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simplify canned drilling processes
This commit is contained in:
Peter Boin
parent
b741603655
commit
9ca819d8c6
@ -475,42 +475,42 @@ class GCodeDrillingCycle(GCodeCannedCycle):
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"""G81: Drilling Cycle"""
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param_letters = GCodeCannedCycle.param_letters | set('RLP')
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word_key = Word('G', 81)
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modal_param_letters = GCodeCannedCycle.param_letters | set('RLP')
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modal_param_letters = GCodeCannedCycle.param_letters | set('RP')
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class GCodeDrillingCycleDwell(GCodeCannedCycle):
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"""G82: Drilling Cycle, Dwell"""
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param_letters = GCodeCannedCycle.param_letters | set('RLP')
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word_key = Word('G', 82)
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modal_param_letters = GCodeCannedCycle.param_letters | set('RLP')
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modal_param_letters = GCodeCannedCycle.param_letters | set('RP')
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class GCodeDrillingCyclePeck(GCodeCannedCycle):
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"""G83: Drilling Cycle, Peck"""
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param_letters = GCodeCannedCycle.param_letters | set('RLQ')
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word_key = Word('G', 83)
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modal_param_letters = GCodeCannedCycle.param_letters | set('RLQ')
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modal_param_letters = GCodeCannedCycle.param_letters | set('RQ')
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class GCodeDrillingCycleChipBreaking(GCodeCannedCycle):
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"""G73: Drilling Cycle, ChipBreaking"""
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param_letters = GCodeCannedCycle.param_letters | set('RLQ')
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word_key = Word('G', 73)
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modal_param_letters = GCodeCannedCycle.param_letters | set('RLQ')
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modal_param_letters = GCodeCannedCycle.param_letters | set('RQ')
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class GCodeBoringCycleFeedOut(GCodeCannedCycle):
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"""G85: Boring Cycle, Feed Out"""
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param_letters = GCodeCannedCycle.param_letters | set('RLP')
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word_key = Word('G', 85)
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modal_param_letters = GCodeCannedCycle.param_letters | set('RLP')
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modal_param_letters = GCodeCannedCycle.param_letters | set('RP')
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class GCodeBoringCycleDwellFeedOut(GCodeCannedCycle):
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"""G89: Boring Cycle, Dwell, Feed Out"""
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param_letters = GCodeCannedCycle.param_letters | set('RLP')
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word_key = Word('G', 89)
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modal_param_letters = GCodeCannedCycle.param_letters | set('RLP')
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modal_param_letters = GCodeCannedCycle.param_letters | set('RP')
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class GCodeThreadingCycle(GCodeCannedCycle):
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@ -895,8 +895,8 @@ class GCodePathBlendingMode(GCodePathControlMode):
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# ======================= Return Mode in Canned Cycles =======================
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# CODE PARAMETERS DESCRIPTION
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# G98 Canned Cycle Return Level
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# G98 Canned Cycle Return Level to previous
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# G99 Canned Cycle Return to the level set by R
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class GCodeCannedReturnMode(GCode):
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modal_group = MODAL_GROUP_MAP['canned_cycles_return']
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@ -1444,3 +1444,73 @@ def split_gcodes(gcode_list, splitter_class, sort_list=True):
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split[2] = gcode_list[split_index+1:]
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return split
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def _gcodes_abs2rel(start_pos, dist_mode=None, axes='XYZ'):
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"""
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Decorator to convert returned motion gcode coordinates to incremental.
