def updateCenterWithCommand(cls, commandArgs: List[str],
initial: QVector3D, nextPoint: QVector3D,
absoluteIJKMode: bool,
clockwise: bool) -> QVector3D:
i = qQNaN()
j = qQNaN()
k = qQNaN()
r = qQNaN()
c = ""
for t in commandArgs:
if len(t) > 0:
# c = t[0].upper().toLatin1()
c = t[0].upper()
if c == 'I':
i = float(t[1:])
elif c == 'J':
j = float(t[1:])
elif c == 'K':
k = float(t[1:])
elif c == 'R':
r = float(t[1:])
if qIsNaN(i) and qIsNaN(j) and qIsNaN(k):
return cls.convertRToCenter(initial, nextPoint, r, absoluteIJKMode,
clockwise)
return cls.updatePointWithCommand_FromVector3D(initial, i, j, k,
absoluteIJKMode)
def processCommand(self, args: List[str]) -> PointSegment:
gCodes = []
ps = None
# Handle F code
speed = GcodePreprocessorUtils.parseCoord(args, 'F')
if not qIsNaN(speed):
if self.m_isMetric:
self.m_lastSpeed = speed
else:
self.m_lastSpeed = speed * 25.4
# Handle S code
spindleSpeed = GcodePreprocessorUtils.parseCoord(args, 'S')
if not qIsNaN(spindleSpeed):
self.m_lastSpindleSpeed = spindleSpeed
# Handle P code
dwell = GcodePreprocessorUtils.parseCoord(args, 'P')
if not qIsNaN(dwell):
self.m_points[-1].setDwell(dwell)
# handle G codes.
gCodes = GcodePreprocessorUtils.parseCodes(args, 'G')
# If there was no command, add the implicit one to the party.
if len(gCodes) == 0 and self.m_lastGcodeCommand != -1:
gCodes.append(self.m_lastGcodeCommand)
for code in gCodes:
ps = self.handleGCode(code, args)
return ps
def testLength(self, start: QVector3D, end: QVector3D):
length = (start - end).length()
if (not qIsNaN(length)) and length != 0:
if qIsNaN(self.m_minLength):
self.m_minLength = length
else:
self.m_minLength = min(self.m_minLength, length)
def nMax(cls, v1: float, v2: float) -> float:
if (not qIsNaN(v1)) and (not qIsNaN(v2)):
return max(v1, v2)
elif not qIsNaN(v1):
return v1
elif not qIsNaN(v2):
return v2
else:
return qQNaN()
def generatePointsAlongArcBDring_Arc(
cls, plane: PointSegment.Plane, start: QVector3D, end: QVector3D,
center: QVector3D, clockwise: bool, R: float, minArcLength: float,
arcPrecision: float, arcDegreeMode: bool) -> List[QVector3D]:
'''
Generates the points along an arc including the start and end points.
'''
radius = R
# Rotate vectors according to plane
m = QMatrix4x4()
m.setToIdentity()
if plane == PointSegment.Plane.XY:
pass
elif plane == PointSegment.Plane.ZX:
m.rotate(90, 1.0, 0.0, 0.0)
elif plane == PointSegment.Plane.YZ:
m.rotate(-90, 0.0, 1.0, 0.0)
start = m * start
end = m * end
center = m * center
# Check center
if qIsNaN(center.length()):
return []
# Calculate radius if necessary.
if radius == 0:
radius = math.sqrt(
math.pow((start.x() - center.x(), 2.0) +
math.pow(end.y() - center.y(), 2.0)))
startAngle = cls.getAngle(center, start)
endAngle = cls.getAngle(center, end)
sweep = cls.calculateSweep(startAngle, endAngle, clockwise)
