Merge branch 'swinman-master'

.gitignore

@@ -7,3 +7,5 @@
 
 # build
 build/*
+src/pygcode.egg-info/*
+dist/pygcode-*.egg

src/pygcode.egg-info/PKG-INFO

@@ -1,46 +0,0 @@
-Metadata-Version: 1.1
-Name: pygcode
-Version: 0.2.1
-Summary: Basic g-code parser, interpreter, and encoder library.
-Home-page: https://github.com/fragmuffin/pygcode
-Author: Peter Boin
-Author-email: peter.boin@gmail.com
-License: GPLv3
-Description-Content-Type: UNKNOWN
-Description: =======
-        pygcode
-        =======
-        
-        GCODE Parser for Python
-        
-        Currently in development, ``pygcode`` is a low-level GCode interpreter
-        for python.
-        
-        
-        Installation
-        ============
-        
-        Install using ``pip``
-        
-        ``pip install pygcode``
-        
-        or `download directly from PyPi <https://pypi.python.org/pypi/pygcode>`__
-        
-        
-        Documentation
-        =============
-        
-        `Check out the wiki <https://github.com/fragmuffin/pygcode/wiki>`__ for documentation.
-        
-Keywords: gcode,cnc,parser,interpreter
-Platform: UNKNOWN
-Classifier: Development Status :: 3 - Alpha
-Classifier: Intended Audience :: Developers
-Classifier: Intended Audience :: Manufacturing
-Classifier: License :: OSI Approved :: GNU General Public License v3 (GPLv3)
-Classifier: Natural Language :: English
-Classifier: Operating System :: OS Independent
-Classifier: Programming Language :: Python
-Classifier: Programming Language :: Python :: 2
-Classifier: Programming Language :: Python :: 3
-Classifier: Topic :: Scientific/Engineering

src/pygcode.egg-info/SOURCES.txt

@@ -1,21 +0,0 @@
-README.rst
-setup.cfg
-setup.py
-scripts/pygcode-crop
-scripts/pygcode-norm
-src/pygcode/__init__.py
-src/pygcode/block.py
-src/pygcode/comment.py
-src/pygcode/exceptions.py
-src/pygcode/gcodes.py
-src/pygcode/line.py
-src/pygcode/machine.py
-src/pygcode/transform.py
-src/pygcode/utils.py
-src/pygcode/words.py
-src/pygcode.egg-info/PKG-INFO
-src/pygcode.egg-info/SOURCES.txt
-src/pygcode.egg-info/dependency_links.txt
-src/pygcode.egg-info/not-zip-safe
-src/pygcode.egg-info/requires.txt
-src/pygcode.egg-info/top_level.txt

src/pygcode.egg-info/dependency_links.txt

@@ -1 +0,0 @@
-

src/pygcode.egg-info/not-zip-safe

@@ -1 +0,0 @@
-

src/pygcode.egg-info/requires.txt

@@ -1,3 +0,0 @@
-argparse
-euclid3
-six

src/pygcode.egg-info/top_level.txt

@@ -1 +0,0 @@
-pygcode

src/pygcode/dialects/linuxcnc.py

@@ -18,20 +18,28 @@ from .utils import WordType
 
 # ======================== WORDS ========================
 
-REGEX_FLOAT = re.compile(r'^\s*-?(\d+\.?\d*|\.\d+)') # testcase: ..tests.test_words.WordValueMatchTests.test_float
+REGEX_NUMBER = re.compile(r'^\s*-?(\d+\.?\d*|\.\d+)') # testcase: ..tests.test_words.WordValueMatchTests.test_float
-REGEX_INT = re.compile(r'^\s*-?\d+')
 REGEX_POSITIVEINT = re.compile(r'^\s*\d+')
 REGEX_CODE = re.compile(r'^\s*\d+(\.\d)?') # float, but can't be negative
 
-# Value cleaning functions
+def CLASS_NUMBER(value):
-def _clean_codestr(value):
+    if isinstance(value, (int, float)):
-    if value < 10:
+        return value
-        return "0%g" % value
+    if '.' in value:
-    return "%g" % value
+        return float(value)
+    return int(value)
 
+# Value cleaning functions
 CLEAN_NONE = lambda v: v
-CLEAN_FLOAT = lambda v: "{0:g}".format(round(v, 3))
+
-CLEAN_CODE = _clean_codestr
+def CLEAN_NUMBER(v):
+    if isinstance(v, int):
+        return str(v)
+    fstr = "{0:g}".format(round(v, 3))  # FIXME bad practice for inches
+    if '.' not in fstr:
+        return fstr + '.'
+    return fstr
+CLEAN_CODE = lambda v: '{:02}'.format(v)
 CLEAN_INT = lambda v: "%g" % v
 