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Intended to be used internally (mainly because it's a little shonky)
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Decorated function is only expected to return GCodeRapidMove or GCodeLinearMove
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instances
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:param start_pos: starting machine position (Position)
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:param dist_mode: machine's distance mode (GCodeAbsoluteDistanceMode or GCodeIncrementalDistanceMode)
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:param axes: axes machine accepts (set)
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"""
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# Usage:
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# m = Machine() # defaults to absolute distance mode
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# m.process_gcodes(GCodeRapidMove(X=10, Y=20, Z=3))
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# m.process_gcodes(GCodeIncrementalDistanceMode())
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#
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# @_gcodes_abs2rel(start_pos=m.pos, dist_mode=m.mode.distance, axes=m.axes)
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# def do_stuff():
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# yield GCodeRapidMove(X=0, Y=30, Z=3)
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# yield GCodeLinearMove(X=0, Y=30, Z=-5)
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#
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# gcode_list = do_stuff()
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# gocde_list[0] # == GCodeRapidMove(X=-10, Y=10)
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# gocde_list[1] # == GCodeLinearMove(Z=-8)
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SUPPORTED_MOTIONS = (
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GCodeRapidMove, GCodeLinearMove,
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)
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def wrapper(func):
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def inner(*largs, **kwargs):
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# Create Machine (with minimal information)
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from .machine import Machine, Mode, Position
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m = type('AbsoluteCoordMachine', (Machine,), {
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'MODE_CLASS': type('NullMode', (Mode,), {'default_mode': 'G90'}),
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'axes': axes,
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})()
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m.pos = start_pos
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for gcode in func(*largs, **kwargs):
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# Verification & passthrough's
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if not isinstance(gcode, GCode):
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yield gcode # whatever this thing is
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else:
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# Process gcode
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pos_from = m.pos
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m.process_gcodes(gcode)
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pos_to = m.pos
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if gcode.modal_group != MODAL_GROUP_MAP['motion']:
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yield gcode # only deal with motion gcodes
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continue
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elif not isinstance(gcode, SUPPORTED_MOTIONS):
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raise NotImplementedError("%r to iterative coords is not supported (this is only a very simple function)" % gcode)
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# Convert coordinates to iterative
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rel_pos = pos_to - pos_from
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coord_words = [w for w in rel_pos.words if w.value]
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if coord_words: # else relative coords are all zero; do nothing
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yield words2gcodes([gcode.word] + coord_words)[0].pop()
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# Return apropriate function
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if (dist_mode is None) or isinstance(dist_mode, GCodeIncrementalDistanceMode):
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return inner
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else:
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return func # bypass decorator entirely; nothing to be done
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return wrapper
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@ -1,10 +1,14 @@
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from math import sin, cos, tan, asin, acos, atan2, pi, sqrt, ceil
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from .gcodes import GCodeLinearMove
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from .gcodes import GCodeLinearMove, GCodeRapidMove
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from .gcodes import GCodeArcMove, GCodeArcMoveCW, GCodeArcMoveCCW
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from .gcodes import GCodePlaneSelect, GCodeSelectXYPlane, GCodeSelectYZPlane, GCodeSelectZXPlane
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from .gcodes import GCodeAbsoluteDistanceMode, GCodeIncrementalDistanceMode
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from .gcodes import GCodeAbsoluteArcDistanceMode, GCodeIncrementalArcDistanceMode
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from .gcodes import GCodeCannedCycle
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from .gcodes import GCodeDrillingCyclePeck, GCodeDrillingCycleDwell, GCodeDrillingCycleChipBreaking
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from .gcodes import GCodeCannedReturnMode, GCodeCannedCycleReturnLevel, GCodeCannedCycleReturnToR
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from .gcodes import _gcodes_abs2rel
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from .machine import Position
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from .exceptions import GCodeParameterError
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@ -97,7 +101,7 @@ class ArcLinearizeMethod(object):
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self._outer_radius = self.get_outer_radius()
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return self._outer_radius
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# Iter
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# Vertex Generator
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def iter_vertices(self):
