418 lines
20 KiB
Python
418 lines
20 KiB
Python
# -*- coding: utf-8 -*-
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#***************************************************************************
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#* *
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#* Copyright (c) 2016 Christoph Blaue <blaue@fh-westkueste.de> *
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#* *
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#* This program is free software; you can redistribute it and/or modify *
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#* it under the terms of the GNU Lesser General Public License (LGPL) *
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#* as published by the Free Software Foundation; either version 2 of *
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#* the License, or (at your option) any later version. *
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#* for detail see the LICENCE text file. *
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#* *
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#* This program is distributed in the hope that it will be useful, *
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#* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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#* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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#* GNU Library General Public License for more details. *
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#* *
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#* You should have received a copy of the GNU Library General Public *
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#* License along with this program; if not, write to the Free Software *
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#* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 *
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#* USA *
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#* *
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#***************************************************************************
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TOOLTIP='''Post processor for Maho M 600E mill
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Machines with Philips or Heidenhain control should be very easy to adapt.
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The post processor is configurable by changing the values of constants.
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No programming experience required. This can make a generated g-code
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program more readable and since older machines have very
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limited memory it seems sensible to reduce the number of commands and
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parameters, like e.g. suppress the units in the header and at every hop.
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'''
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# reload in python console:
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# import maho_post
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# reload(maho_post)
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import FreeCAD
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import time
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import Path, PathScripts
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from PathScripts import PostUtils
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import math
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#***************************************************************************
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# user editable stuff here
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MACHINE_NAME = 'Maho 600E'
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CORNER_MIN = {'x':-51.877, 'y':0, 'z':0 } #use metric for internal units
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CORNER_MAX = {'x':591.5, 'y':391.498, 'z':391.5 } #use metric for internal units
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UNITS = 'G21' # use metric units
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# possible values:
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# 'G20' for inches,
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# 'G21' for metric units.
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# a mapping to different GCodes is handled in the GCODE MAP below
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UNITS_INCLUDED = False # do not include the units in the GCode program
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# possible values:
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# True if units should be included
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# False if units should not be included
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# usually the units to be used are defined in the machine constants and almost never change,
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# so this can be set to False.
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COMMENT = ''
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# possible values:
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# ';' centroid or sinumerik comment symbol,
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# '' leave blank for bracketed comments style "(comment comment comment)"
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# '...' any other symbol to start comments
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# currently this can be only one symbol, if it should be a sequence of characters
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# in PostUtils.py the line
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# if len(commentsym)==1:
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# should be changed to
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# if len(commentsym)>1:
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SHOW_EDITOR = True
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# possible values:
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# True before the file is written it is shown to the user for inspection
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# False the file is written directly
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LINENUMBERS = True
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# possible values:
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# True if linenumbers of the form N1 N2 ... should be included
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# False linennumbers are suppressed
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# if linenumbers are used, header and footer get numbered as well
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STARTLINENR = 1 # first linenumber used
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# possible values:
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# any integer value >= 0
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# to have the possibility to change some initial values directly at the CNC machine
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# without renumbering the rest it is possible to start the numbering of the file with some value > 0
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LINENUMBER_INCREMENT = 1
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# possible values:
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# any integer value > 0
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# similar to STARTLINENR it is possible to leave gaps in the linenumbering of subsequent lines
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MODAL = True
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# possible values:
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# True repeated GCodes in subsequent lines are suppressed, like in the following snippet
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# G1 X10 Y20
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# X10 Y30
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# False repeated GCodes in subsequent lines are repeated in the GCode file
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# G1 X10 Y20
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# G1 X10 Y30
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MODALPARAMS = ['X','Y','Z','S','F'] # suppress these parameters if they haven't changed
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# possible values:
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# any list of GCode parameters
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# if a parameter doesn't change from one line to the next ( or even further) it is suppressed.
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# Example:
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# G1 X10 Y20
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# G1 Y30
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# If in addition MODAL is set to True, the generated GCode changes to
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# G1 X10 Y20
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# Y30
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SWAP_G2_G3 = True # some machines have the sign of the X-axis swapped, so they behave like milling from the bottom
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# possible values:
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# True if left and right turns are to be swapped
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# False don't swap
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# this might be special with some maho machines or even with mine and might be changed in the machine constants as well
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SWAP_Y_Z = True # machines with an angle milling head do not switch axes, so we do it here
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# possible values:
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# True if Y and Z values have to be swapped
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# False do not swap
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# For vertical milling machines the Z-axis is horizontal (of course).