# Convert units.
arcLength = sweep * radius
numPoints = 0
if arcDegreeMode and arcPrecision > 0:
numPoints = max(1.0, sweep / (cls.M_PI * arcPrecision / 180))
else:
if arcPrecision <= 0 and minArcLength > 0:
arcPrecision = minArcLength
numPoints = math.ceil(arcLength / arcPrecision)
return cls.generatePointsAlongArcBDring_Num(plane, start, end, center,
clockwise, radius,
startAngle, sweep,
numPoints)
def updateExtremes(self, drawable: ShaderDrawable):
if not qIsNaN(drawable.getMinimumExtremes().x()):
self.m_xMin = drawable.getMinimumExtremes().x()
else:
self.m_xMin = 0
if not qIsNaN(drawable.getMaximumExtremes().x()):
self.m_xMax = drawable.getMaximumExtremes().x()
else: self.m_xMax = 0
if not qIsNaN(drawable.getMinimumExtremes().y()):
self.m_yMin = drawable.getMinimumExtremes().y()
else:
self.m_yMin = 0
if not qIsNaN(drawable.getMaximumExtremes().y()):
self.m_yMax = drawable.getMaximumExtremes().y()
else:
self.m_yMax = 0
if not qIsNaN(drawable.getMinimumExtremes().z()):
self.m_zMin = drawable.getMinimumExtremes().z()
else:
self.m_zMin = 0
if not qIsNaN(drawable.getMaximumExtremes().z()):
self.m_zMax = drawable.getMaximumExtremes().z()
else:
self.m_zMax = 0
self.m_xSize = self.m_xMax - self.m_xMin
self.m_ySize = self.m_yMax - self.m_yMin
self.m_zSize = self.m_zMax - self.m_zMin
def updateProgramEstimatedTime(self, lines: List[LineSegment]) -> QTime:
time = 0
for line in lines:
ls = LineSegment(line)
# foreach (LineSegment *ls, lines) {
length = (ls.getEnd() - ls.getStart()).length()
if not qIsNaN(length) and not qIsNaN(
ls.getSpeed()) and ls.getSpeed() != 0:
cond1 = self.ui.slbFeedOverride.isChecked(
) and not ls.isFastTraverse()
cond2 = self.ui.slbRapidOverride.isChecked(
) and ls.isFastTraverse()
speed = ls.getSpeed()
val1 = (speed * self.ui.slbFeedOverride.value() / 100)
val2 = speed
if cond1:
time += val1
else:
if cond2:
time += val1
else:
time += val2 # Update for rapid override
time *= 60
t = QTime()
t.setHMS(0, 0, 0)
t = t.addSecs(time)
self.ui.glwVisualizer.setSpendTime(QTime(0, 0, 0))
self.ui.glwVisualizer.setEstimatedTime(t)
return t
def addArcPointSegment(self, nextPoint: QVector3D, clockwise: bool, args: List[str]) -> PointSegment:
ps = PointSegment.PointSegment_FromQVector3D(nextPoint, self.m_commandNumber)
self.m_commandNumber += 1
center = GcodePreprocessorUtils.updateCenterWithCommand(args, self.m_currentPoint, nextPoint, self.m_inAbsoluteIJKMode, clockwise)
radius = GcodePreprocessorUtils.parseCoord(args, 'R')
# Calculate radius if necessary.
if qIsNaN(radius):
m = QMatrix4x4()
m.setToIdentity()
if self.m_currentPlane == PointSegment.Plane.XY:
pass
elif self.m_currentPlane == PointSegment.Plane.ZX:
m.rotate(90, 1.0, 0.0, 0.0)
elif self.m_currentPlane == PointSegment.Plane.YZ:
m.rotate(-90, 0.0, 1.0, 0.0)
radius = math.sqrt( \
math.pow(((m * self.m_currentPoint).x() - (m * center).x()), 2.0) + \
math.pow(((m * self.m_currentPoint).y() - (m * center).y()), 2.0))
ps.setIsMetric(self.m_isMetric)
ps.setArcCenter(center)
ps.setIsArc(True)
ps.setRadius(radius)
ps.setIsClockwise(clockwise)
ps.setIsAbsolute(self.m_inAbsoluteMode)
ps.setSpeed(self.m_lastSpeed)
ps.setSpindleSpeed(self.m_lastSpindleSpeed)
ps.setPlane(self.m_currentPlane)
self.m_points.append(ps)
# Save off the endpoint.
self.m_currentPoint = nextPoint
return ps
def updatePointWithCommand_FromVector3D(cls, initial: QVector3D, x: float,
y: float, z: float,
absoluteMode: bool) -> QVector3D:
'''
Update a point given the new coordinates.
