def position(self):
""" Return current machine position (after the latest command)
Note that hal might still be moving motors and in this case
function will block until motors stops.
This function for tests only.
:return current position.
"""
hal.join()
return self._position
def _spindle(self, spindle_speed):
hal.join()
hal.spindle_control(100.0 * spindle_speed / SPINDLE_MAX_RPM)
def do_command(self, gcode):
""" Perform action.
:param gcode: GCode object which represent one gcode line
:return String if any answer require, None otherwise.
"""
if gcode is None:
return None
answer = None
logging.debug("got command " + str(gcode.params))
# read command
c = gcode.command()
if c is None and gcode.has_coordinates():
c = 'G1'
# read parameters
if self._absoluteCoordinates:
coord = gcode.coordinates(self._position - self._local,
self._convertCoordinates)
coord = coord + self._local
delta = coord - self._position
else:
delta = gcode.coordinates(Coordinates(0.0, 0.0, 0.0, 0.0),
self._convertCoordinates)
# coord = self._position + delta
velocity = gcode.get('F', self._velocity)
radius = gcode.radius(Coordinates(0.0, 0.0, 0.0, 0.0),
self._convertCoordinates)
# check parameters
if velocity < MIN_VELOCITY_MM_PER_MIN:
raise GMachineException("feed speed too low")
# select command and run it
if c == 'G0': # rapid move
vl = max(MAX_VELOCITY_MM_PER_MIN_X,
MAX_VELOCITY_MM_PER_MIN_Y,
MAX_VELOCITY_MM_PER_MIN_Z,
MAX_VELOCITY_MM_PER_MIN_E)
l = delta.length()
if l > 0:
proportion = abs(delta) / l
if proportion.x > 0:
v = int(MAX_VELOCITY_MM_PER_MIN_X / proportion.x)
if v < vl:
vl = v
if proportion.y > 0:
v = int(MAX_VELOCITY_MM_PER_MIN_Y / proportion.y)
if v < vl:
vl = v
if proportion.z > 0:
v = int(MAX_VELOCITY_MM_PER_MIN_Z / proportion.z)
if v < vl:
vl = v
if proportion.e > 0:
v = int(MAX_VELOCITY_MM_PER_MIN_E / proportion.e)
if v < vl:
vl = v
self._move_linear(delta, vl)
elif c == 'G1': # linear interpolation
self._move_linear(delta, velocity)
elif c == 'G2': # circular interpolation, clockwise
self._move_circular(delta, radius, velocity, CW)
elif c == 'G3': # circular interpolation, counterclockwise
self._move_circular(delta, radius, velocity, CCW)
elif c == 'G4': # delay in s
if not gcode.has('P'):
raise GMachineException("P is not specified")
pause = gcode.get('P', 0)
if pause < 0:
raise GMachineException("bad delay")
hal.join()
time.sleep(pause)
elif c == 'G17': # XY plane select
self._plane = PLANE_XY
elif c == 'G18': # ZX plane select
self._plane = PLANE_ZX
elif c == 'G19': # YZ plane select
self._plane = PLANE_YZ
elif c == 'G20': # switch to inches
self._convertCoordinates = 25.4
elif c == 'G21': # switch to mm
self._convertCoordinates = 1.0
elif c == 'G28': # home
axises = gcode.has('X'), gcode.has('Y'), gcode.has('Z')
if axises == (False, False, False):
axises = True, True, True
self.safe_zero(*axises)
hal.join()
if not hal.calibrate(*axises):
raise GMachineException("failed to calibrate")
elif c == 'G53': # switch to machine coords
self._local = Coordinates(0.0, 0.0, 0.0, 0.0)
elif c == 'G90': # switch to absolute coords
self._absoluteCoordinates = True
elif c == 'G91': # switch to relative coords
self._absoluteCoordinates = False
elif c == 'G92': # switch to local coords
if gcode.has_coordinates():
self._local = self._position - gcode.coordinates(
Coordinates(self._position.x - self._local.x,
self._position.y - self._local.y,
self._position.z - self._local.z,
self._position.e - self._local.e),
self._convertCoordinates)
else:
self._local = self._position
elif c == 'M3': # spindle on
spindle_rpm = gcode.get('S', self._spindle_rpm)
if spindle_rpm < 0 or spindle_rpm > SPINDLE_MAX_RPM:
raise GMachineException("bad spindle speed")
self._spindle(spindle_rpm)
self._spindle_rpm = spindle_rpm
elif c == 'M5': # spindle off
self._spindle(0)
elif c == 'M2' or c == 'M30': # program finish, reset everything.