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# If they have an angle milling head, they mill vertical, alas the Z-axis stays horizontal.
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# With this parameter we can swap the output values of Y and Z.
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# For commands G2 and G3 this means that J and K are swapped as well
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ABSOLUTE_CIRCLE_CENTER = True
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# possible values:
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# True use absolute values for the circle center in commands G2, G3
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# False values for I, J, K are given relative to the last point
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USE_RADIUS_IF_POSSIBLE = True
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# possible values:
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# True if in commands G2 and G3 the usage of radius R is preferred
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# False if in commands G2 and G3 we use always I and J
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# When milling arcs there are two reasons to use the radius instead of the center:
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# 1. the GCode program might be easier to understand
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# 2. Some machines seem to have a different scheme for calculating / rounding the values of the center
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# Thus it is possible that the machine complains, that the endpoint of the arc does not lie on the arc.
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# Using the radius instead avoids this problem.
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# The post processor takes care of the fact, that only angles <= 180 degrees can be used with R
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# for larger angles the center is used independent of the setting of this constant
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RADIUS_COMMENT = True
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# possible values:
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# True for better understanding the radius of an arc is included as a comment
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# False no additional comment is included
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# In case the comments are included they are always included with the bracketing syntax like '(R20.456)'
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# and never with the comment symbol, because the radius might appear in the middle of a line.
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GCODE_MAP = {'M1':'M0', 'M6':'M66', 'G20':'G70', 'G21':'G71'} # cb: this could be used to swap G2/G3
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# possible values:
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# Comma separated list of values of the form 'sourceGCode':'targetGCode'
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#
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# Although the basic movement commands G0, G1, G2 seem to be used uniformly in different GCode dialects,
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# this is not the case for all commands.
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# E.g the Maho dialect uses G70 and G71 for the units inches vs. metric.
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# The map {'M1':'M0', 'G20':'G70', 'G21':'G71'} maps the optional stop command M1 to M0,
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# because some Maho machines do not have the optional button on its panel
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# in addition it maps inches G20 to G70 and metric G21 to G71
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AXIS_DECIMALS = 3
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# possible values:
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# integer >= 0
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FEED_DECIMALS = 2
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# possible values:
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# integer >= 0
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SPINDLE_DECIMALS = 0
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# possible values:
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# integer >= 0
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# The header is divided into two parts, one is dynamic, the other is a static GCode header.
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# If the current selection and the current time should be included in the header,
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# it has to be generated at execution time, and thus it cannot be held in constant values.
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# The last linefeed should be ommitted, it is inserted automatically
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# linenumbers are inserted automatically if LINENUMBERS is True
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# if you don't want to use this header you have to provide a minimal function
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# def mkHeader(selection):
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# return ''
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def mkHeader(selection):
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# this is within a function, because otherwise filename and time don't change when changing the FreeCAD project
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# now = datetime.datetime.now()
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now = time.strftime("%Y-%m-%d %H:%M")
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originfile = FreeCAD.ActiveDocument.FileName
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headerNoNumber = "%PM\n" # this line gets no linenumber
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headerNoNumber += "N9XXX (" + selection[0].Description + ", " + now + ")\n" # this line gets no linenumber, it is already a specially numbered
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header = ""
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# header += "(Output Time:" + str(now) + ")\n"
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header += "(" + originfile + ")\n"
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header += "(Exported by FreeCAD)\n"
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header += "(Post Processor: " + __name__ +")\n"
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header += "(Target machine: " + MACHINE_NAME + ")"
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return headerNoNumber + linenumberify(header)
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GCODE_HEADER = "" # do not terminate with a newline, it is inserted by linenumberify
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#GCODE_HEADER = "G40 G90" # do not terminate with a newline, it is inserted by linenumberify
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#possible values:
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# any sequence of GCode, multiple lines are welcome
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# this constant header follows the text generated by the function mkheader
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# linenumbers are inserted automatically if LINENUMBERS is True
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GCODE_FOOTER = "M30" # do not terminate with a newline, it is inserted by linenumberify
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#possible values:
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# any sequence of GCode, multiple lines are welcome
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# the footer is used to clean things up, reset modal commands and stop the machine
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# linenumbers are inserted automatically if LINENUMBERS is True
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# don't edit with the stuff below the next line unless you know what you're doing :)
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#***************************************************************************
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linenr = 0 # variable has to be global because it is used by linenumberify and export
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if open.__module__ == '__builtin__':
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pythonopen = open
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def angleUnder180(command,lastX,lastY,x,y,i,j):
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# radius R can be used iff angle is < 180.
