def clear(self):
self.app.unbind(wpos=self.update_tool)
if self.li:
self.remove_widget(self.li)
self.li = None
if self.select_mode:
self.stop_cursor(0, 0)
self.select_mode = False
self.ids.select_mode_but.state = 'normal'
self.valid = False
self.is_visible = False
self.canv.clear()
self.ids.surface.canvas.remove(self.canv)
self.last_target_layer = 0
# reset scale and translation
m = Matrix()
m.identity()
self.ids.surface.transform = m
# not sure why we need to do this
self.ids.surface.top = Window.height
def parse_gcode_file(self, fn, target_layer=0, one_layer=False):
# open file parse gcode and draw
Logger.debug("GcodeViewerScreen: parsing file {}".format(fn))
lastpos = [self.app.wpos[0], self.app.wpos[1],
-1] # XYZ, set to initial tool position
lastz = None
lastdeltaz = None
laste = 0
lasts = 1
layer = -1
last_gcode = -1
points = []
max_x = float('nan')
max_y = float('nan')
min_x = float('nan')
min_y = float('nan')
has_e = False
plane = XY
rel_move = False
self.is_visible = True
if self.laser_mode:
self.twod_mode = True # laser mode implies 2D mode
self.last_target_layer = target_layer
# reset scale and translation
m = Matrix()
m.identity()
self.ids.surface.transform = m
# remove all instructions from canvas
self.canv.clear()
self.canv.add(PushMatrix())
modal_g = 0
cnt = 0
found_layer = False
x = lastpos[0]
y = lastpos[1]
z = lastpos[2]
with open(fn) as f:
# if self.last_file_pos:
# # jump to last read position
# f.seek(self.last_file_pos)
# self.last_file_pos= None
# print('Jumped to Saved position: {}'.format(self.last_file_pos))
for ln in f:
cnt += 1
ln = ln.strip()
if not ln: continue
if ln.startswith(';'): continue
if ln.startswith('('): continue
p = ln.find(';')
if p >= 0: ln = ln[:p]
matches = self.extract_gcode.findall(ln)
# this handles multiple G codes on one line
gcodes = []
d = {}
for m in matches:
#print(m)
if m[0] == 'G' and 'G' in d:
# we have another G code on the same line
gcodes.append(d)
d = {}
d[m[0]] = float(m[1])
gcodes.append(d)
for d in gcodes:
if not d: continue
Logger.debug("GcodeViewerScreen: d={}".format(d))
# handle modal commands
if 'G' not in d and ('X' in d or 'Y' in d or 'Z' in d
or 'S' in d):
d['G'] = modal_g
gcode = int(d['G'])
# G92 E0 resets E
if 'G' in d and gcode == 92 and 'E' in d:
laste = float(d['E'])
has_e = True
if 'G' in d and (gcode == 91 or gcode == 90):
rel_move = gcode == 91
# only deal with G0/1/2/3
if gcode > 3: continue
modal_g = gcode
# see if it is 3d printing (ie has an E axis on a G1)
if not has_e and ('E' in d and 'G' in d and gcode == 1):
has_e = True
if rel_move:
x += 0 if 'X' not in d else float(d['X'])
y += 0 if 'Y' not in d else float(d['Y'])
z += 0 if 'Z' not in d else float(d['Z'])
else:
x = lastpos[0] if 'X' not in d else float(d['X'])
y = lastpos[1] if 'Y' not in d else float(d['Y'])
z = lastpos[2] if 'Z' not in d else float(d['Z'])
i = 0.0 if 'I' not in d else float(d['I'])
j = 0.0 if 'J' not in d else float(d['J'])
self.rval = 0.0 if 'R' not in d else float(d['R'])
e = laste if 'E' not in d else float(d['E'])
s = lasts if 'S' not in d else float(d['S'])
if not self.twod_mode:
# handle layers (when Z changes)
if z == -1:
# no z seen yet
layer = -1
continue
if lastz is None:
# first layer
lastz = z
layer = 1
if z != lastz:
# count layers
layer += 1
lastz = z
# wait until we get to the requested layer
if layer != target_layer:
lastpos[2] = z
continue
