Merge remote-tracking branch 'refs/remotes/origin/master'

README.md

@@ -0,0 +1,20 @@
+# pygcode
+
+GCODE Parser for Python
+
+Currently in development, `pygcode` is a low-level GCode interpreter
+for python.
+
+
+# Installation
+
+```
+    git clone git@github.com:petaflot/pygcode.git
+    cd pygcode
+    pip install -e .
+```
+
+
+# Documentation
+
+[Check out the wiki](https://github.com/fragmuffin/pygcode/wiki) for documentation.

README.rst

@@ -1,24 +0,0 @@
-=======
-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.

src/pygcode/__init__.py

@@ -54,7 +54,7 @@ __all__ = [
     'GCodeArcMoveCW',
     'GCodeBoringCycleDwellFeedOut',
     'GCodeBoringCycleFeedOut',
-    'GCodeCancelCannedCycle',
+    #'GCodeCancelCannedCycle',
     'GCodeCancelToolLengthOffset',
     'GCodeCannedCycle',
     'GCodeCannedCycleReturnPrevLevel',
@@ -336,7 +336,7 @@ from .gcodes import (
     GCodeArcMoveCW,
     GCodeBoringCycleDwellFeedOut,
     GCodeBoringCycleFeedOut,
-    GCodeCancelCannedCycle,
+    #GCodeCancelCannedCycle,
     GCodeCancelToolLengthOffset,
     GCodeCannedCycle,
     GCodeCannedCycleReturnPrevLevel,

src/pygcode/dialects/__init__.py

@@ -8,6 +8,7 @@ __all__ = [
     # dialects
     'linuxcnc',
     'reprap',
+    'prusa',
 ]
 
 
@@ -18,9 +19,10 @@ from .mapping import word_dialect
 # Dialects
 from . import linuxcnc
 from . import reprap
+from . import prusa
 
 
-_DEFAULT = 'linuxcnc'
+_DEFAULT = 'prusa'
 
 
 def get_default():

