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gcodes sortable by linuxcnc execution order

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This commit is contained in:
Peter Boin 2017-07-06 03:14:09 +10:00
parent 3a5dec14f0
commit cf5f9a17cd
4 changed files with 154 additions and 109 deletions
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27
pygcode/block.py
View File

@ -21,7 +21,32 @@ class Block(object):
self.text = text
self.words = list(iter_words(self.text))
self.gcodes = list(words_to_gcodes(self.words))
(self.gcodes, self.modal_params) = words_to_gcodes(self.words)
self._assert_gcodes()
# TODO: gcode verification
# - gcodes in the same modal_group raises exception
def _assert_gcodes(self):
modal_groups = set()
code_words = set()
for gc in self.gcodes:
# Assert all gcodes are not repeated in the same block
if gc.word in code_words:
raise AssertionError("%s cannot be in the same block" % ([
x for x in self.gcodes
if x.modal_group == gc.modal_group
]))
code_words.add(gc.word)
# Assert all gcodes are from different modal groups
if gc.modal_group is not None:
if gc.modal_group in modal_groups:
raise AssertionError("%s cannot be in the same block" % ([
x for x in self.gcodes
if x.modal_group == gc.modal_group
]))
modal_groups.add(gc.modal_group)
def __getattr__(self, k):
if k in WORD_MAP:

119
pygcode/gcodes.py
View File

@ -64,6 +64,34 @@ from .words import Word
# Override Switches (Group 9) M48, M49
# User Defined (Group 10) M100-M199
#
# Execution Order
# Order taken http://linuxcnc.org/docs/html/gcode/overview.html#_g_code_order_of_execution
# (as of 2017-07-03)
# 010: O-word commands (optionally followed by a comment but no other words allowed on the same line)
# 020: Comment (including message)
# 030: Set feed rate mode (G93, G94).
# 040: Set feed rate (F).
# 050: Set spindle speed (S).
# 060: Select tool (T).
# 070: HAL pin I/O (M62-M68).
# 080: Change tool (M6) and Set Tool Number (M61).
# 090: Spindle on or off (M3, M4, M5).
# 100: Save State (M70, M73), Restore State (M72), Invalidate State (M71).
# 110: Coolant on or off (M7, M8, M9).
# 120: Enable or disable overrides (M48, M49,M50,M51,M52,M53).
# 130: User-defined Commands (M100-M199).
# 140: Dwell (G4).
# 150: Set active plane (G17, G18, G19).
# 160: Set length units (G20, G21).
# 170: Cutter radius compensation on or off (G40, G41, G42)
# 180: Cutter length compensation on or off (G43, G49)
# 190: Coordinate system selection (G54, G55, G56, G57, G58, G59, G59.1, G59.2, G59.3).
# 200: Set path control mode (G61, G61.1, G64)
# 210: Set distance mode (G90, G91).
# 220: Set retract mode (G98, G99).
# 230: Go to reference location (G28, G30) or change coordinate system data (G10) or set axis offsets (G92, G92.1, G92.2, G94).