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"""Yield absolute (<start vertex>, <end vertex>) for each line for the arc"""
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start_vertex = self.arc_p_start - self.arc_p_center
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@ -214,6 +218,17 @@ DEFAULT_LA_ARCDISTMODE = GCodeIncrementalArcDistanceMode
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def linearize_arc(arc_gcode, start_pos, plane=None, method_class=None,
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dist_mode=None, arc_dist_mode=None,
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max_error=0.01, decimal_places=3):
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"""
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Convert a G2,G3 arc into a series of approsimation G1 codes
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:param arc_gcode: arc gcode to approximate (GCodeArcMove)
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:param start_pos: current machine position (Position)
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:param plane: machine's active plane (GCodePlaneSelect)
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:param method_class: method of linear approximation (ArcLinearizeMethod)
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:param dist_mode: machine's distance mode (GCodeAbsoluteDistanceMode or GCodeIncrementalDistanceMode)
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:param arc_dist_mode: machine's arc distance mode (GCodeAbsoluteArcDistanceMode or GCodeIncrementalArcDistanceMode)
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:param max_error: maximum distance approximation arcs can stray from original arc (float)
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:param decimal_places: number of decimal places gocde will be rounded to, used to mitigate risks of accumulated eror when in incremental distance mode (int)
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"""
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# set defaults
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if method_class is None:
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method_class = DEFAULT_LA_method_class
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@ -362,4 +377,109 @@ def linearize_arc(arc_gcode, start_pos, plane=None, method_class=None,
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cur_pos += l_delta # mitigate errors by also adding them the accumulated cur_pos
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# ==================== Arc Precision Adjustment ====================
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# ==================== Un-Canning ====================
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DEFAULT_SCC_PLANE = GCodeSelectXYPlane
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DEFAULT_SCC_DISTMODE = GCodeAbsoluteDistanceMode
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DEFAULT_SCC_RETRACTMODE = GCodeCannedCycleReturnLevel
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def simplify_canned_cycle(canned_gcode, start_pos,
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plane=None, dist_mode=None, retract_mode=None,
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axes='XYZ'):
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"""
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Simplify canned cycle into it's basic linear components
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:param canned_gcode: canned gcode to be simplified (GCodeCannedCycle)
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:param start_pos: current machine position (Position)
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:param plane: machine's active plane (GCodePlaneSelect)
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:param dist_mode: machine's distance mode (GCodeAbsoluteDistanceMode or GCodeIncrementalDistanceMode)
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:param axes: axes machine accepts (set)
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"""
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# set defaults
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if plane is None:
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plane = DEFAULT_SCC_PLANE()
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if dist_mode is None:
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dist_mode = DEFAULT_SCC_DISTMODE()
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if retract_mode is None:
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retract_mode = DEFAULT_SCC_RETRACTMODE()
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# Parameter Type Assertions
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assert isinstance(canned_gcode, GCodeCannedCycle), "bad canned_gcode type: %r" % canned_gcode
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assert isinstance(start_pos, Position), "bad start_pos type: %r" % start_pos
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assert isinstance(plane, GCodePlaneSelect), "bad plane type: %r" % plane
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assert isinstance(dist_mode, (GCodeAbsoluteDistanceMode, GCodeIncrementalDistanceMode)), "bad dist_mode type: %r" % dist_mode
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assert isinstance(retract_mode, GCodeCannedReturnMode), "bad retract_mode type: %r" % retract_mode
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# TODO: implement for planes other than XY
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if not isinstance(plane, GCodeSelectXYPlane):
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raise NotImplementedError("simplifying canned cycles for planes other than X/Y has not been implemented")
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@_gcodes_abs2rel(start_pos=start_pos, dist_mode=dist_mode, axes=axes)
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def inner():
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cycle_count = 1 if (canned_gcode.L is None) else canned_gcode.L
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cur_hole_p_axis = start_pos.vector
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for i in range(cycle_count):
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# Calculate Depths
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if isinstance(dist_mode, GCodeAbsoluteDistanceMode):
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retract_depth = canned_gcode.R
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drill_depth = canned_gcode.Z
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cur_hole_p_axis = Vector3(x=canned_gcode.X, y=canned_gcode.Y)
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else: # incremental
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retract_depth = start_pos.Z + canned_gcode.R
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drill_depth = retract_depth + canned_gcode.Z
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cur_hole_p_axis += Vector3(x=canned_gcode.X, y=canned_gcode.Y)
