added pygcode-norm cleaning and finalizing

scripts/pygcode-norm

@@ -18,12 +18,14 @@ for pygcode_lib_type in ('installed_lib', 'relative_lib'):
         from pygcode import Machine, Mode, Line
         from pygcode import GCodeArcMove, GCodeArcMoveCW, GCodeArcMoveCCW
         from pygcode import GCodeCannedCycle
+        from pygcode import GCodeRapidMove, GCodeStopSpindle, GCodeAbsoluteDistanceMode
         from pygcode import split_gcodes
         from pygcode import Comment
         from pygcode.transform import linearize_arc, simplify_canned_cycle
         from pygcode.transform import ArcLinearizeInside, ArcLinearizeOutside, ArcLinearizeMid
         from pygcode.gcodes import _subclasses
         from pygcode import utils
+        from pygcode.exceptions import MachineInvalidState
 
     except ImportError:
         import sys, os, inspect
@@ -65,7 +67,9 @@ def arc_lin_method_type(value):
 
 def word_list_type(value):
     """
-    :return: [Word('G73'), Word('G89'), ... ]
+    Convert csv string list into Word instances.
+    >>> word_list_type("G73,G89") == set([Word('G73'), Word('G89')])
+    :return: set of Word instances
     """
     canned_code_words = set()
     for word_str in re.split(r'\s*,\s*', value):
@@ -157,6 +161,34 @@ group.add_argument(
     help="List of canned gcodes to expand, (default is '%s')" % DEFAULT_CANNED_CODES,
 )
 
+# Finalize Code
+group = parser.add_argument_group(
+    "Finalise File",
+    "standardize what's done at the end of a gcode program."
+)
+group.add_argument(
+    '--zero_xy', '-zxy', dest="zero_xy",
+    action='store_const', const=True, default=False,
+    help="On completion, move straight up to rapid_safety_height, "
+         "then across to X0 Y0.",
+)
+group.add_argument(
+    '--zero_z', '-zz', dest="zero_z",
+    action='store_const', const=True, default=False,
+    help="On completion, move down to Z0 (done after zero_xy, if set)",
+)
+group.add_argument(
+    '--rapid_safety_height', '-rsh', dest="rapid_safety_height",
+    type=float, default=None,
+    help="Z value to move to before traversing workpeice (if not set, max "
+         "value will be attempted)",
+)
+group.add_argument(
+    '--spindle_off', '-so', dest="spindle_off",
+    action='store_const', const=True, default=False,
+    help="On completion, turn spindle off",
+)
+
 # Removing non-functional content
 group = parser.add_argument_group(
     "Removing Content",
@@ -183,7 +215,11 @@ group.add_argument(
     help="remove gcode (and it's parameters) with words in the given list "
          "(eg: M6,G43) (note: only works for modal params with --full)",
 )
-
+group.add_argument(
+    '--rm_invalid_modal', '-rmim', dest='rm_invalid_modal',
+    action='store_const', const=True, default=False,
+    help="simply remove everything that isn't understood... not the safest strategy",
+)
 
 # --- Parse Arguments
 args = parser.parse_args()
@@ -195,6 +231,7 @@ class MyMode(Mode):
 
 class MyMachine(Machine):
     MODE_CLASS = MyMode
+    ignore_invalid_modal = args.rm_invalid_modal
 
 machine = MyMachine()
 
@@ -276,6 +313,9 @@ def split_and_process(gcode_list, gcode_class, comment):
 for line_str in args.infile.readlines():
     line = Line(line_str)
 
+    if args.rm_invalid_modal:
+        machine.clean_block(line.block)
+
     # Effective G-Codes:
     #   fills in missing motion modal gcodes (using machine's current motion mode).
     effective_gcodes = machine.block_modal_gcodes(line.block)
@@ -315,3 +355,23 @@ for line_str in args.infile.readlines():
         else:
             write(line.block.gcodes, modal_params=line.block.modal_params, comment=line.comment, macro=line.macro)
         machine.process_block(line.block)
+
+# Finalizing Motion & Spindle
+if any([args.spindle_off, args.zero_xy, args.zero_z]):
+    write([], comment=Comment("pygcode-norm: finalizing"))
+if any([args.zero_xy, args.zero_z]) and not(isinstance(machine.mode.distance, GCodeAbsoluteDistanceMode)):
+    write([GCodeAbsoluteDistanceMode()])
+if args.spindle_off:
+    write([GCodeStopSpindle()], comment=Comment("spindle off"))
+
+if args.zero_xy:
+    rapid_safety_height = args.rapid_safety_height
+    if rapid_safety_height is None:
+        rapid_safety_height = machine.abs2work(machine.abs_range_max).Z
+
+if args.zero_xy:
+    write([GCodeRapidMove(Z=rapid_safety_height)], comment=Comment("move to safe height"))
+    write([GCodeRapidMove(X=0, Y=0)], comment=Comment("move to planar origin"))
+
+if args.zero_z:
+    write([GCodeRapidMove(Z=0)], comment=Comment("move to zero height"))

