from __future__ import print_function import time import os import re import sys from .evaluate import * try: from serial import Serial except: if sys.version_info < (2, 7): dir = "pyserial27" else: dir = "pyserial3" import inspect serialFolder = os.path.abspath(os.path.split(inspect.getfile(inspect.currentframe()))[0] + "/" + dir) sys.path.insert(0, serialFolder) from serial import Serial class FakeSerial(object): def __init__(self, name): if name == 'stdout': self.handle = sys.stdout elif name == 'stderr': self.handle = sys.stderr else: self.handle = open(name, "w") def flushInput(self): return def write(self, data): self.handle.write(data) def close(self): if self.handle is not sys.stdout: self.handle.close() def sendHPGL(port, commands): s = Serial(port, 115200) s.flushInput() s.write(commands) s.close() def sendGcode(port, commands, speed=115200, xonxoff=True, quiet = False, gcodePause="@pause", plotter=None, variables={}, formulas={}): class State(object): pass commandsSplit = [] for cmd in commands: commandsSplit += cmd.split("\n") commands = commandsSplit state = State() state.cmd = None state.done = False if sys.version_info[0] <= 2: text_input = raw_input else: text_input = input if port.startswith('file:'): s = FakeSerial(port[5:]) else: s = Serial(port, speed, xonxoff=xonxoff) s.flushInput() class State(object): pass state = State() state.relative = False state.lineNumber = 1 s.write('\nM110 N1\n') ## TODO: flow control state.lineNumber = 2 def sendCommand(c): def checksum(text): cs = 0 for c in text: cs ^= ord(c) return cs & 0xFF components = c.strip().split(';') c = components[0].strip() if len(components) > 1: if '!!' in components[1]: for subst in re.split(r'\s+', components[1].split('!!', 2)[1].strip()): axis = subst[0] try: value = evaluate(subst[1:],variables,formulas) c = re.sub(r'\b' + axis + r'[0-9.\-]+', '%s%.3f' % (axis, value), c) except ValueError: pass if c: ## assumes movement is always absolute if not state.relative and re.match(r'[Gg][012]\s', c): for part in re.split(r'\s+', c.upper()): if re.match(r'X[-.0-9]', part): variables['x'] = float(part[1:]) elif re.match(r'Y[-.0-9]', part): variables['y'] = float(part[1:]) elif re.match(r'Z[-.0-9]', part): variables['z'] = float(part[1:]) elif re.match(r'[Gg]91\b', c): state.relative = True if 'x' in variables: del variables['x'] if 'y' in variables: del variables['y'] if 'z' in variables: del variables['z'] elif re.match(r'[Gg]90\b', c): state.relative = False elif re.match(r'[Gg]28\b', c): if 'x' in variables: del variables['x'] if 'y' in variables: del variables['y'] if 'z' in variables: del variables['z'] command = 'N' + str(state.lineNumber) + ' ' + c command += '*' + str(checksum(command)) s.write(command+'\n') s.flushInput() state.lineNumber += 1 for c in commands: c = c.strip() if c.startswith(gcodePause): print("PAUSE:"+c[len(gcodePause):]+""" Commands available: c[ontinue] a[bort] xvalue yvalue zvalue: move absolute x+value y+value z+value: move relative variable=value Gxxx / Mxxx / Txxx: manual gcode command""") def showVariables(): if variables: print("\nCurrent variables:") print('\t'.join(("%s=%.5g" % (var, variables[var]) for var in sorted(variables)))) if formulas: print("\nCurrent formulas and constants:") out = [] for var in sorted(formulas): try: value = float(formulas[var]) out.append("%s=%.5g" % (var, value)) except ValueError: out.append("%s=%s=%.5g" % (var, formulas[var], evaluate(formulas[var],variables,formulas))) print('\t'.join(out)) showVariables() while True: cmdOriginalCase = text_input("\nCOMMAND: ").strip() cmd = cmdOriginalCase.lower() if len(cmd) == 0: continue if '=' in cmd: try: var,value = re.split(r'\s*=\s*', cmd, maxsplit=2) if var in formulas: raise ValueError() variables[var] = evaluate(value,variables,formulas) except: print("Syntax error.") showVariables() elif cmd.startswith('c'): print("Resuming.") break elif cmd.startswith('a'): print("Aborting.") s.close() sys.exit(0) elif cmdOriginalCase[0] in 'GMT': sendCommand(cmdOriginalCase) showVariables() elif re.search('[xyz]', cmd): try: xyMove = '' zMove = '' parts = re.split('\s+', cmd) i = 0 while i < len(parts): part = parts[i] if part[0] in 'xyz': if len(part) == 1: i += 1 if len(parts) <= i: raise ValueError() valueString = parts[i] else: valueString = part[1:] if valueString[0] == '+': value = variables[part[0]] + evaluate(valueString[1:],variables,formulas) else: value = evaluate(valueString,variables,formulas) if part[0] == 'z': zMove = 'G0 F%.1f Z%.3f; pen up' % (600 if plotter is None else plotter.zSpeed*60., value) elif part[0] == 'x': xyMove += 'X%.3f '%value elif part[0] == 'y': xyMove += 'Y%.3f '%value else: raise ValueError() i += 1 except: print("Syntax error.") showVariables() continue if zMove: sendCommand(zMove) if xyMove: sendCommand('G1 F%.1f %s'%(600 if plotter is None else plotter.moveSpeed*60., xyMove)) showVariables() else: print("Unknown command.") else: sendCommand(c) s.close() if __name__ == '__main__': import sys sendGcode(port=sys.argv[2], commands=open(sys.argv[1], 'r').readlines())