gcodes sortable by linuxcnc execution order

pygcode/block.py

@@ -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:

pygcode/gcodes.py

@@ -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(
+        param_str = ''
-            class_name=self.__class__.__name__,
+        if self.params:
-            gcode=self.word,
+            param_str = "{%s}" % (', '.join([
-            word_list=', '.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.
+    #   group with this one, so although it's modal, it usually has no group.
-    #modal_group = n/a
+    #   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:
+    # Modal Group: (see description in GCodeFeedRate)
-    #   although this sets the machine's state, there are no other codes to
+    modal_group = 102
-    #   group with this one, so although it's modal, it has no group.
+    exec_order = 50
-    #modal_group = n/a
 
 
 class GCodeSelectTool(GCodeOtherModal):
@@ -668,46 +721,51 @@ class GCodeSelectTool(GCodeOtherModal):
     @classmethod
     def word_matches(cls, w):
         return w.letter == 'T'
-    # Modal Group n/a:
+    # Modal Group: (see description in GCodeFeedRate)
-    #   although this sets the machine's state, there are no other codes to
+    modal_group = 103
-    #   group with this one, so although it's modal, it has no group.
+    exec_order = 60
-    #modal_group = n/a
 
 
 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 =======================

pygcode/machine.py

@@ -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=
+    ),
+)
+
+"""

pygcode/words.py

@@ -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