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# This is the case
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# if the previous point is left of the current and the center is below (or on) the connection line
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# or if the previous point is right of the current and the center is above (or on) the connection line
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middleOfLineY = (lastY + y)/2
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centerY = lastY + j
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if ((command == 'G2' and ( (lastX == x and ((lastY<y and i>=0) or (lastY > y and i <= 0))) or (lastX < x and centerY <= middleOfLineY) or (lastX > x and centerY >= middleOfLineY)))
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or (command == 'G3' and ((lastX == x and ((lastY<y and i<=0) or (lastY > y and i >= 0))) or (lastX < x and centerY >= middleOfLineY) or (lastX > x and centerY <= middleOfLineY)))):
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return True
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else:
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return False
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def mapGCode(command):
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if command in GCODE_MAP:
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mappedCommand = GCODE_MAP[command]
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else:
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mappedCommand = command
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if SWAP_G2_G3:
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if command == 'G2':
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mappedCommand = 'G3'
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elif command == 'G3':
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mappedCommand = 'G2'
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return mappedCommand
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def linenumberify(GCodeString):
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# add a linenumber at every beginning of line
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global linenr
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if not LINENUMBERS:
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result = GCodeString + "\n"
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else:
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result = '';
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strList = GCodeString.split("\n")
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for s in strList:
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if s:
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# only non empty lines get numbered. the special lines "%PM" and prognumber "N9XXX" are skipped
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result += "N" + str(linenr) + " " + s + "\n"
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linenr += LINENUMBER_INCREMENT
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else:
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result += s + "\n"
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return result
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def export(selection,filename,argstring):
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global linenr
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linenr = STARTLINENR
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lastX = 0
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lastY = 0
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lastZ = 0
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params = ['X','Y','Z','A','B','I','J','F','H','S','T','Q','R','L'] #Using XY plane most of the time so skipping K
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modalParamsDict = dict()
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for mp in MODALPARAMS:
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modalParamsDict[mp] = None
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for obj in selection:
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if not hasattr(obj,"Path"):
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print "the object " + obj.Name + " is not a path. Please select only path and Compounds."
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return
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myMachine = None
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for pathobj in selection:
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if hasattr(pathobj,"MachineName"):
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myMachine = pathobj.MachineName
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if hasattr(pathobj, "MachineUnits"):
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if pathobj.MachineUnits == "Metric":
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UNITS = "G21"
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else:
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UNITS = "G20"
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if myMachine is None:
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print "No machine found in this selection"
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gcode =''
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gcode+= mkHeader(selection)
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gcode+= linenumberify(GCODE_HEADER)
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if UNITS_INCLUDED:
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gcode += linenumberify(mapGCode(UNITS))
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lastcommand = None
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gobjects = []
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for g in selection[0].Group:
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gobjects.append(g)
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for obj in gobjects:
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if hasattr(obj,'GComment'):
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gcode += linenumberify('(' + obj.GComment + ')')
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for c in obj.Path.Commands:
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outstring = []
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command = c.Name
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if (command != UNITS or UNITS_INCLUDED):
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if command[0]=='(':
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command = PostUtils.fcoms(command, COMMENT)
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mappedCommand = mapGCode(command) # the mapping is done for output only! For internal things we still use the old value.
