simplified machine class

separated machine state to avoid circular dependency between gcodes.py and machine.py

pygcode/file.py

@@ -1,6 +1,6 @@
 from .line import Line
 
-from .machine import AbstractMachine
+#from .machine import AbstractMachine
 
 class GCodeFile(object):
     def __init__(self, filename=None):
@@ -14,10 +14,6 @@ class GCodeFile(object):
         self.lines.append(line)
 
 
-class GCodeWriterMachine(AbstractMachine):
-    def machine_init(self, *args, **kwargs):
-        pass
-
 def parse(filename):
     # FIXME: should be an iterator, and also not terrible
     file = GCodeFile()

pygcode/machine.py

@@ -1,70 +1,24 @@
 
+from collections import defaultdict
+
+from .gcodes import MODAL_GROUP_MAP, GCode
+from .line import Line
+
+from .machinestate import MachineState
+
 
-class MachineState(object):
-    def __init__(self, axes=('x', 'y', 'z')):
-        self.axes = axes
+class Machine(object):
+    def __init__(self):
+        self.state = MachineState()
 
-        # initialize
-        self.position = {}
-        for axis in self.axes:
-            self.position[axis] = 0
+    def process(self, *gcode_list, **kwargs):
+        """
+        Process gcodes
+        :param gcode_list: list of GCode instances
+        :param modal_params: list of Word instances to be applied to current movement mode
+        """
+        modal_params = kwargs.get('modal_params', [])
+        for gcode in sorted(gcode_list):
+            self.state.set_mode(gcode)  # if gcode is not modal, it's ignored
 
-        self.time = 0
-
-
-
-class AbstractMachine(object):
-    """Basis for a real / virtualized machine to process gcode"""
-    def __init__(self, *args, **kwargs):
-        self.axes = kwargs.get('axes', ('x', 'y', 'z'))
-        self.max_rate = kwargs.get('max_rate', {
-            'x': 500, # mm/min
-            'y': 500, # mm/min
-            'z': 500, # mm/min
-        })
-        self.max_travel = kwargs.get('max_travel', {
-            'x': 200, # mm
-            'y': 200, # mm
-            'z': 200, # mm
-        })
-        self.max_spindle_speed = kwargs.get('max_spindle_speed', 1000) # rpm
-        self.min_spindle_speed = kwargs.get('max_spindle_speed', 0) # rpm
-
-        # initialize
-        self.state = MachineState(self.axes)
-
-        # machine-specific initialization
-        self.machine_init(*args, **kwargs)
-
-    def machine_init(self, *args, **kwargs):
-        # Executed last in instances' __init__ call.
-        # Parameters are identical to that of __init__
-        pass
-
-    def process_line(self, line):
-        """Change machine's state based on the given gcode line"""
-        pass # TODO
-
-
-
-
-"""
-class Axes(object):
-    pass
-
-class MyMachineState(MachineState):
-    axes_state_class = AxesState
-    pass
-
-class MyMachine(AbstractMachine):
-    available_axes = set('xyz')
-    state_class = MyMachineState
-
-
-m = MyMachine(
-    state=MyMachineState(
-        absolute_position=
-    ),
-)
-
-"""
+            # TODO: gcode instance to change machine's state

