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")