# 240: Perform motion (G0 to G3, G33, G38.x, G73, G76, G80 to G89), as modified (possibly) by G53.
# 250: Stop (M0, M1, M2, M30, M60).
class GCode(object):
@ -77,6 +105,9 @@ class GCode(object):
# Modal Group
modal_group = None
# Execution Order
exec_order = 999 # if not otherwise specified, run last
def __init__(self, word, *params):
assert isinstance(word, Word), "invalid gcode word %r" % code_word
self.word = word
@ -87,13 +118,16 @@ class GCode(object):
self.add_parameter(param)
def __repr__(self):
return "<{class_name}: {gcode}{{{word_list}}}>".format(
class_name=self.__class__.__name__,
gcode=self.word,
word_list=', '.join([
param_str = ''
if self.params:
param_str = "{%s}" % (', '.join([
"{}".format(self.params[k])
for k in sorted(self.params.keys())
]),
]))
return "<{class_name}: {gcode}{params}>".format(
class_name=self.__class__.__name__,
gcode=self.word,
params=param_str,
)
def __str__(self):
@ -106,6 +140,10 @@ class GCode(object):
]),
)
# Sort by exec_order
def __lt__(self, other):
return self.exec_order < other.exec_order
def add_parameter(self, word):
assert isinstance(word, Word), "invalid parameter class: %r" % word
assert word.letter in self.param_letters, "invalid parameter for %s: %s" % (self.__class__.__name__, str(word))
@ -113,6 +151,7 @@ class GCode(object):
self.params[word.letter] = word
def __getattr__(self, key):
# Return parameter values (if valid parameter for gcode)
if key in self.param_letters:
if key in self.params:
return self.params[key].value
@ -124,6 +163,10 @@ class GCode(object):
key=key
))
@property
def description(self):
return self.__doc__
# ======================= Motion =======================
# (X Y Z A B C U V W apply to all motions)
@ -143,7 +186,7 @@ class GCode(object):
class GCodeMotion(GCode):
param_letters = set('XYZABCUVW')
modal_group = 1
exec_order = 241
class GCodeRapidMove(GCodeMotion):
"""G0: Rapid Move"""
@ -175,6 +218,7 @@ class GCodeDwell(GCodeMotion):
param_letters = GCodeMotion.param_letters | set('P')
word_key = Word('G', 4)
modal_group = None # one of the few motion commands that isn't modal
exec_order = 140
class GCodeCublcSpline(GCodeMotion):
@ -238,6 +282,7 @@ class GCodeCancelCannedCycle(GCodeMotion):
class GCodeCannedCycle(GCode):
param_letters = set('XYZUVW')
modal_group = 1
exec_order = 241
class GCodeDrillingCycle(GCodeCannedCycle):
"""G81: Drilling Cycle"""
@ -289,7 +334,7 @@ class GCodeThreadingCycle(GCodeCannedCycle):
# G8 Lathe Radius Mode
class GCodeDistanceMode(GCode):
pass
exec_order = 210
class GCodeAbsoluteDistanceMode(GCodeDistanceMode):
@ -333,7 +378,7 @@ class GCodeLatheRadiusMode(GCodeDistanceMode):
class GCodeFeedRateMode(GCode):
modal_group = 5
exec_order = 30
class GCodeInverseTimeMode(GCodeFeedRateMode):
"""G93: Inverse Time Mode"""
@ -357,25 +402,25 @@ class GCodeUnitsPerRevolution(GCodeFeedRateMode):
# G96, G97 S D Spindle Control Mode
class GCodeSpindle(GCode):
pass
exec_order = 90
class GCodeStartSpindleCW(GCodeSpindle):
"""M3: Start Spindle Clockwise"""
param_letters = set('S')
#param_letters = set('S') # S is it's own gcode, makes no sense to be here
word_key = Word('M', 3)
modal_group = 7
class GCodeStartSpindleCCW(GCodeSpindle):
"""M4: Start Spindle Counter-Clockwise"""
param_letters = set('S')
#param_letters = set('S') # S is it's own gcode, makes no sense to be here
word_key = Word('M', 4)
modal_group = 7
