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
: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