 WORD_MAP = {
@@ -40,74 +48,74 @@ WORD_MAP = {
 
     # Rotational Axes
     'A': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Absolute or incremental position of A axis (rotational axis around X axis)",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     'B': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Absolute or incremental position of B axis (rotational axis around Y axis)",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     'C': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Absolute or incremental position of C axis (rotational axis around Z axis)",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     'D': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Defines diameter or radial offset used for cutter compensation. D is used for depth of cut on lathes. It is used for aperture selection and commands on photoplotters.",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     # Feed Rates
     'E': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Precision feedrate for threading on lathes",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     'F': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Feedrate",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     # G-Codes
     'G': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
         value_regex=REGEX_CODE,
         description="Address for preparatory commands",
-        clean_value=CLEAN_CODE,
+        clean_value=CLEAN_NONE,
     ),
     # Tool Offsets
     'H': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Defines tool length offset; Incremental axis corresponding to C axis (e.g., on a turn-mill)",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     # Arc radius center coords
     'I': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Defines arc center in X axis for G02 or G03 arc commands. Also used as a parameter within some fixed cycles.",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     'J': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Defines arc center in Y axis for G02 or G03 arc commands. Also used as a parameter within some fixed cycles.",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     'K': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Defines arc center in Z axis for G02 or G03 arc commands. Also used as a parameter within some fixed cycles, equal to L address.",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     # Loop Count
     'L': WordType(
@@ -118,10 +126,10 @@ WORD_MAP = {
     ),
     # Miscellaneous Function
     'M': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
         value_regex=REGEX_CODE,
         description="Miscellaneous function",
-        clean_value=CLEAN_CODE,
+        clean_value=CLEAN_NONE,
     ),
     # Line Number
     'N': WordType(
@@ -139,31 +147,31 @@ WORD_MAP = {
     ),
     # Parameter (arbitrary parameter)
     'P': WordType(
-        cls=float, # parameter is often an integer, but can be a float
+        cls=CLASS_NUMBER, # parameter is often an integer, but can be a float
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Serves as parameter address for various G and M codes",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     # Peck increment
     'Q': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Depth to increase on each peck; Peck increment in canned cycles",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     # Arc Radius
     'R': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Defines size of arc radius, or defines retract height in milling canned cycles",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     # Spindle speed
     'S': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Defines speed, either spindle speed or surface speed depending on mode",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     # Tool Selecton
     'T': WordType(
@@ -174,41 +182,41 @@ WORD_MAP = {
     ),
     # Incremental axes
     'U': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Incremental axis corresponding to X axis (typically only lathe group A controls) Also defines dwell time on some machines (instead of 'P' or 'X').",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     'V': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Incremental axis corresponding to Y axis",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     'W': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Incremental axis corresponding to Z axis (typically only lathe group A controls)",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     # Linear Axes
     'X': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Absolute or incremental position of X axis.",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     'Y': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Absolute or incremental position of Y axis.",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
     'Z': WordType(
-        cls=float,
+        cls=CLASS_NUMBER,
-        value_regex=REGEX_FLOAT,
+        value_regex=REGEX_NUMBER,
         description="Absolute or incremental position of Z axis.",
-        clean_value=CLEAN_FLOAT,
+        clean_value=CLEAN_NUMBER,
     ),
 }
 

src/pygcode/gcodes.py

@@ -42,12 +42,12 @@ from .exceptions import GCodeParameterError, GCodeWordStrError
 #
 #   There are 15 groups:
 #       ref: http://linuxcnc.org/docs/html/gcode/overview.html#_modal_groups
+#       ref: https://www.haascnc.com/content/dam/haascnc/en/service/manual/operator/english---mill-ngc---operator's-manual---2017.pdf
 #
 #                 Table 5. G-Code Modal Groups
 #       MODAL GROUP MEANING                     MEMBER WORDS
 #       Non-modal codes (Group 0)               G4, G10 G28, G30, G53, G92, G92.1, G92.2, G92.3,
-#       Motion (Group 1)                        G0, G1, G2, G3, G33, G38.x, G73, G76, G80, G81
+#       Motion (Group 1)                        G0, G1, G2, G3, G33, G38.x,
-#                                               G82, G83, G84, G85, G86, G87, G88,G89
 #       Plane selection (Group 2)               G17, G18, G19, G17.1, G18.1, G19.1
 #       Distance Mode (Group 3)                 G90, G91
 #       Arc IJK Distance Mode (Group 4)         G90.1, G91.1
@@ -55,6 +55,8 @@ from .exceptions import GCodeParameterError, GCodeWordStrError
 #       Units (Group 6)                         G20, G21
 #       Cutter Diameter Compensation (Group 7)  G40, G41, G42, G41.1, G42.1
 #       Tool Length Offset (Group 8)            G43, G43.1, G49
+#       Can Cycles (Group 9)                    G73, G76, G80, G81, G82, G83,
+#                                               G84, G85, G86, G87, G88, G89
 #       Canned Cycles Return Mode (Group 10)    G98, G99
 #       Coordinate System (Group 12)            G54, G55, G56, G57, G58, G59,
 #                                               G59.1, G59.2, G59.3
@@ -81,6 +83,7 @@ MODAL_GROUP_MAP = {
     'units': 6,
     'cutter_diameter_comp': 7,
     'tool_length_offset': 8,
+    'canned_cycle': 9,
     'canned_cycles_return': 10,
     'coordinate_system': 12,
     'control_mode': 13,
@@ -393,7 +396,6 @@ class GCodeProgramName(GCodeDefinition):
 # G38.2 - G38.5                 Straight Probe
 # G33           K               Spindle Synchronized Motion
 # G33.1         K               Rigid Tapping
-# G80                           Cancel Canned Cycle
 
 class GCodeMotion(GCode):
     param_letters = set('XYZABCUVW')
@@ -509,21 +511,6 @@ class GCodeRigidTapping(GCodeMotion):
     word_key = Word('G', 33.1)
 