class GCodeStopSpindle(GCodeSpindle):
"""M5: Stop Spindle"""
param_letters = set('S')
#param_letters = set('S') # S is it's own gcode, makes no sense to be here
word_key = Word('M', 5)
modal_group = 7
@ -406,6 +451,7 @@ class GCodeSpindleRPMMode(GCodeSpindle):
class GCodeCoolant(GCode):
modal_group = 8
exec_order = 110
class GCodeCoolantMistOn(GCodeCoolant):
@ -432,6 +478,7 @@ class GCodeCoolantOff(GCodeCoolant):
class GCodeToolLength(GCode):
modal_group = 8
exec_order = 180
class GCodeToolLengthOffset(GCodeToolLength):
@ -464,7 +511,7 @@ class GCodeCancelToolLengthOffset(GCodeToolLength):
class GCodeProgramControl(GCode):
modal_group = 4
exec_order = 250
class GCodePauseProgram(GCodeProgramControl):
"""M0: Program Pause"""
@ -497,6 +544,7 @@ class GCodePalletChangePause(GCodeProgramControl):
class GCodeUnit(GCode):
modal_group = 6
exec_order = 160
class GCodeUseInches(GCodeUnit):
@ -516,6 +564,7 @@ class GCodeUseMillimeters(GCodeUnit):
class GCodePlaneSelect(GCode):
modal_group = 2
exec_order = 150
class GCodeSelectZYPlane(GCodePlaneSelect):
@ -556,6 +605,7 @@ class GCodeSelectVWPlane(GCodePlaneSelect):
class GCodeCutterRadiusComp(GCode):
modal_group = 7
exec_order = 170
class GCodeCutterRadiusCompOff(GCodeCutterRadiusComp):
@ -594,6 +644,7 @@ class GCodeDynamicCutterCompRight(GCodeCutterRadiusComp):
class GCodePathControlMode(GCode):
modal_group = 13
exec_order = 200
class GCodeExactPathMode(GCodePathControlMode):
@ -618,6 +669,7 @@ class GCodePathBlendingMode(GCodePathControlMode):
class GCodeCannedReturnMode(GCode):
modal_group = 10
exec_order = 220
class GCodeCannedCycleReturnLevel(GCodeCannedReturnMode):
@ -646,10 +698,12 @@ class GCodeFeedRate(GCodeOtherModal):
@classmethod
def word_matches(cls, w):
return w.letter == 'F'
# Modal Group n/a:
# Modal Group :
# although this sets the machine's state, there are no other codes to
# group with this one, so although it's modal, it has no group.
#modal_group = n/a
# group with this one, so although it's modal, it usually has no group.
# However,
modal_group = 101
exec_order = 40
class GCodeSpindleSpeed(GCodeOtherModal):
@ -657,10 +711,9 @@ class GCodeSpindleSpeed(GCodeOtherModal):
@classmethod
def word_matches(cls, w):
return w.letter == 'S'
# Modal Group n/a:
# although this sets the machine's state, there are no other codes to
# group with this one, so although it's modal, it has no group.
#modal_group = n/a
# Modal Group: (see description in GCodeFeedRate)
modal_group = 102
exec_order = 50
class GCodeSelectTool(GCodeOtherModal):
@ -668,46 +721,51 @@ class GCodeSelectTool(GCodeOtherModal):
@classmethod
def word_matches(cls, w):
return w.letter == 'T'
# Modal Group n/a:
# although this sets the machine's state, there are no other codes to
# group with this one, so although it's modal, it has no group.
#modal_group = n/a
# Modal Group: (see description in GCodeFeedRate)
modal_group = 103
exec_order = 60
class GCodeSpeedAndFeedOverrideOn(GCodeOtherModal):
"""M48: Speed and Feed Override Control On"""
word_key = Word('M', 48)
modal_group = 9
exec_order = 120
class GCodeSpeedAndFeedOverrideOff(GCodeOtherModal):
"""M49: Speed and Feed Override Control Off"""
word_key = Word('M', 49)
modal_group = 9
exec_order = 120
class GCodeFeedOverride(GCodeOtherModal):
"""M50: Feed Override Control"""
param_letters = set('P')
word_key = Word('M', 50)
exec_order = 120
class GCodeSpindleSpeedOverride(GCodeOtherModal):