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if retract_depth < drill_depth:
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raise NotImplementedError("drilling upward is not supported")
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if isinstance(retract_mode, GCodeCannedCycleReturnToR):
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final_depth = retract_depth
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else:
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final_depth = start_pos.Z
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# Move above hole (height of retract_depth)
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if retract_depth > start_pos.Z:
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yield GCodeRapidMove(Z=retract_depth)
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yield GCodeRapidMove(X=cur_hole_p_axis.x, Y=cur_hole_p_axis.y)
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if retract_depth < start_pos.Z:
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yield GCodeRapidMove(Z=retract_depth)
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# Drill hole
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delta = drill_depth - retract_depth # full depth
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if isinstance(canned_gcode, (GCodeDrillingCyclePeck, GCodeDrillingCycleChipBreaking)):
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delta = -abs(canned_gcode.Q)
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cur_depth = retract_depth
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last_depth = cur_depth
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while True:
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# Determine new depth
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cur_depth += delta
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if cur_depth < drill_depth:
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cur_depth = drill_depth
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# Rapid to just above, then slowly drill through delta
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just_above_base = last_depth + 0.1
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if just_above_base < retract_depth:
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yield GCodeRapidMove(Z=just_above_base)
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yield GCodeLinearMove(Z=cur_depth)
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if cur_depth <= drill_depth:
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break # loop stops at the bottom of the hole
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else:
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# back up
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if isinstance(canned_gcode, GCodeDrillingCycleChipBreaking):
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# retract "a bit"
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yield GCodeRapidMove(Z=cur_depth + 0.5) # TODO: configurable retraction
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else:
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# default behaviour: GCodeDrillingCyclePeck
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yield GCodeRapidMove(Z=retract_depth)
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last_depth = cur_depth
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# Dwell
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if isinstance(canned_gcode, GCodeDrillingCycleDwell):
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yield GCodeDwell(P=0.5) # TODO: configurable pause
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# Return
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yield GCodeRapidMove(Z=final_depth)
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return inner()
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@ -66,8 +66,8 @@ def plane_projection(vect, normal):
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n = normal.normalized()
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return vect - (n * vect.dot(n))
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# ==================== GCode Utilities ====================
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# ==================== GCode Utilities ====================
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def omit_redundant_modes(gcode_iter):
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"""
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Replace redundant machine motion modes with whitespace,
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@ -20,7 +20,7 @@ for pygcode_lib_type in ('installed_lib', 'relative_lib'):
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from pygcode import GCodeCannedCycle
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from pygcode import split_gcodes
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from pygcode import Comment
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from pygcode.transform import linearize_arc
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from pygcode.transform import linearize_arc, simplify_canned_cycle
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from pygcode.transform import ArcLinearizeInside, ArcLinearizeOutside, ArcLinearizeMid
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from pygcode.gcodes import _subclasses
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from pygcode.utils import omit_redundant_modes
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@ -89,13 +89,13 @@ group = parser.add_argument_group(
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"interpolation (G1), and pauses (or 'dwells', G4)"
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)
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group.add_argument(
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'--canned_simplify', '-cs', dest='canned_simplify',
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'--canned_expand', '-ce', dest='canned_expand',
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action='store_const', const=True, default=False,
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help="Convert canned cycles into basic linear movements",
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help="Expand canned cycles into basic linear movements, and pauses",
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)
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group.add_argument(
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'---canned_codes', '-cc', dest='canned_codes', default=DEFAULT_CANNED_CODES,
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help="List of canned gcodes to simplify, (default is '%s')" % DEFAULT_CANNED_CODES,
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help="List of canned gcodes to expand, (default is '%s')" % DEFAULT_CANNED_CODES,
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)
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#parser.add_argument(
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@ -194,6 +194,7 @@ for line_str in args.infile[0].readlines():