src/pygcode/__init__.py

@@ -6,7 +6,7 @@
 #   1.x                 - Development Status :: 5 - Production/Stable
 #   <any above>.y       - developments on that version (pre-release)
 #   <any above>*.dev*   - development release (intended purely to test deployment)
-__version__ = "0.2.0"
+__version__ = "0.2.1"
 
 __title__ = "pygcode"
 __description__ = "Basic g-code parser, interpreter, and encoder library."
@@ -69,6 +69,7 @@ __all__ = [
     'GCodeCutterCompRight',
     'GCodeCutterRadiusComp',
     'GCodeCutterRadiusCompOff',
+    'GCodeDefinition',
     'GCodeDigitalOutput',
     'GCodeDigitalOutputOff',
     'GCodeDigitalOutputOffSyncd',
@@ -98,6 +99,7 @@ __all__ = [
     'GCodeInverseTimeMode',
     'GCodeLatheDiameterMode',
     'GCodeLatheRadiusMode',
+    'GCodeLineNumber',
     'GCodeLinearMove',
     'GCodeMotion',
     'GCodeMoveInMachineCoords',
@@ -113,6 +115,7 @@ __all__ = [
     'GCodePauseProgramOptional',
     'GCodePlaneSelect',
     'GCodeProgramControl',
+    'GCodeProgramName',
     'GCodeQuadraticSpline',
     'GCodeRapidMove',
     'GCodeResetCoordSystemOffset',
@@ -190,7 +193,6 @@ from .words import (
 # GCode
 from .gcodes import (
     words2gcodes, text2gcodes, split_gcodes,
-
     # $ python -c "from pygcode.gcodes import _gcode_class_infostr as x; print(x(prefix='    # '))"
     #       - GCode:
     #         - GCodeCannedCycle:
@@ -214,6 +216,9 @@ from .gcodes import (
     # G40       - GCodeCutterRadiusCompOff: G40: Cutter Radius Compensation Off
     # G41.1     - GCodeDynamicCutterCompLeft: G41.1: Dynamic Cutter Radius Compensation (left)
     # G42.1     - GCodeDynamicCutterCompRight: G42.1: Dynamic Cutter Radius Compensation (right)
+    #         - GCodeDefinition:
+    #           - GCodeLineNumber: N: Line Number
+    #           - GCodeProgramName: O: Program Name
     #         - GCodeDistanceMode:
     # G90.1     - GCodeAbsoluteArcDistanceMode: G90.1: Absolute Distance Mode for Arc IJK Parameters
     # G90       - GCodeAbsoluteDistanceMode: G90: Absolute Distance Mode
@@ -346,6 +351,7 @@ from .gcodes import (
     GCodeCutterCompRight,
     GCodeCutterRadiusComp,
     GCodeCutterRadiusCompOff,
+    GCodeDefinition,
     GCodeDigitalOutput,
     GCodeDigitalOutputOff,
     GCodeDigitalOutputOffSyncd,
@@ -375,6 +381,7 @@ from .gcodes import (
     GCodeInverseTimeMode,
     GCodeLatheDiameterMode,
     GCodeLatheRadiusMode,
+    GCodeLineNumber,
     GCodeLinearMove,
     GCodeMotion,
     GCodeMoveInMachineCoords,
@@ -390,6 +397,7 @@ from .gcodes import (
     GCodePauseProgramOptional,
     GCodePlaneSelect,
     GCodeProgramControl,
+    GCodeProgramName,
     GCodeQuadraticSpline,
     GCodeRapidMove,
     GCodeResetCoordSystemOffset,