self.reset()
elif c == 'M84': # disable motors
hal.disable_steppers()
# extruder and bed heaters control
elif c == 'M104' or c == 'M109' or c == 'M140' or c == 'M190':
if c == 'M104' or c == 'M109':
heater = HEATER_EXTRUDER
elif c == 'M140' or c == 'M190':
heater = HEATER_BED
else:
raise Exception("Unexpected heater command")
wait = c == 'M109' or c == 'M190'
if not gcode.has("S"):
raise GMachineException("temperature is not specified")
t = gcode.get('S', 0)
if ((heater == HEATER_EXTRUDER and t > EXTRUDER_MAX_TEMPERATURE) or
(heater == HEATER_BED and t > BED_MAX_TEMPERATURE) or
t < MIN_TEMPERATURE) and t != 0:
raise GMachineException("bad temperature")
self._heat(heater, t, wait)
elif c == 'M105': # get temperature
try:
et = hal.get_extruder_temperature()
except (IOError, OSError):
et = None
try:
bt = hal.get_bed_temperature()
except (IOError, OSError):
bt = None
if et is None and bt is None:
raise GMachineException("can not measure temperature")
answer = "E:{} B:{}".format(et, bt)
elif c == 'M106': # fan control
if gcode.get('S', 1) != 0:
self._fan(True)
else:
self._fan(False)
elif c == 'M107': # turn off fan
self._fan(False)
elif c == 'M111': # enable debug
logging_config.debug_enable()
elif c == 'M114': # get current position
hal.join()
p = self.position()
answer = "X:{} Y:{} Z:{} E:{}".format(p.x, p.y, p.z, p.e)
elif c is None: # command not specified(ie just F was passed)
pass
# commands below are added just for compatibility
elif c == 'M82': # absolute mode for extruder
if not self._absoluteCoordinates:
raise GMachineException("Not supported, use G90/G91")
elif c == 'M83': # relative mode for extruder
if self._absoluteCoordinates:
raise GMachineException("Not supported, use G90/G91")
else:
raise GMachineException("unknown command")
# save parameters on success
self._velocity = velocity
logging.debug("position {}".format(self._position))
return answer
def do_command(self, gcode):
""" Perform action.
:param gcode: GCode object which represent one gcode line
"""
if gcode is None:
return
logging.debug("got command " + str(gcode.params))
# read command
c = gcode.command()
if c is None and gcode.has_coordinates():
c = 'G1'
# read parameters
if self._absoluteCoordinates:
coord = gcode.coordinates(self._position, self._convertCoordinates)
coord = coord + self._local
delta = coord - self._position
else:
delta = gcode.coordinates(Coordinates(0.0, 0.0, 0.0, 0.0),
self._convertCoordinates)
coord = self._position + delta
velocity = gcode.get('F', self._velocity)
spindle_rpm = gcode.get('S', self._spindle_rpm)
pause = gcode.get('P', self._pause)
radius = gcode.radius(self._radius, self._convertCoordinates)
# check parameters
if velocity <= 0 or velocity > STEPPER_MAX_VELOCITY_MM_PER_MIN:
raise GMachineException("bad feed speed")
if spindle_rpm < 0 or spindle_rpm > SPINDLE_MAX_RPM:
raise GMachineException("bad spindle speed")
if pause < 0:
raise GMachineException("bad delay")
# select command and run it
if c == 'G0': # rapid move
self._move_linear(delta, STEPPER_MAX_VELOCITY_MM_PER_MIN)
elif c == 'G1': # linear interpolation
self._move_linear(delta, velocity)
elif c == 'G2': # circular interpolation, clockwise
self._circular(delta, radius, velocity, CW)
elif c == 'G3': # circular interpolation, counterclockwise
self._circular(delta, radius, velocity, CCW)
elif c == 'G4': # delay in s
hal.join()
time.sleep(pause)
elif c == 'G17': # XY plane select
self._plane = PLANE_XY
elif c == 'G18': # ZX plane select
self._plane = PLANE_ZX
elif c == 'G19': # YZ plane select
self._plane = PLANE_YZ
elif c == 'G20': # switch to inches
self._convertCoordinates = 25.4
elif c == 'G21': # switch to mm
self._convertCoordinates = 1.0
elif c == 'G28': # home
self.home()
elif c == 'G53': # switch to machine coords
self._local = Coordinates(0.0, 0.0, 0.0, 0.0)
elif c == 'G90': # switch to absolute coords
self._absoluteCoordinates = True
elif c == 'G91': # switch to relative coords
self._absoluteCoordinates = False
elif c == 'G92': # switch to local coords
self._local = self._position - \
gcode.coordinates(Coordinates(0.0, 0.0, 0.0, 0.0),
self._convertCoordinates)
elif c == 'M3': # spinle on
self._spindle(spindle_rpm)
elif c == 'M5': # spindle off
self._spindle(0)
elif c == 'M2' or c == 'M30': # program finish, reset everything.
self.reset()
elif c == 'M111': # enable debug
logging.getLogger().setLevel(logging.DEBUG)
elif c is None: # command not specified(for example, just F was passed)
pass
else:
raise GMachineException("unknown command")
# save parameters on success
self._velocity = velocity
self._spindle_rpm = spindle_rpm
self._pause = pause
self._radius = radius
logging.debug("position {}".format(self._position))
def do_command(self, gcode):
""" Perform action.
:param gcode: GCode object which represent one gcode line
:return String if any answer require, None otherwise.