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if args.arc_linearize and any(isinstance(g, GCodeArcMove) for g in effective_gcodes):
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with split_and_process(effective_gcodes, GCodeArcMove, line.comment) as arc:
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print(Comment("linearized arc: %r" % arc))
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linearize_params = {
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'arc_gcode': arc,
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'start_pos': machine.pos,
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@ -207,14 +208,18 @@ for line_str in args.infile[0].readlines():
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for linear_gcode in omit_redundant_modes(linearize_arc(**linearize_params)):
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print(linear_gcode)
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elif args.canned_simplify and any((g.word in args.canned_codes) for g in effective_gcodes):
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(befores, (canned,), afters) = split_gcodes(effective_gcodes, GCodeCannedCycle)
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print(Comment('canning simplified: %r' % canned))
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# TODO: simplify canned things
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print(str(line))
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machine.process_block(line.block)
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elif args.canned_expand and any((g.word in args.canned_codes) for g in effective_gcodes):
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with split_and_process(effective_gcodes, GCodeCannedCycle, line.comment) as canned:
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print(Comment("expanded: %r" % canned))
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simplify_canned_params = {
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'canned_gcode': canned,
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'start_pos': machine.pos,
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'plane': machine.mode.plane_selection,
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'dist_mode': machine.mode.distance,
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'axes': machine.axes,
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}
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for simplified_gcode in omit_redundant_modes(simplify_canned_cycle(**simplify_canned_params)):
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print(simplified_gcode)
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else:
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print(str(line))
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@ -11,6 +11,7 @@ add_pygcode_to_path()
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# Units under test
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from pygcode import gcodes
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from pygcode import words
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from pygcode import machine
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from pygcode.exceptions import GCodeWordStrError
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@ -139,3 +140,54 @@ class GCodeSplitTests(unittest.TestCase):
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self.assertTrue(any(isinstance(g, gcodes.GCodeMotion) for g in split[0]))
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self.assertTrue(isinstance(split[1][0], gcodes.GCodeStartSpindle))
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self.assertTrue(any(isinstance(g, gcodes.GCodeSpindleSpeed) for g in split[2]))
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class GCodeAbsoluteToRelativeDecoratorTests(unittest.TestCase):
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def test_gcodes_abs2rel(self):
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# setup gcode testlist
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L = gcodes.GCodeLinearMove
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R = gcodes.GCodeRapidMove
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args = lambda x, y, z: dict(a for a in zip('XYZ', [x,y,z]) if a[1] is not None)
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gcode_list = [
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# GCode instances Expected incremental output
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(L(**args(0, 0, 0)), L(**args(-10, -20, -30))),
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(L(**args(1, 2, 0)), L(**args(1, 2, None))),
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(L(**args(3, 4, 0)), L(**args(2, 2, None))),
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(R(**args(1, 2, 0)), R(**args(-2, -2, None))),
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(R(**args(3, 4, 0)), R(**args(2, 2, None))),
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(L(**args(3, 4, 0)), None),
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(L(**args(3, 4, 8)), L(**args(None, None, 8))),
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]
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m = machine.Machine()
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# Incremental Output
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m.set_mode(gcodes.GCodeAbsoluteDistanceMode())
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m.move_to(X=10, Y=20, Z=30) # initial position (absolute)
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m.set_mode(gcodes.GCodeIncrementalDistanceMode())
|
||||
|
||||
@gcodes._gcodes_abs2rel(m.pos, dist_mode=m.mode.distance, axes=m.axes)
|
||||
def expecting_rel():
|
||||
return [g[0] for g in gcode_list]
|
||||
|
||||
trimmed_expecting_list = [x[1] for x in gcode_list if x[1] is not None]
|
||||
for (i, g) in enumerate(expecting_rel()):
|
||||
expected = trimmed_expecting_list[i]
|
||||
self.assertEqual(type(g), type(expected))
|
||||
self.assertEqual(g.word, expected.word)
|
||||
self.assertEqual(g.params, expected.params)
|
||||
|
||||
# Absolute Output
|
||||
m.set_mode(gcodes.GCodeAbsoluteDistanceMode())
|
||||
m.move_to(X=10, Y=20, Z=30) # initial position
|
||||
|
||||
@gcodes._gcodes_abs2rel(m.pos, dist_mode=m.mode.distance, axes=m.axes)
|
||||
def expecting_abs():
|
||||
return [g[0] for g in gcode_list]
|
||||
|
||||
for (i, g) in enumerate(expecting_abs()):
|
||||
expected = gcode_list[i][0] # expecting passthrough
|
||||
self.assertEqual(type(g), type(expected))
|
||||
self.assertEqual(g.word, expected.word)
|
||||
self.assertEqual(g.params, expected.params)
|
||||
|
||||
@ -1,7 +1,3 @@
|
||||
import sys
|
||||
import os
|
||||
import inspect
|
||||
|
||||
import unittest
|
||||
|
||||
# Add relative pygcode to path
|
||||
|
||||
@ -1,3 +1,4 @@
|
||||
# utilities for the testing suite (as opposed to the tests for utils.py)
|
||||
import sys
|
||||
import os
|
||||
import inspect
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user