pygcode/machinestate.py

@@ -0,0 +1,97 @@
+from .gcodes import GCode
+from .line import Line
+
+
+class State(object):
+    """State of a Machine"""
+    # State is very forgiving:
+    #   Anything possible in a machine's state may be changed & fetched.
+    #   For example: x, y, z, a, b, c may all be set & requested.
+    #   However, the machine for which this state is stored probably doesn't
+    #   have all possible 6 axes.
+    #   It is also possible to set an axis to an impossibly large distance.
+    #   It is the responsibility of the Machine using this class to be
+    #   discerning in these respects.
+    def __init__(self):
+        self.axes = defaultdict(lambda: 0.0) # aka: "machine coordinates"
+
+        self.work_offset = defaultdict(lambda: 0.0)
+        # TODO: how to manage work offsets? (probs not like the above)
+        # read up on:
+        #   - G92: coordinate system offset
+        #   - G54-G59: select coordinate system (offsets from machine coordinates set by G10 L2)
+
+        # TODO: Move this class into MachineState
+
+
+class MachineState(object):
+    """Machine's state, and mode"""
+    # Mode is defined by gcodes set by processed blocks:
+    #   see modal_group in gcode.py module for details
+    def __init__(self):
+        self.modal_groups = defaultdict(lambda: None)
+        # populate with all groups
+        for modal_group in MODAL_GROUP_MAP.values():
+            self.modal_groups[modal_group] = None
+
+        # Default mode:
+        self.set_mode(*Line('''
+            G17       (plane_selection: X/Y plane)
+            G90       (distance: absolute position. ie: not "turtle" mode)
+            G91.1     (arc_ijk_distance: IJK sets arc center vertex relative to current position)
+            G94       (feed_rate_mode: feed-rate defined in units/min)
+            G21       (units: mm)
+            G40       (cutter_diameter_comp: no compensation)
+            G49       (tool_length_offset: no offset)
+            G61       (control_mode: exact path mode)
+            G97       (spindle_speed_mode: RPM Mode)
+            M0        (stopping: program paused)
+            M5        (spindle: off)
+            M9        (coolant: off)
+            F100      (feed_rate: 100 mm/min)
+            S1000     (tool: 1000 rpm, when it's switched on)
+        ''').block.gcodes) # note: although this is not a single line
+                           #    '\n' is just treated like any other whitespace,
+                           #    so it behaves like a single line.
+
+    def set_mode(self, *gcode_list):
+        for g in sorted(gcode_list): # sorted by execution order
+            if g.modal_group is not None:
+                self.modal_groups[g.modal_group] = g
+
+    def __getattr__(self, key):
+        if key in MODAL_GROUP_MAP:
+            return self.modal_groups[MODAL_GROUP_MAP[key]]
+
+        raise AttributeError("'{cls}' object has no attribute '{key}'".format(
+            cls=self.__class__.__name__,
+            key=key
+        ))
+
+    def __setattr__(self, key, value):
+        if key in MODAL_GROUP_MAP:
+            # Set/Clear modal group gcode
+            if value is None:
+                # clear mode group
+                self.modal_groups[MODAL_GROUP_MAP[key]] = None
+            else:
+                # set mode group explicitly
+                # (recommended to use self.set_mode(value) instead)
+                assert isinstance(value, GCode), "invalid value type: %r" % value
+                assert value.modal_group == MODAL_GROUP_MAP[key], \
+                    "cannot set '%s' mode as %r, wrong group" % (key, value)
+                self.modal_groups[MODAL_GROUP_MAP[key]] = value
+        else:
+            self.__dict__[key] = value
+
+    def __str__(self):
+        gcode_list = []
+        for modal_group in sorted(MODAL_GROUP_MAP.values()):
+            if self.modal_groups[modal_group]:
+                gcode_list.append(self.modal_groups[modal_group])
+        return ' '.join(str(g) for g in gcode_list)
+
+    def __repr__(self):
+        return "<{class_name}: {gcodes}>".format(
+            class_name=self.__class__.__name__, gcodes=str(self)
+        )

pygcode/words.py

@@ -4,7 +4,6 @@ import six
 
 from .exceptions import GCodeBlockFormatError
 
-
 REGEX_FLOAT = re.compile(r'^-?(\d+\.?\d*|\.\d+)') # testcase: ..tests.test_words.WordValueMatchTests.test_float
 REGEX_INT = re.compile(r'^-?\d+')
 REGEX_POSITIVEINT = re.compile(r'^\d+')
@@ -201,7 +200,15 @@ WORD_MAP = {
 
 
 class Word(object):
-    def __init__(self, letter, value):
+    def __init__(self, *args):
+        assert len(args) in [1, 2], "input arguments either: (letter, value) or (word_str)"
+        if len(args) == 2:
+            (letter, value) = args
+        else:
+            word_str = args[0]
+            letter = word_str[0] # first letter
+            value = word_str[1:] # rest of string
+
         self.letter = letter.upper()
 
         self._value_str = None