src/pygcode/machine.py

@@ -5,6 +5,7 @@ from collections import defaultdict
 from .gcodes import (
     MODAL_GROUP_MAP, GCode,
     # Modal GCodes
+    GCodeMotion,
     GCodeIncrementalDistanceMode,
     GCodeUseInches, GCodeUseMillimeters,
     # Utilities
@@ -369,6 +370,7 @@ class Machine(object):
     STATE_CLASS = State
 
     axes = set('XYZ')
+    ignore_invalid_modal = False
 
     def __init__(self):
         self.mode = self.MODE_CLASS()
@@ -407,12 +409,15 @@ class Machine(object):
         # TODO: convert coord systems between inches/mm, G20/G21 respectively
 
     def modal_gcode(self, modal_params):
+        """
+        :param ignore_unassigned: if truthy, unassigned parameters will be ignored
+        """
 
         if not modal_params:
             return None
 
         if self.mode.motion is None:
-            unasigned_words = modal_params
+            (modal_gcodes, unasigned_words) = ([], modal_params)
             # forces exception to be raised in next step
         else:
             params = copy(self.mode.motion.params)  # dict
@@ -421,9 +426,11 @@ class Machine(object):
                 [self.mode.motion.word] + list(params.values())
             )
 
-        if unasigned_words:
+        if unasigned_words and (not self.ignore_invalid_modal):
             # Can't process with unknown words on the same line...
-            #   raising: MachineInvalidState
+            # 2 choices:
+            #   - raise MachineInvalidState
+            #   - or remove unassigned parameters from line
             plausable_codes = [w for w in unasigned_words if w.letter in set('GM')]
             if plausable_codes:
                 # words in list are probably valid, but unsupported, G-Codes
@@ -456,6 +463,25 @@ class Machine(object):
             gcodes.append(modal_gcode)
         return sorted(gcodes)
 
+    def clean_block(self, block):
+        """
+        Remove invalid modal parameters from given block
+        :param block: Block instance to clean
+        """
+        assert isinstance(block, Block), "invalid parameter"
+        if self.mode.motion is None:
+            # no modal motion, modal parameters are all invalid
+            block.modal_params = []
+        elif any(True for g in block.gcodes if g.modal_group == GCodeMotion.modal_group):
+            # block defines new motion, modal motion is irrelevant
+            block.modal_params = []
+        else:
+            (modal_gcodes, unasigned_words) = words2gcodes(
+                [self.mode.motion.word] + list(block.modal_params)
+            )
+            for w in unasigned_words:
+                block.modal_params.remove(w)
+
     def process_gcodes(self, *gcode_list, **kwargs):
         """
         Process gcodes
@@ -491,19 +517,28 @@ class Machine(object):
         line = Line(block_str)
         self.process_block(line.block)
 
+    # Position conversions (considering offsets)
+    def abs2work(self, abs_pos):
+        assert isinstance(abs_pos, Position), "bad abs_pos type"
+        coord_sys_offset = getattr(self.state.coord_sys, 'offset', Position(axes=self.axes))
+        temp_offset = self.state.offset
+        return (abs_pos - coord_sys_offset) - temp_offset
+
+    def work2abs(self, work_pos):
+        assert isinstance(work_pos, Position), "bad work_pos type"
+        coord_sys_offset = getattr(self.state.coord_sys, 'offset', Position(axes=self.axes))
+        temp_offset = self.state.offset
+        return (work_pos + temp_offset + coord_sys_offset)
+
     @property
     def pos(self):
         """Return current position in current coordinate system"""
-        coord_sys_offset = getattr(self.state.coord_sys, 'offset', Position(axes=self.axes))
+        return self.abs2work(self.abs_pos)
-        temp_offset = self.state.offset
-        return (self.abs_pos - coord_sys_offset) - temp_offset
 
     @pos.setter
     def pos(self, value):
         """Set absolute position given current position and coordinate system"""
-        coord_sys_offset = getattr(self.state.coord_sys, 'offset', Position(axes=self.axes))
+        self.abs_pos = self.work2abs(value)
-        temp_offset = self.state.offset
-        self.abs_pos = (value + temp_offset) + coord_sys_offset
         self._update_abs_range(self.abs_pos)
 
     def _update_abs_range(self, pos):