if layer > target_layer and one_layer:
# FIXME for some reason this does not work, -- not counting layers
#self.last_file_pos= f.tell()
#print('Saved position: {}'.format(self.last_file_pos))
break
self.current_z = z
found_layer = True
Logger.debug(
"GcodeViewerScreen: x= {}, y= {}, z= {}, s= {}".format(
x, y, z, s))
# find bounding box
if math.isnan(min_x) or x < min_x: min_x = x
if math.isnan(min_y) or y < min_y: min_y = y
if math.isnan(max_x) or x > max_x: max_x = x
if math.isnan(max_y) or y > max_y: max_y = y
# accumulating vertices is more efficient but we need to flush them at some point
# Here we flush them if we encounter a new G code like G3 following G1
if last_gcode != gcode:
# flush vertices
if points:
self.canv.add(Color(0, 0, 0))
self.canv.add(
Line(points=points,
width=1,
cap='none',
joint='none'))
points = []
last_gcode = gcode
# in slicer generated files there is no G0 so we need a way to know when to draw, so if there is an E then draw else don't
if gcode == 0:
#print("move to: {}, {}, {}".format(x, y, z))
# draw moves in dashed red
self.canv.add(Color(1, 0, 0))
self.canv.add(
Line(points=[lastpos[0], lastpos[1], x, y],
width=1,
dash_offset=1,
cap='none',
joint='none'))
elif gcode == 1:
if ('X' in d or 'Y' in d):
if self.laser_mode and s <= 0.01:
# do not draw non cutting lines
if points:
# draw accumulated points upto this point
self.canv.add(Color(0, 0, 0))
self.canv.add(
Line(points=points,
width=1,
cap='none',
joint='none'))
points = []
# for 3d printers (has_e) only draw if there is an E
elif not has_e or 'E' in d:
# if a CNC gcode file or there is an E in the G1 (3d printing)
#print("draw to: {}, {}, {}".format(x, y, z))
# collect points but don't draw them yet
if len(points) < 2:
points.append(lastpos[0])
points.append(lastpos[1])
points.append(x)
points.append(y)
else:
# a G1 with no E, treat as G0 and draw moves in red
#print("move to: {}, {}, {}".format(x, y, z))
if points:
# draw accumulated points upto this point
self.canv.add(Color(0, 0, 0))
self.canv.add(
Line(points=points,
width=1,
cap='none',
joint='none'))
points = []
# now draw the move in red
self.canv.add(Color(1, 0, 0))
self.canv.add(
Line(points=[lastpos[0], lastpos[1], x, y],
width=1,
cap='none',
joint='none'))
else:
# A G1 with no X or Y, maybe E only move (retract) or Z move (layer change)
if points:
# draw accumulated points upto this point
self.canv.add(Color(0, 0, 0))
self.canv.add(
Line(points=points,
width=1,
cap='none',
joint='none'))
points = []
elif gcode in [2, 3]: # CW=2,CCW=3 circle
# code cribbed from bCNC
xyz = []
xyz.append((lastpos[0], lastpos[1], lastpos[2]))
uc, vc = self.motionCenter(gcode, plane, lastpos,
[x, y, z], i, j)
if plane == XY:
u0 = lastpos[0]
v0 = lastpos[1]
w0 = lastpos[2]
u1 = x
v1 = y
w1 = z
elif plane == XZ:
u0 = lastpos[0]
v0 = lastpos[2]
w0 = lastpos[1]
u1 = x
v1 = z
w1 = y
gcode = 5 - gcode # flip 2-3 when XZ plane is used
else:
u0 = lastpos[1]
v0 = lastpos[2]
w0 = lastpos[0]
u1 = y
v1 = z
w1 = x
phi0 = math.atan2(v0 - vc, u0 - uc)
phi1 = math.atan2(v1 - vc, u1 - uc)
try:
sagitta = 1.0 - CNC_accuracy / self.rval
except ZeroDivisionError:
sagitta = 0.0
if sagitta > 0.0:
df = 2.0 * math.acos(sagitta)
df = min(df, math.pi / 4.0)
else:
df = math.pi / 4.0
if gcode == 2:
if phi1 >= phi0 - 1e-10: phi1 -= 2.0 * math.pi
ws = (w1 - w0) / (phi1 - phi0)
phi = phi0 - df
while phi > phi1:
u = uc + self.rval * math.cos(phi)
v = vc + self.rval * math.sin(phi)
w = w0 + (phi - phi0) * ws
phi -= df
if plane == XY:
xyz.append((u, v, w))
elif plane == XZ:
xyz.append((u, w, v))
else:
xyz.append((w, u, v))
else:
if phi1 <= phi0 + 1e-10: phi1 += 2.0 * math.pi
ws = (w1 - w0) / (phi1 - phi0)
phi = phi0 + df
while phi < phi1:
u = uc + self.rval * math.cos(phi)
v = vc + self.rval * math.sin(phi)
w = w0 + (phi - phi0) * ws
phi += df
if plane == XY:
xyz.append((u, v, w))
elif plane == XZ:
xyz.append((u, w, v))
else:
xyz.append((w, u, v))
xyz.append((x, y, z))
# plot the points
points = []
for t in xyz:
x1, y1, z1 = t
points.append(x1)
points.append(y1)
max_x = max(x1, max_x)
min_x = min(x1, min_x)
max_y = max(y1, max_y)
min_y = min(y1, min_y)
self.canv.add(Color(0, 0, 0))
self.canv.add(
Line(points=points,
width=1,
cap='none',
joint='none'))
points = []
# always remember last position
lastpos = [x, y, z]
laste = e
lasts = s
if not found_layer:
# we hit the end of file before finding the layer we want
Logger.info(
"GcodeViewerScreen: last layer was at {}".format(lastz))
self.last_target_layer -= 1
return
# flush any points not yet drawn
if points:
# draw accumulated points upto this point
self.canv.add(Color(0, 0, 0))
self.canv.add(
Line(points=points, width=1, cap='none', joint='none'))
points = []
# center the drawing and scale it
dx = max_x - min_x
dy = max_y - min_y
if dx == 0 or dy == 0:
Logger.warning(
"GcodeViewerScreen: size is bad, maybe need 2D mode")
return
dx += 4
dy += 4
Logger.debug("GcodeViewerScreen: dx= {}, dy= {}".format(dx, dy))
# add in the translation to center object
self.tx = -min_x - dx / 2
self.ty = -min_y - dy / 2
self.canv.insert(1, Translate(self.tx, self.ty))
Logger.debug("GcodeViewerScreen: tx= {}, ty= {}".format(
self.tx, self.ty))
# scale the drawing to fit the screen
if abs(dx) > abs(dy):
scale = self.ids.surface.width / abs(dx)
if abs(dy) * scale > self.ids.surface.height:
scale *= self.ids.surface.height / (abs(dy) * scale)
else:
scale = self.ids.surface.height / abs(dy)
if abs(dx) * scale > self.ids.surface.width:
scale *= self.ids.surface.width / (abs(dx) * scale)
Logger.debug("GcodeViewerScreen: scale= {}".format(scale))
self.scale = scale
self.canv.insert(1, Scale(scale))
# translate to center of canvas
self.offs = self.ids.surface.center
self.canv.insert(
1, Translate(self.ids.surface.center[0],
self.ids.surface.center[1]))
Logger.debug("GcodeViewerScreen: cx= {}, cy= {}".format(
self.ids.surface.center[0], self.ids.surface.center[1]))
Logger.debug("GcodeViewerScreen: sx= {}, sy= {}".format(
self.ids.surface.size[0], self.ids.surface.size[1]))
# axis Markers
self.canv.add(Color(0, 1, 0, mode='rgb'))
self.canv.add(
Line(points=[0, -10, 0, self.ids.surface.height / scale],
width=1,
cap='none',
joint='none'))
self.canv.add(
Line(points=[-10, 0, self.ids.surface.width / scale, 0],
width=1,
cap='none',
joint='none'))
# tool position marker
if self.app.is_connected:
x = self.app.wpos[0]
y = self.app.wpos[1]
r = (10.0 / self.ids.surface.scale) / scale
self.canv.add(Color(1, 0, 0, mode='rgb', group="tool"))
self.canv.add(Line(circle=(x, y, r), group="tool"))
# self.canv.add(Rectangle(pos=(x, y-r/2), size=(1/scale, r), group="tool"))
# self.canv.add(Rectangle(pos=(x-r/2, y), size=(r, 1/scale), group="tool"))
self.canv.add(PopMatrix())
self._loaded_ok = True
Logger.debug("GcodeViewerScreen: done loading")