src/pygcode/dialects/prusa.py

@@ -0,0 +1,202 @@
+import re
+
+from .utils import WordType
+
+# ======================== WORDS ========================
+
+REGEX_FLOAT = 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 _clean_codestr(value):
+    if value < 10:
+        return "0%g" % value
+    return "%g" % value
+
+CLEAN_NONE = lambda v: v
+CLEAN_FLOAT = lambda v: "{0:g}".format(round(v, 3))
+CLEAN_CODE = _clean_codestr
+CLEAN_INT = lambda v: "%g" % v
+
+WORD_MAP = {
+    # Descriptions copied from wikipedia:
+    #   https://en.wikipedia.org/wiki/G-code#Letter_addresses
+
+    # Rotational Axes
+    'A': WordType(
+        cls=float,
+        value_regex=REGEX_FLOAT,
+        description="Absolute or incremental position of A axis (rotational axis around X axis)",
+        clean_value=CLEAN_FLOAT,
+    ),
+    'B': WordType(
+        cls=float,
+        value_regex=REGEX_FLOAT,
+        description="Absolute or incremental position of B axis (rotational axis around Y axis)",
+        clean_value=CLEAN_FLOAT,
+    ),
+    'C': WordType(
+        cls=float,
+        value_regex=REGEX_FLOAT,
+        description="Absolute or incremental position of C axis (rotational axis around Z axis)",
+        clean_value=CLEAN_FLOAT,
+    ),
+    'D': WordType(
+        cls=float,
+        value_regex=REGEX_FLOAT,
+        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,
+    ),
+    # Feed Rates
+    'E': WordType(
+        cls=float,
+        value_regex=REGEX_FLOAT,
+        description="Precision feedrate for threading on lathes",
+        clean_value=CLEAN_FLOAT,
+    ),
+    'F': WordType(
+        cls=float,
+        value_regex=REGEX_FLOAT,
+        description="Feedrate",
+        clean_value=CLEAN_FLOAT,
+    ),
+    # G-Codes
+    'G': WordType(
+        cls=float,
+        value_regex=REGEX_CODE,
+        description="Address for preparatory commands",
+        clean_value=CLEAN_CODE,
+    ),
+    # Tool Offsets
+    'H': WordType(
+        cls=float,
+        value_regex=REGEX_FLOAT,
+        description="Defines tool length offset; Incremental axis corresponding to C axis (e.g., on a turn-mill)",
+        clean_value=CLEAN_FLOAT,
+    ),
+    # Arc radius center coords
+    'I': WordType(
+        cls=float,
+        value_regex=REGEX_FLOAT,
+        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,
+    ),
+    'J': WordType(
+        cls=float,
+        value_regex=REGEX_FLOAT,
+        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,
+    ),
+    'K': WordType(
+        cls=float,
+        value_regex=REGEX_FLOAT,
+        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,
+    ),
+    # Loop Count
+    'L': WordType(
+        cls=int,
+        value_regex=REGEX_POSITIVEINT,
+        description="Fixed cycle loop count; Specification of what register to edit using G10",
+        clean_value=CLEAN_INT,
+    ),
+    # Miscellaneous Function
+    'M': WordType(
+        cls=float,
+        value_regex=REGEX_CODE,
+        description="Miscellaneous function",
+        clean_value=CLEAN_CODE,
+    ),
+    # Line Number
+    'N': WordType(
+        cls=int,
+        value_regex=REGEX_POSITIVEINT,
+        description="Line (block) number in program; System parameter number to change using G10",
+        clean_value=CLEAN_INT,
+    ),
+    # Program Name
+    'O': WordType(
+        cls=str,
+        value_regex=re.compile(r'^.+$'), # all the way to the end
+        description="Program name",
+        clean_value=CLEAN_NONE,
+    ),
+    # Parameter (arbitrary parameter)
+    'P': WordType(
+        cls=str, # parameter is often an integer, but can be a float
+        value_regex=re.compile(r'^.+$'), # all the way to the end
+        description="Checks the parameters of the printer and gcode and performs compatibility check",
+        clean_value=CLEAN_NONE,
+    ),
+    # Peck increment
+    'Q': WordType(
+        cls=float,
+        value_regex=REGEX_FLOAT,
+        description="Depth to increase on each peck; Peck increment in canned cycles",
+        clean_value=CLEAN_FLOAT,
+    ),
+    # Arc Radius
+    'R': WordType(
+        cls=float,
+        value_regex=REGEX_FLOAT,
+        description="Defines size of arc radius, or defines retract height in milling canned cycles",
+        clean_value=CLEAN_FLOAT,
+    ),
+    # Spindle speed
+    'S': WordType(
+        cls=float,
+        value_regex=REGEX_FLOAT,
+        description="Defines speed, either spindle speed or surface speed depending on mode",
+        clean_value=CLEAN_FLOAT,
+    ),
+    # Tool Selecton
+    'T': WordType(
+        cls=str,
+        value_regex=REGEX_POSITIVEINT, # tool string may have leading '0's, but is effectively an index (integer)
+        description="Tool selection",
+        clean_value=CLEAN_NONE,
+    ),
+    # Incremental axes
+    'U': WordType(
+        cls=str,
+        value_regex=re.compile(r'^.*$'), # all the way to the end
+        description="todo",
+        clean_value=CLEAN_NONE,
+    ),
+    'V': WordType(
+        cls=float,
+        value_regex=REGEX_FLOAT,
+        description="Incremental axis corresponding to Y axis",
+        clean_value=CLEAN_FLOAT,
+    ),
+    'W': WordType(
+        cls=str,
+        value_regex=re.compile(r'^.*$'), # all the way to the end
+        description="When used with G28 just specifies without bed leveling, when used with M900 specifies width",
+        clean_value=CLEAN_NONE,
+    ),
+    # Linear Axes
+    'X': WordType(
+        cls=float,
+        value_regex=REGEX_FLOAT,
+        description="Absolute or incremental position of X axis.",
+        clean_value=CLEAN_FLOAT,
+    ),
+    'Y': WordType(
+        cls=float,
+        value_regex=REGEX_FLOAT,
+        description="Absolute or incremental position of Y axis.",
+        clean_value=CLEAN_FLOAT,
+    ),
+    'Z': WordType(
+        cls=float,
+        value_regex=REGEX_FLOAT,
+        description="Absolute or incremental position of Z axis.",
+        clean_value=CLEAN_FLOAT,
+    ),
+}
+
+
+# ======================== G-CODES ========================