"""M51: Spindle Speed Override Control"""
param_letters = set('P')
word_key = Word('M', 51)
exec_order = 120
class GCodeAdaptiveFeed(GCodeOtherModal):
"""M52: Adaptive Feed Control"""
param_letters = set('P')
word_key = Word('M', 52)
exec_order = 120
class GCodeFeedStop(GCodeOtherModal):
"""M53: Feed Stop Control"""
param_letters = set('P')
word_key = Word('M', 53)
exec_order = 120
class GCodeSelectCoordinateSystem(GCodeOtherModal):
@ -726,6 +784,7 @@ class GCodeSelectCoordinateSystem(GCodeOtherModal):
def word_matches(cls, w):
return (w.letter == 'G') and (w.value in [54, 55, 56, 57, 58, 59, 59.1, 59.2, 59.3])
modal_group = 12
exec_order = 190
# ======================= Flow-control Codes =======================
@ -750,7 +809,7 @@ class GCodeSelectCoordinateSystem(GCodeOtherModal):
# M68 T Analog Output, Immediate
class GCodeIO(GCode):
pass
exec_order = 70
class GCodeDigitalOutput(GCodeIO):
@ -824,18 +883,21 @@ class GCodeToolChange(GCodeNonModal):
"""M6: Tool Change"""
param_letters = set('T')
word_key = Word('M', 6)
exec_order = 80
class GCodeToolSetCurrent(GCodeNonModal):
"""M61: Set Current Tool"""
param_letters = set('Q')
word_key = Word('M', 61)
exec_order = 80
class GCodeSet(GCodeNonModal):
"""G10: Set stuff"""
param_letters = set('LPQR')
word_key = Word('G', 10)
exec_order = 230
class GCodeGotoPredefinedPosition(GCodeNonModal):
@ -843,6 +905,7 @@ class GCodeGotoPredefinedPosition(GCodeNonModal):
@classmethod
def word_matches(cls, w):
return (w.letter == 'G') and (w.value in [28, 30])
exec_order = 230
class GCodeSetPredefinedPosition(GCodeNonModal):
@ -850,16 +913,19 @@ class GCodeSetPredefinedPosition(GCodeNonModal):
@classmethod
def word_matches(cls, w):
return (w.letter == 'G') and (w.value in [28.1, 30.1])
exec_order = 230
class GCodeMoveInMachineCoords(GCodeNonModal):
"""G53: Move in Machine Coordinates"""
word_key = Word('G', 53)
exec_order = 240
class GCodeCoordSystemOffset(GCodeNonModal):
"""G92: Coordinate System Offset"""
word_key = Word('G', 92)
exec_order = 230
class GCodeResetCoordSystemOffset(GCodeNonModal):
@ -867,11 +933,13 @@ class GCodeResetCoordSystemOffset(GCodeNonModal):
@classmethod
def word_matches(cls, w):
return (w.letter == 'G') and (w.value in [92.1, 92.2])
exec_order = 230
class GCodeRestoreCoordSystemOffset(GCodeNonModal):
"""G92.3: Restore Coordinate System Offset"""
word_key = Word('G', 92.3)
exec_order = 230
class GCodeUserDefined(GCodeNonModal):
@ -881,6 +949,7 @@ class GCodeUserDefined(GCodeNonModal):
#@classmethod
#def word_matches(cls, w):
# return (w.letter == 'M') and (101 <= w.value <= 199)
exec_order = 130
# ======================= Utilities =======================

24
pygcode/machine.py
View File

@ -44,3 +44,27 @@ class AbstractMachine(object):
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=
),
)
"""

93
pygcode/words.py
View File

@ -4,12 +4,12 @@ import six
from .exceptions import GCodeBlockFormatError
FLOAT_REGEX = re.compile(r'^-?(\d+\.?\d*|\.\d+)') # testcase: ..tests.test_words.WordValueMatchTests.test_float
INT_REGEX = re.compile(r'^-?\d+')
POSITIVEINT_REGEX = re.compile(r'^\d+')
CODE_REGEX = re.compile(r'^\d+(\.\d)?') # similar
WORD_MAP = {
# Descriptions copied from wikipedia:
# https://en.wikipedia.org/wiki/G-code#Letter_addresses
@ -163,87 +163,6 @@ WORD_MAP = {
}
ORDER_LINUXCNC_LETTER_MAP = {
'O': 10,
'F': 40,
'S': 50,
'T': 60,
}