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if not MODAL or command != lastcommand:
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outstring.append(mappedCommand)
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# if MODAL == True: )
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# #\better: append iff MODAL == False )
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# if command == lastcommand: )
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# outstring.pop(0!#\ )
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if c.Parameters >= 1:
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for param in params:
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if param in c.Parameters:
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if (param in MODALPARAMS) and (modalParamsDict[str(param)] == c.Parameters[str(param)]):
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# do nothing or append white space
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outstring.append(' ')
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elif param == 'F':
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outstring.append(param + PostUtils.fmt(c.Parameters['F'], FEED_DECIMALS,UNITS))
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elif param == 'H':
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outstring.append(param + str(int(c.Parameters['H'])))
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elif param == 'S':
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outstring.append(param + PostUtils.fmt(c.Parameters['S'], SPINDLE_DECIMALS,'G21')) #rpm is unitless-therefore I had to 'fake it out' by using metric units which don't get converted from entered value
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elif param == 'T':
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outstring.append(param + str(int(c.Parameters['T'])))
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elif param == 'I' and (command == 'G2' or command == 'G3'):
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# this is the special case for circular paths, where relative coordinates have to be changed to absolute
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i = c.Parameters['I']
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# calculate the radius r
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j = c.Parameters['J']
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r = math.sqrt(i**2 + j**2)
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if USE_RADIUS_IF_POSSIBLE and angleUnder180(command,lastX,lastY,c.Parameters['X'],c.Parameters['Y'],i,j):
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outstring.append('R' + PostUtils.fmt(r,AXIS_DECIMALS,UNITS))
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else:
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if RADIUS_COMMENT:
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outstring.append('(R' + PostUtils.fmt(r,AXIS_DECIMALS,UNITS) + ')')
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if ABSOLUTE_CIRCLE_CENTER:
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i += lastX
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outstring.append(param + PostUtils.fmt(i,AXIS_DECIMALS,UNITS))
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elif param == 'J' and (command == 'G2' or command == 'G3'):
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# this is the special case for circular paths, where incremental center has to be changed to absolute center
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i = c.Parameters['I']
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j = c.Parameters['J']
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if USE_RADIUS_IF_POSSIBLE and angleUnder180(command,lastX,lastY,c.Parameters['X'],c.Parameters['Y'],i,j):
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# R is handled with the I parameter, here: do nothing at all, keep the structure as with I command
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pass
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else:
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if ABSOLUTE_CIRCLE_CENTER:
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j += lastY
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if SWAP_Y_Z:
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# we have to swap j and k as well
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outstring.append('K' + PostUtils.fmt(j,AXIS_DECIMALS,UNITS))
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else:
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outstring.append(param + PostUtils.fmt(j,AXIS_DECIMALS,UNITS))
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elif param == 'K' and (command == 'G2' or command == 'G3'):
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# this is the special case for circular paths, where incremental center has to be changed to absolute center
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outstring.append('(' + param + PostUtils.fmt(c.Parameters[param],AXIS_DECIMALS,UNITS) + ')')
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z = c.Parameters['Z']
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k = c.Parameters['K']
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if USE_RADIUS_IF_POSSIBLE and angleUnder180(command,lastX,lastY,c.Parameters['X'],c.Parameters['Y'],i,j):
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# R is handled with the I parameter, here: do nothing at all, keep the structure as with I command
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pass
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else:
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if ABSOLUTE_CIRCLE_CENTER:
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k += lastZ
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if SWAP_Y_Z:
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# we have to swap j and k as well
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outstring.append('J' + PostUtils.fmt(j,AXIS_DECIMALS,UNITS))
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else:
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outstring.append(param + PostUtils.fmt(j,AXIS_DECIMALS,UNITS))
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elif param == 'Y' and SWAP_Y_Z:
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outstring.append('Z' + PostUtils.fmt(c.Parameters[param],AXIS_DECIMALS,UNITS))
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elif param == 'Z' and SWAP_Y_Z:
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outstring.append('Y' + PostUtils.fmt(c.Parameters[param],AXIS_DECIMALS,UNITS))
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else:
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outstring.append(param + PostUtils.fmt(c.Parameters[param],AXIS_DECIMALS,UNITS))
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if param in MODALPARAMS:
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modalParamsDict[str(param)] = c.Parameters[param]
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# save the last X, Y, Z values
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if 'X' in c.Parameters:
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lastX = c.Parameters['X']
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if 'Y' in c.Parameters:
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lastY = c.Parameters['Y']
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if 'Z' in c.Parameters:
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lastZ = c.Parameters['Z']
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outstr = str(outstring)
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outstr =outstr.replace(']','')
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outstr =outstr.replace('[','')
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outstr =outstr.replace("'",'')
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outstr =outstr.replace(",",'')
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if LINENUMBERS:
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gcode += "N" + str(linenr) + " "
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linenr += LINENUMBER_INCREMENT
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gcode+= outstr + '\n'
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lastcommand = c.Name
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gcode+= linenumberify(GCODE_FOOTER)
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if SHOW_EDITOR:
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PostUtils.editor(gcode)
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gfile = pythonopen(filename,"wb")
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gfile.write(gcode)
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gfile.close()
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