def comp_level(self, queue, stopFunc=None):
"""Use probe information (if exist) to modify the g-code to autolevel"""
paths = []
# empty the gctos value
OCV.gctos = []
def add(line, path):
if line is not None:
if isinstance(line, str):
queue.put(line + "\n")
OCV.gctos.append(line)
else:
queue.put(line)
OCV.gctos.append(line)
paths.append(path)
# check the existence of an autolevel file
autolevel = not self.probe.isEmpty()
self.initPath()
for line in CNC.compile_pgm(OCV.startup.splitlines()):
add(line, None)
every = 1
for i, block in enumerate(OCV.blocks):
if not block.enable:
continue
for j, line in enumerate(block):
every -= 1
if every <= 0:
if stopFunc is not None and stopFunc():
return None
every = 50
newcmd = []
cmds = CNC.compileLine(line)
if cmds is None:
continue
elif isinstance(cmds, str):
cmds = CNC.breakLine(cmds)
else:
# either CodeType or tuple, list[] append at it as is
if isinstance(cmds, types.CodeType) or\
isinstance(cmds, int):
add(cmds, None)
else:
add(cmds, (i, j))
continue
skip = False
expand = None
self.cnc.motionStart(cmds)
# FIXME append feed on cut commands.
# It will be obsolete in grbl v1.0
if OCV.appendFeed and self.cnc.gcode in (1, 2, 3):
# Check is not existing in cmds
for c in cmds:
if c[0] in ('f', 'F'):
break
else:
cmds.append(
OCV.fmt(
'F',
self.cnc.feed / OCV.unit))
if autolevel and self.cnc.gcode in (0, 1, 2, 3) and \
self.cnc.mval == 0:
xyz = self.cnc.motionPath()
if not xyz:
# while auto-levelling, do not ignore non-movement
# commands, just append the line as-is
add(line, None)
else:
extra = ""
for c in cmds:
if c[0].upper() not in (
'G', 'X', 'Y', 'Z', 'I', 'J', 'K', 'R'):
extra += c
x1, y1, z1 = xyz[0]
if self.cnc.gcode == 0:
g = 0
else:
g = 1
for x2, y2, z2 in xyz[1:]:
for x, y, z in self.probe.splitLine(
x1, y1, z1, x2, y2, z2):
add("G{0:d} {1} {2} {3} {4}".format(
g,
OCV.fmt('X', x/OCV.unit),
OCV.fmt('Y', y/OCV.unit),
OCV.fmt('Z', z/OCV.unit),
extra),
(i, j))
extra = ""
x1, y1, z1 = x2, y2, z2
self.cnc.motionEnd()
continue
else:
# FIXME expansion policy here variable needed
# Canned cycles
if OCV.drillPolicy == 1 and \
self.cnc.gcode in (81, 82, 83, 85, 86, 89):
expand = self.cnc.macroGroupG8X()
# Tool change
elif self.cnc.mval == 6:
if OCV.toolPolicy == 0:
# send to grbl
pass
elif OCV.toolPolicy == 1:
# skip whole line
skip = True
elif OCV.toolPolicy >= 2:
expand = CNC.compile_pgm(self.cnc.toolChange())
self.cnc.motionEnd()
if expand is not None:
for line in expand:
add(line, None)
expand = None
continue
elif skip:
skip = False
continue
for cmd in cmds:
c = cmd[0]
try:
value = float(cmd[1:])
except Exception:
value = 0.0
if c.upper() in (
"F", "X", "Y", "Z",
"I", "J", "K", "R", "P"):
cmd = OCV.fmt(c, value)
else:
opt = OCV.ERROR_HANDLING.get(cmd.upper(), 0)
if opt == OCV.GSTATE_SKIP:
cmd = None
if cmd is not None:
newcmd.append(cmd)
add("".join(newcmd), (i, j))
return paths