src/pygcode/gcodes.py

@@ -32,7 +32,7 @@ from .exceptions import GCodeParameterError, GCodeWordStrError
 #
 #   Modal Groups:
 #       Only one mode of each modal group can be active. That is to say, a
-#       modal g-code can only change the sate of a previously set mode if
+#       modal g-code can only change the state of a previously set mode if
 #       they're in the same group.
 #       For example:
 #           G20 (mm), and G21 (inches) are in group 6
@@ -213,6 +213,14 @@ class GCode(object):
             word_str=word_str,
             parameters=param_str,
         )
+    
+    def __hash__(self):
+        """Hash representation of the gcode, for set and dictionary usage"""
+        try:
+            return hash(self.word_key)
+        except TypeError:
+            return hash(self.word_letter) # May also want to retrieve additional value info
+        
 
     def _default_word(self):
         if self.default_word:
@@ -511,8 +519,6 @@ class GCodeRigidTapping(GCodeMotion):
     word_key = Word('G', 33.1)
 
 
-
-
 # ======================= Canned Cycles =======================
 #      (X Y Z or U V W apply to canned cycles, depending on active plane)
 # CODE              PARAMETERS          DESCRIPTION
@@ -1267,7 +1273,7 @@ class GCodeAnalogOutputImmediate(GCodeAnalogOutput):
 # G28, G28.1                            Go/Set Predefined Position
 # G30, G30.1                            Go/Set Predefined Position
 # G53                                   Move in Machine Coordinates
-# G92                                   Coordinate System Offset
+# G92               ABCXYZUVW           Coordinate System Offset
 # G92.1, G92.2                          Reset G92 Offsets
 # G92.3                                 Restore G92 Offsets
 # M101 - M199       P Q                 User Defined Commands
@@ -1301,6 +1307,7 @@ class GCodeSet(GCodeNonModal):
 
 class GCodeGotoPredefinedPosition(GCodeNonModal):
     """G28,G30: Goto Predefined Position (rapid movement)"""
+    param_letters = set('W')
     @classmethod
     def word_matches(cls, w):
         return (w.letter == 'G') and (w.value in [28, 30])
@@ -1310,6 +1317,7 @@ class GCodeGotoPredefinedPosition(GCodeNonModal):
 
 class GCodeSetPredefinedPosition(GCodeNonModal):
     """G28.1,G30.1: Set Predefined Position"""  # redundancy in language there, but I'll let it slide
+    param_letters = set('W')
     @classmethod
     def word_matches(cls, w):
         return (w.letter == 'G') and (w.value in [28.1, 30.1])
@@ -1325,6 +1333,7 @@ class GCodeMoveInMachineCoords(GCodeNonModal):
 
 class GCodeCoordSystemOffset(GCodeNonModal):
     """G92: Coordinate System Offset"""
+    param_letters = set('XYZABCUVW')
     word_key = Word('G', 92)
     exec_order = 230
 
@@ -1358,6 +1367,115 @@ class GCodeUserDefined(GCodeNonModal):
     exec_order = 130
     modal_group = MODAL_GROUP_MAP['user_defined']
 
