMode):
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# M7, M8, M9 Coolant Control
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class GCodeCoolant(GCode):
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word_letter = 'M'
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modal_group = MODAL_GROUP_MAP['coolant']
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exec_order = 110
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@ -723,6 +731,7 @@ class GCodeCancelToolLengthOffset(GCodeToolLength):
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# M60 Pallet Change Pause
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class GCodeProgramControl(GCode):
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word_letter = 'M'
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modal_group = MODAL_GROUP_MAP['stopping']
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exec_order = 250
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@ -950,6 +959,8 @@ class GCodeOtherModal(GCode):
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class GCodeFeedRate(GCodeOtherModal):
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"""F: Set Feed Rate"""
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word_letter = 'F'
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word_value_configurable = True
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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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@ -960,6 +971,8 @@ class GCodeFeedRate(GCodeOtherModal):
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class GCodeSpindleSpeed(GCodeOtherModal):
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"""S: Set Spindle Speed"""
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word_letter = 'S'
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word_value_configurable = True
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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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@ -971,6 +984,8 @@ class GCodeSpindleSpeed(GCodeOtherModal):
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class GCodeSelectTool(GCodeOtherModal):
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"""T: Select Tool"""
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word_letter = 'T'
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word_value_configurable = True
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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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@ -982,6 +997,7 @@ class GCodeSelectTool(GCodeOtherModal):
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class GCodeSpeedAndFeedOverrideOn(GCodeOtherModal):
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"""M48: Speed and Feed Override Control On"""
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word_letter = 'M'
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word_key = Word('M', 48)
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modal_group = MODAL_GROUP_MAP['override_switches']
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exec_order = 120
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@ -989,6 +1005,7 @@ class GCodeSpeedAndFeedOverrideOn(GCodeOtherModal):
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class GCodeSpeedAndFeedOverrideOff(GCodeOtherModal):
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"""M49: Speed and Feed Override Control Off"""
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word_letter = 'M'
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word_key = Word('M', 49)
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modal_group = MODAL_GROUP_MAP['override_switches']
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exec_order = 120
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@ -996,6 +1013,7 @@ class GCodeSpeedAndFeedOverrideOff(GCodeOtherModal):
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class GCodeFeedOverride(GCodeOtherModal):
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"""M50: Feed Override Control"""
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word_letter = 'M'
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param_letters = set('P')
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word_key = Word('M', 50)
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exec_order = 120
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@ -1003,6 +1021,7 @@ class GCodeFeedOverride(GCodeOtherModal):
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class GCodeSpindleSpeedOverride(GCodeOtherModal):
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"""M51: Spindle Speed Override Control"""
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word_letter = 'M'
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param_letters = set('P')
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word_key = Word('M', 51)
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exec_order = 120
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@ -1010,6 +1029,7 @@ class GCodeSpindleSpeedOverride(GCodeOtherModal):
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class GCodeAdaptiveFeed(GCodeOtherModal):
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"""M52: Adaptive Feed Control"""
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word_letter = 'M'
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param_letters = set('P')
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word_key = Word('M', 52)
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exec_order = 120
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@ -1017,6 +1037,7 @@ class GCodeAdaptiveFeed(GCodeOtherModal):
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class GCodeFeedStop(GCodeOtherModal):
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"""M53: Feed Stop Control"""
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word_letter = 'M'
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param_letters = set('P')
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word_key = Word('M', 53)
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exec_order = 120
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@ -1105,6 +1126,7 @@ class GCodeSelectCoordinateSystem9(GCodeSelectCoordinateSystem):
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# M68 T Analog Output, Immediate
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class GCodeIO(GCode):
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word_letter = 'M'
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exec_order = 70
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@ -1179,6 +1201,7 @@ class GCodeToolChange(GCodeNonModal):
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"""M6: Tool Change"""
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param_letters = set('T')
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word_key = Word('M', 6)
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word_letter = 'M'
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exec_order = 80
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@ -1186,6 +1209,7 @@ class GCodeToolSetCurrent(GCodeNonModal):
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"""M61: Set Current Tool"""
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param_letters = set('Q')
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word_key = Word('M', 61)
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word_letter = 'M'
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exec_order = 80
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@ -1245,6 +1269,7 @@ class GCodeRestoreCoordSystemOffset(GCodeNonModal):
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class GCodeUserDefined(GCodeNonModal):
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"""M101-M199: User Defined Commands"""
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word_letter = 'M'
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# To create user g-codes, inherit from this class
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param_letters = set('PQ')
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#@classmethod
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