e81c4cf62a
Jog, drill, linear and arc motions works. Tested on machine with some trivial projects, dimensions and feedrate speeds verified. Safe-Z/clearance command currently not respected (defaults to max height, super conservative).
258 lines
7.9 KiB
Python
258 lines
7.9 KiB
Python
#***************************************************************************
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#* (c) Jon Nordby (jononor@gmail.com) 2015 *
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#* *
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#* This file is part of the FreeCAD CAx development system. *
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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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#* FreeCAD 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 Lesser 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 FreeCAD; 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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'''
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FreeCAD Path post-processor to output code for the Roland Modela MDX-## machines.
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The machine speaks RML-1, specified in 'Roland RML-1 Programming Guidelines'
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https://itp.nyu.edu/classes/cdp-spring2014/files/2014/09/RML1_Manual.pdf
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http://altlab.org/d/content/m/pangelo/ideas/rml_command_guide_en_v100.pdf
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The format has some overlap with HPGL:
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https://en.wikipedia.org/wiki/HPGL
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http://paulbourke.net/dataformats/hpgl/
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'''
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import FreeCAD
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import Part
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import PostUtils
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# to distinguish python built-in open function from the one declared below
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if open.__module__ == '__builtin__':
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pythonopen = open
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# Entrypoint used by FreeCAD
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def export(objectslist, filename):
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"Export objects as Roland Modela code."
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code = ""
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for obj in objectslist:
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code += convertobject(obj)
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gfile = pythonopen(filename,"wb")
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gfile.write(code)
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gfile.close()
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def convertobject(obj):
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gcode = obj.Path.toGCode()
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gcode = parse(gcode)
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return gcode
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def motoron():
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return [ "!MC1;" ]
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def motoroff():
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return [ "!MC0;" ]
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def home():
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return [ "H;" ]
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def setjog():
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# "!PZ%d,%d;",iz_down,iz_up); // set z down, jog
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return ""
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def addheader():
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return [ "PA;PA;" ] # absolute positioning
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def addfooter():
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return []
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def mm2cord(mm):
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mm = float(mm)
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return int(40.0*mm)
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def feed(x=None, y=None, z=None, state={}):
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c = []
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if x is not None:
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x = float(x)
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state['X'] = x
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if y is not None:
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y = float(y)
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state['Y'] = y
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if z is not None:
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z = float(z)
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state['Z'] = z
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if x is not None and y is not None and z is not None:
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# 3d motion
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c.append("Z%d,%d,%d;" % (mm2cord(x), mm2cord(y), mm2cord(z)))
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elif x is not None and y is not None:
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# 2d in XY plane
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c.append("PD%d,%d;" % (mm2cord(x), mm2cord(y)))
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elif z is not None:
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pass # XXX: is this used?
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return c
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def jog(x=None, y=None, z=None, state={}):
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c = []
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if x is not None and y is not None:
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x, y = float(x), float(y)
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c.append("PU%d,%d;" % (mm2cord(x), mm2cord(y)))
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state['X'] = x
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state['Y'] = y
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if z is not None:
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z = float(z)
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c.append("PU;")
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# TODO: use !ZZ command
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state['Z'] = z
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return c
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def xyarc(args, state):
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# no native support in RML/Modela, convert to linear line segments
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c = []
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lastPoint = FreeCAD.Vector(state['X'], state['Y'])
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newPoint = FreeCAD.Vector(float(args['X']), float(args['Y']))
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centerOffset = FreeCAD.Vector(float(args['I']), float(args['J']))
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center = lastPoint + centerOffset
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radius = (center - lastPoint).Length
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xyNormal = FreeCAD.Vector(0, 0, 1)
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circle = Part.Circle(center, xyNormal, radius)
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p0 = circle.parameter(lastPoint)
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p1 = circle.parameter(newPoint)
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arc = Part.ArcOfCircle(circle, p0, p1)
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steps = 64 # TODO: specify max error instead
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points = arc.discretize(steps)
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# TODO: consider direction
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#print 'p = Part.ArcOfCircle(Part.Circle(FreeCAD.Vector(%f, %f), FreeCAD.Vector(0, 0, 1), %f), %f, %f)' % (center.x, center.y, radius, p0, p1)
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for p in points:
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#print 'p', p.x, p.y
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c += feed(p.x, p.y, state['Z'], state)
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return c
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def speed(xy=None, z=None, state={}):
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c = []
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print xy, z, state
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if xy is not None:
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xy = float(xy)
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if xy > 0.0 and xy != state['XYspeed']:
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c.append("VS%.1f;" % xy)
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state['XYspeed'] = xy
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if z is not None:
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z = float(z)
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if z > 0.0 and z != state['Zspeed']:
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c.append("!VZ%.1f;" % z)
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state['Zspeed'] = z
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return c
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def convertgcode(cmd, args, state):
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"""Convert a single gcode command to equivalent Roland code"""
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if cmd == 'G0':
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# jog
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return jog(args['X'], args['Y'], args['Z'], state)
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elif cmd == 'G1':
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# linear feed
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c = []
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# feedrate
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c += speed(xy=args['F'], z=args['F'], state=state)
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# motion
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c += feed(args['X'], args['Y'], args['Z'], state)
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return c
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elif cmd == 'G2' or cmd == 'G3':
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# arc feed
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c = []
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# feedrate
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c += speed(xy=args['F'], state=state)
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# motion
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if args['X'] and args['Y'] and args['Z']:
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# helical motion
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pass
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elif args['X'] and args['Y']:
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# arc in plane
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c += xyarc(args, state)
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return c
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elif cmd == 'G20':
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# inches mode
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raise ValueError("rml_post: Inches mode not supported")
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elif cmd == 'G21':
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# millimeter mode
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return ""
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elif cmd == 'G40':
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# tool compensation off
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return ""
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elif cmd == 'G80':
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# cancel all cycles (drill normally)
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return "PU;"
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elif cmd == 'G81':
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c = []
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# feedrate
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c += speed(z=args['F'], state=state)
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# motion
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c += jog(args['X'], args['Y'], state=state)
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c += feed(args['X'], args['Y'], args['Z'], state)
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return c
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elif cmd == 'G90':
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# absolute mode?
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return ""
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elif cmd == 'G98':
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# feedrate
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return ""
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else:
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raise NotImplementedError("rml_post: GCode command %s not understood" % (cmd,))
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raise Exception("should not be reached. cmd=%s" % (cmd,))
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def parse(inputstring):
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"parse(inputstring): returns a parsed output string"
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state = { 'X': 0.0, 'Y': 0.0, 'Z': 0.0, 'XYspeed': -1.0, 'Zspeed': -1.0 }
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output = []
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# header
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output += addheader()
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output += motoron()
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output += speed(2.0, 1.0, state) # defaults
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# TODO: respect clearance height
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# treat the input line by line
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lines = inputstring.split("\n")
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for line in lines:
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if not line:
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continue
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parsed = PostUtils.stringsplit(line)
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command = parsed['command']
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print 'cmd', line
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try:
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if command:
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code = convertgcode(command, parsed, state)
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if not isinstance(code, list):
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code = [ code ]
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if len(code) and code[0]:
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output += code
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except NotImplementedError, e:
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print e
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# footer
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output += motoroff()
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output += home()
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output += addfooter()
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return '\n'.join(output)
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print __name__ + " gcode postprocessor loaded."
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