+# ======================= Prusa =======================
+# CODE              PARAMETERS          DESCRIPTION
+# M862.1            P Q                 Nozzle Diameter
+# M862.2            P Q                 Model Code
+# M862.3            P Q                 Model Name
+# M862.4            P Q                 Firmware Version
+# M862.5            P Q                 GCode Level
+# M115              V U                 Firmware info
+# M73               P R Q S C D         Set/Get print progress
+# M205              S T B X Y Z E       Set advanced settings
+# M104              S                   Set extruder temperature
+# M109              B R S               Wait for extruder temperature
+# M140              S                   Set bed temperature
+# M190              R S                 Wait for bed temperature
+# M204              S T                 Acceleration settings
+# M221              S T                 Set extrude factor override percentage
+# M106              S                   Set fan speed
+# G80               N R V L R F B       Mesh-based Z probe
+
+class GCodePrintChecking(GCode):
+    exec_order = 999
+    modal_group = MODAL_GROUP_MAP['user_defined']
+    param_letters = set('PQ')
+
+class GCodeNozzleDiameterPrintChecking(GCodePrintChecking):
+    """M862.1: Nozzle Diameter"""
+    word_key = Word('M', 862.1)
+
+class GCodeModelCodePrintChecking(GCodePrintChecking):
+    """M862.2: Model Code"""
+    word_key = Word('M', 862.2)
+
+class GCodeModelNamePrintChecking(GCodePrintChecking):
+    """M862.3: Model Name"""
+    word_key = Word('M', 862.3)
+
+class GCodeFirmwareVersionPrintChecking(GCodePrintChecking):
+    """M862.4: Firmware Version"""
+    word_key = Word('M', 862.4)
+
+class GCodeGcodeLevelPrintChecking(GCodePrintChecking):
+    """M862.5: Gcode Level"""
+    word_key = Word('M', 862.5)
+
+class GCodeFirmwareInfo(GCode):
+    exec_order = 999
+    modal_group = MODAL_GROUP_MAP['user_defined']
+    param_letters = set('VU')
+    word_key = Word('M', 115)
+
+class GCodePrintProgress(GCode):
+    exec_order = 999
+    modal_group = MODAL_GROUP_MAP['user_defined']
+    param_letters = set('PRQSCD')
+    word_key = Word('M', 73)
+
+class GCodeSetAdvancedSettings(GCode):
+    exec_order = 999
+    modal_group = MODAL_GROUP_MAP['user_defined']
+    param_letters = set('STBXYZE')
+    word_key = Word('M', 205)
+
+class GCodeSetExtruderTemperature(GCode):
+    exec_order = 999
+    modal_group = MODAL_GROUP_MAP['user_defined']
+    param_letters = set('S')
+    word_key = Word('M', 104)
+
+class GCodeWaitForExtruderTemperature(GCode):
+    exec_order = 999
+    modal_group = MODAL_GROUP_MAP['user_defined']
+    param_letters = set('BRS')
+    word_key = Word('M', 109)
+
+class GCodeSetBedTemperature(GCode):
+    exec_order = 999
+    modal_group = MODAL_GROUP_MAP['user_defined']
+    param_letters = set('S')
+    word_key = Word('M', 140)
+
+class GCodeWaitForBedTemperature(GCode):
+    exec_order = 999
+    modal_group = MODAL_GROUP_MAP['user_defined']
+    param_letters = set('RS')
+    word_key = Word('M', 190)
+
+class GCodeAccelerationSettings(GCode):
+    exec_order = 999
+    modal_group = MODAL_GROUP_MAP['user_defined']
+    param_letters = set('ST')
+    word_key = Word('M', 204)
+
+class GCodeSetExtrudeFactorOverridePercentage(GCode):
+    exec_order = 999
+    modal_group = MODAL_GROUP_MAP['user_defined']
+    param_letters = set('ST')
+    word_key = Word('M', 221)
+
+class GCodeSetFanSpeed(GCode):
+    exec_order = 999
+    modal_group = MODAL_GROUP_MAP['user_defined']
+    param_letters = set('S')
+    word_key = Word('M', 106)
+
+class GCodeMeshBasedZProbe(GCode):
+    exec_order = 999
+    modal_group = MODAL_GROUP_MAP['user_defined']
+    param_letters = set('NRVLRFB')
+    word_key = Word('G', 80)
 
 # ======================= Utilities =======================