_v_csv = lambda v, ks: [(k, v) for k in ks.split(',')]
ORDER_LINUXCNC_LETTERVALUE_MAP = dict(itertools.chain.from_iterable([
_v_csv(30, 'G93,G94'),
_v_csv(70, 'M62,M63,M64,M65,M66,M67,M68'),
_v_csv(80, 'M6,M61'),
_v_csv(90, 'M3,M4,M5'),
_v_csv(100, 'M71,M73,M72,M71'),
_v_csv(110, 'M7,M8,M9'),
_v_csv(120, 'M48,M49,M50,M51,M52,M53'),
[('G4', 140)],
_v_csv(150, 'G17,G18,G19'),
_v_csv(160, 'G20,G21'),
_v_csv(170, 'G40,G41,G42'),
_v_csv(180, 'G43,G49'),
_v_csv(190, 'G54,G55,G56,G57,G58,G59,G59.1,G59.2,G59.3'),
_v_csv(200, 'G61,G61.1,G64'),
_v_csv(210, 'G90,G91'),
_v_csv(220, 'G98,G99'),
_v_csv(230, 'G28,G30,G10,G92,G92.1,G92.2,G94'),
_v_csv(240, 'G0,G1,G2,G3,G33,G73,G76,G80,G81,G82,G83,G84,G85,G86,G87,G88,G89'),
_v_csv(250, 'M0,M1,M2,M30,M60'),
]))
def _word_order_linuxcnc(word):
'''
Order taken http://linuxcnc.org/docs/html/gcode/overview.html#_g_code_order_of_execution
(as of 2017-07-03)
010: O-word commands (optionally followed by a comment but no other words allowed on the same line)
N/A: Comment (including message)
030: Set feed rate mode (G93, G94).
040: Set feed rate (F).
050: Set spindle speed (S).
060: Select tool (T).
070: HAL pin I/O (M62-M68).
080: Change tool (M6) and Set Tool Number (M61).
090: Spindle on or off (M3, M4, M5).
100: Save State (M70, M73), Restore State (M72), Invalidate State (M71).
110: Coolant on or off (M7, M8, M9).
120: Enable or disable overrides (M48, M49,M50,M51,M52,M53).
130: User-defined Commands (M100-M199).
140: Dwell (G4).
150: Set active plane (G17, G18, G19).
160: Set length units (G20, G21).
170: Cutter radius compensation on or off (G40, G41, G42)
180: Cutter length compensation on or off (G43, G49)
190: Coordinate system selection (G54, G55, G56, G57, G58, G59, G59.1, G59.2, G59.3).
200: Set path control mode (G61, G61.1, G64)
210: Set distance mode (G90, G91).
220: Set retract mode (G98, G99).
230: Go to reference location (G28, G30) or change coordinate system data (G10) or set axis offsets (G92, G92.1, G92.2, G94).
240: Perform motion (G0 to G3, G33, G38.x, G73, G76, G80 to G89), as modified (possibly) by G53.
250: Stop (M0, M1, M2, M30, M60).
900 + letter val: (else)
'''
if word.letter in ORDER_LINUXCNC_LETTER_MAP:
return ORDER_LINUXCNC_LETTER_MAP[word.letter]
letter_value = str(word)
if letter_value in ORDER_LINUXCNC_LETTERVALUE_MAP:
return ORDER_LINUXCNC_LETTERVALUE_MAP[letter_value]
# special cases
if (word.letter == 'M') and (100 <= int(word.value) <= 199):
return 130
if (word.letter == 'G') and (38 < float(word.value) < 39):
return 240
# otherwise, sort last, in alphabetic order
return (900 + (ord(word.letter) - ord('A')))
def by_linuxcnc_order(word):
return word.orderval_linuxcnc
class Word(object):
def __init__(self, letter, value):
self.letter = letter.upper()
@ -302,7 +221,7 @@ class Word(object):
@property
def description(self):
return WORD_MAP[self.letter]['description']
return "%s: %s" % (self.letter, WORD_MAP[self.letter]['description'])
NEXT_WORD = re.compile(r'^.*?(?P<letter>[%s])' % ''.join(WORD_MAP.keys()), re.IGNORECASE)
@ -336,3 +255,11 @@ def iter_words(block_text):
remainder = block_text[index:]
if remainder and re.search(r'\S', remainder):
raise GCodeBlockFormatError("block code remaining '%s'" % remainder)
def str2word(word_str):
words = list(iter_words(word_str))
if words:
assert len(words) <= 1, "more than one word given"
return words[0]
return None