'''
newPoint = QVector3D(initial.x(), initial.y(), initial.z())
if absoluteMode:
if not qIsNaN(x): newPoint.setX(x)
if not qIsNaN(y): newPoint.setY(y)
if not qIsNaN(z): newPoint.setZ(z)
else:
if not qIsNaN(x): newPoint.setX(newPoint.x() + x)
if not qIsNaN(y): newPoint.setY(newPoint.y() + y)
if not qIsNaN(z): newPoint.setZ(newPoint.z() + z)
return newPoint
def generateG1FromPoints(cls, start: QVector3D, end: QVector3D,
absoluteMode: bool, precision: int) -> str:
sb = "G1"
if absoluteMode:
if not qIsNaN(end.x()):
sb.append("X" + "%.*f" % (precision, end.x()))
if not qIsNaN(end.y()):
sb.append("Y" + "%.*f" % (precision, end.y()))
if not qIsNaN(end.z()):
sb.append("Z" + "%.*f" % (precision, end.z()))
else:
if not qIsNaN(end.x()):
sb.append("X" + "%.*f" % (precision, end.x() - start.x()))
if not qIsNaN(end.y()):
sb.append("Y" + "%.*f" % (precision, end.y() - start.y()))
if not qIsNaN(end.z()):
sb.append("Z" + "%.*f" % (precision, end.z() - start.z()))
return sb
def handleMCode(self, code: float, args: List[str]):
spindleSpeed = GcodePreprocessorUtils.parseCoord(args, 'S')
if not qIsNaN(spindleSpeed):
self.m_lastSpindleSpeed = spindleSpeed
def parse_gcode(self, gcode: str):
'''
'''
self.reset()
self.gcode = gcode
lastX = sNaN
lastY = sNaN
lastZ = sNaN
lastF = sNaN
def parse() -> float:
self.char_no += 1
while self.char_no < len(
self.gcode) and (self.gcode[self.char_no] == ' '
or self.gcode[self.char_no] == '\t'):
self.char_no += 1
begin = self.char_no
while (self.char_no < len(self.gcode)
and self.gcode[self.char_no] in "+-.0123456789"):
self.char_no += 1
try:
end = self.char_no
return float(self.gcode[begin:end])
except Exception:
return None
self.char_no = 0
self.line_no = 0
while self.char_no < len(self.gcode):
g = sNaN
x = sNaN
y = sNaN
z = sNaN
f = sNaN
while self.char_no < len(
self.gcode
) and self.gcode[self.char_no] != '' and self.gcode[
self.char_no] != '\r' and self.gcode[self.char_no] != '\n':
if self.gcode[self.char_no] == 'G' or self.gcode[
self.char_no] == 'g':
g = parse()
elif self.gcode[self.char_no] == 'X' or self.gcode[
self.char_no] == 'x':
x = parse()
elif self.gcode[self.char_no] == 'Y' or self.gcode[
self.char_no] == 'y':
y = parse()
elif self.gcode[self.char_no] == 'Z' or self.gcode[
self.char_no] == 'z':
z = parse()
elif self.gcode[self.char_no] == 'F' or self.gcode[
self.char_no] == 'f':
f = parse()
else:
self.char_no += 1
if g == 0 or g == 1:
if not qIsNaN(x):
if qIsNaN(lastX):
for j in range(len(self.path)):
self.path[j][0] = x
lastX = x
if not qIsNaN(y):
if qIsNaN(lastY):
for j in range(len(self.path)):
self.path[j][1] = y
lastY = y
if not qIsNaN(z):
if qIsNaN(lastZ):
for j in range(len(self.path)):
self.path[j][2] = z
lastZ = z
if not qIsNaN(f):
if qIsNaN(lastF):
for j in range(len(self.path)):
self.path[j][3] = f
lastF = f
self.path.append([lastX, lastY, lastZ, lastF])
self.path_idx_line_no[len(self.path) - 1] = self.line_no
while self.char_no < len(self.gcode) and self.gcode[
self.char_no] != '\r' and self.gcode[self.char_no] != '\n':
self.char_no += 1
while self.char_no < len(
self.gcode) and (self.gcode[self.char_no] == '\r'
or self.gcode[self.char_no] == '\n'):
if self.gcode[self.char_no] == '\n':
self.line_no += 1
self.char_no += 1
# last thing
self.eval_path_time()