"""
if gcode is None:
return None
answer = None
logging.debug("got command " + str(gcode.params))
# read command
c = gcode.command()
if c is None and gcode.has_coordinates():
c = 'G1'
# read parameters
if self._absoluteCoordinates:
coord = gcode.coordinates(self._position - self._local,
self._convertCoordinates)
coord = coord + self._local
delta = coord - self._position
else:
delta = gcode.coordinates(Coordinates(0.0, 0.0, 0.0, 0.0),
self._convertCoordinates)
# coord = self._position + delta
velocity = gcode.get('F', self._velocity)
radius = gcode.radius(Coordinates(0.0, 0.0, 0.0, 0.0),
self._convertCoordinates)
# check parameters
if velocity < MIN_VELOCITY_MM_PER_MIN:
raise GMachineException("feed speed too low")
# select command and run it
if c == 'G0': # rapid move
vl = max(MAX_VELOCITY_MM_PER_MIN_X,
MAX_VELOCITY_MM_PER_MIN_Y,
MAX_VELOCITY_MM_PER_MIN_Z,
self._get_extruder_max_speed())
l = delta.length()
if l > 0:
proportion = abs(delta) / l
if proportion.x > 0:
v = int(MAX_VELOCITY_MM_PER_MIN_X / proportion.x)
if v < vl:
vl = v
if proportion.y > 0:
v = int(MAX_VELOCITY_MM_PER_MIN_Y / proportion.y)
if v < vl:
vl = v
if proportion.z > 0:
v = int(MAX_VELOCITY_MM_PER_MIN_Z / proportion.z)
if v < vl:
vl = v
if proportion.e > 0:
v = int(self._get_extruder_max_speed() / proportion.e)
if v < vl:
vl = v
self._move_linear(delta, vl)
elif c == 'G1': # linear interpolation
self._move_linear(delta, velocity)
elif c == 'G2': # circular interpolation, clockwise
self._move_circular(delta, radius, velocity, CW)
elif c == 'G3': # circular interpolation, counterclockwise
self._move_circular(delta, radius, velocity, CCW)
elif c == 'G4': # delay in s
if not gcode.has('P'):
raise GMachineException("P is not specified")
pause = gcode.get('P', 0)
if pause < 0:
raise GMachineException("bad delay")
hal.join()
time.sleep(pause)
elif c == 'G17': # XY plane select
self._plane = PLANE_XY
elif c == 'G18': # ZX plane select
self._plane = PLANE_ZX
elif c == 'G19': # YZ plane select
self._plane = PLANE_YZ
elif c == 'G20': # switch to inches
self._convertCoordinates = 25.4
elif c == 'G21': # switch to mm
self._convertCoordinates = 1.0
elif c == 'G28': # home
axises = gcode.has('X'), gcode.has('Y'), gcode.has('Z')
if axises == (False, False, False):
axises = True, True, True
self.safe_zero(*axises)
hal.join()
if not hal.calibrate(*axises):
raise GMachineException("failed to calibrate")
elif c == 'G53': # switch to machine coords
raise GMachineException('Not supported')
# TODO not sure what local/machine coordinates mean and how to handle this with multiple extruders
# self._local = Coordinates(0.0, 0.0, 0.0, 0.0)
elif c == 'G90': # switch to absolute coords
self._absoluteCoordinates = True
elif c == 'G91': # switch to relative coords
self._absoluteCoordinates = False
elif c == 'G92': # switch to local coords
raise GMachineException('Not supported')
# if gcode.has_coordinates():
# self._local = self._position - gcode.coordinates(
# Coordinates(self._position.x - self._local.x,
# self._position.y - self._local.y,
# self._position.z - self._local.z,
# self._position.e - self._local.e),
# self._convertCoordinates)
# else:
# self._local = self._position
elif c == 'M2' or c == 'M30': # program finish, reset everything.
self.reset()
elif c == 'M72':
audio_id = int(gcode.get('P', 0))
if audio_id not in AUDIO_FILES:
raise GMachineException('Audio ID not recognized')
audio_filepath = AUDIO_BASE_FILEPATH + AUDIO_FILES[audio_id]
logging.info('playing audio from {}'.format(audio_filepath))
AudioPlayer.play(audio_filepath)
elif c == 'M84': # disable motors
hal.disable_steppers()
elif c == 'M111': # enable debug
logging_config.debug_enable()
elif c == 'M114': # get current position
hal.join()
p = self.position()
answer = "X:{} Y:{} Z:{} E:{}".format(p.x, p.y, p.z, p.e)
elif c == 'T': # select tool (extruder)
self._set_extruder(int(gcode.get('T')))
elif c is None: # command not specified(ie just F was passed)
pass
# commands below are added just for compatibility
elif c == 'M82': # absolute mode for extruder
if not self._absoluteCoordinates:
raise GMachineException("Not supported, use G90/G91")
elif c == 'M83': # relative mode for extruder
if self._absoluteCoordinates:
raise GMachineException("Not supported, use G90/G91")
else:
raise GMachineException("unknown command")
# save parameters on success
self._velocity = velocity
logging.debug("position {}".format(self._position))
return answer