 
-class GCodeCancelCannedCycle(GCodeMotion):
-    """G80: Cancel Canned Cycle"""
-    word_key = Word('G', 80)
-    # Modal Group
-    #   Technically G80 belongs to the motion modal group, however it's often
-    #   expressed in the same line as another motion command.
-    #   This is alowed, but executed just prior to any other motion command
-    #       eg: G00 G80
-    #   will leave the machine in rapid motion mode
-    #   Just running G80 will leave machine with no motion mode.
-    modal_group = None
-    exec_order = 241
-
-    def _process(self, machine):
-        machine.mode.motion = None
 
 
 # ======================= Canned Cycles =======================
@@ -536,10 +523,11 @@ class GCodeCancelCannedCycle(GCodeMotion):
 # G85               R L (P)             Boring Cycle, Feed Out
 # G89               R L (P)             Boring Cycle, Dwell, Feed Out
 # G76               P Z I J R K Q H L E Threading Cycle
+# G80                                   Cancel Canned Cycle
 
 class GCodeCannedCycle(GCode):
     param_letters = set('XYZUVW')
-    modal_group = MODAL_GROUP_MAP['motion']
+    modal_group = MODAL_GROUP_MAP['canned_cycle']
     exec_order = 242
 
     def _process(self, machine):
@@ -554,11 +542,12 @@ class GCodeCannedCycle(GCode):
             moveto_coords.pop(machine.mode.plane_selection.normal_axis, None)
 
         # Process action 'L' times
-        loop_count = self.L
+        if hasattr(self, 'L'):
-        if (loop_count is None) or (loop_count <= 0):
+            loop_count = self.L
-            loop_count = 1
+            if (loop_count is None) or (loop_count <= 0):
-        for i in range(loop_count):
+                loop_count = 1
-            machine.move_to(**moveto_coords)
+            for i in range(loop_count):
+                machine.move_to(**moveto_coords)
 
 
 class GCodeDrillingCycle(GCodeCannedCycle):
@@ -577,7 +566,7 @@ class GCodeDrillingCycleDwell(GCodeCannedCycle):
 
 class GCodeDrillingCyclePeck(GCodeCannedCycle):
     """G83: Drilling Cycle, Peck"""
-    param_letters = GCodeCannedCycle.param_letters | set('RLQ')
+    param_letters = GCodeCannedCycle.param_letters | set('RLQ') | set('IJK')
     word_key = Word('G', 83)
     modal_param_letters = GCodeCannedCycle.param_letters | set('RQ')
 
@@ -608,6 +597,19 @@ class GCodeThreadingCycle(GCodeCannedCycle):
     param_letters = GCodeCannedCycle.param_letters | set('PZIJRKQHLE')
     word_key = Word('G', 76)
 
+class GCodeCancelCannedCycle(GCodeCannedCycle):
+    """ G80: Cancel Canned Cycle """
+    param_letters = set()
+    word_key = Word('G', 80)
+    # Modal Group
+    #   Technically G80 belongs to the motion modal group, however it's often
+    #   expressed in the same line as another motion command.
+    #   This is alowed, but executed just prior to any other motion command
+    #       eg: G00 G80
+    #   will leave the machine in rapid motion mode
+    #   Just running G80 will leave machine with no motion mode.
+    exec_order = 241
+
 
 # ======================= Distance Mode =======================
 # CODE              PARAMETERS          DESCRIPTION

src/pygcode/machine.py

@@ -268,6 +268,14 @@ class Mode(object):
     #       > $G
     #       > [GC:G0 G54 G17 G21 G90 G94 M5 M9 T0 F0 S0]
     #   ref: https://github.com/gnea/grbl/wiki/Grbl-v1.1-Commands#g---view-gcode-parser-state
+    # NOTE : there is no default mode for some machines (eg haas), so if the
+    # previous program leaves the machine in G91 it will remain in G91 at the
+    # beginning of the next program.. it is good practice to start programs
+    # with a few "safe startup" blocks for example
+    # G21       ( metric )
+    # G0 G17 G40 G49 G80 G90
+    # G54       ( set wcs )
+
     default_mode = '''
         G0      (movement: rapid)
         G17     (plane_selection: X/Y plane)
@@ -407,6 +415,10 @@ class Machine(object):
             self.state.cur_coord_sys = coord_sys_mode.coord_system_id
 
         # TODO: convert coord systems between inches/mm, G20/G21 respectively
+        # NOTE : on at least a Haas -- this cannot be changed when running a
+        # program -- the G20 / G21 codes don't actually change units, but if
+        # a G20 / G21 appears in the code and the machine settings do not match
+        # an error will be thrown.
 
     def modal_gcode(self, modal_params):
         """