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Merge pull request #25850 from petterreinholdtsen/cam-fanuc-post-fixes

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CAM: Get Fanuc post processor working and implement several improvements
This commit is contained in:
sliptonic
2025-12-12 10:41:51 -06:00
committed by GitHub
parent 78102d294d 9c78ced00c
commit 96d1084484
5 changed files with 495 additions and 31 deletions
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6
src/Mod/CAM/CAMTests/PostTestMocks.py
View File

@@ -28,6 +28,11 @@ without requiring disk I/O or loading actual FreeCAD documents.
import Path
class MockTool:
def __init__(self):
self.ShapeName = "endmill"
class MockToolController:
"""Mock ToolController for operations."""
@@ -38,6 +43,7 @@ class MockToolController:
spindle_speed=1000,
spindle_dir="Forward",
):
self.Tool = MockTool()
self.ToolNumber = tool_number
self.Label = label
self.SpindleSpeed = spindle_speed

369
src/Mod/CAM/CAMTests/TestFanucPost.py Normal file
View File

@@ -0,0 +1,369 @@
# ***************************************************************************
# * Copyright (c) 2022 sliptonic <shopinthewoods@gmail.com> *
# * Copyright (c) 2022 Larry Woestman <LarryWoestman2@gmail.com> *
# * Copyright (c) 2025 Petter Reinholdtsen <pere@hungry.com> *
# * *
# * This program is free software; you can redistribute it and/or modify *
# * it under the terms of the GNU Lesser General Public License (LGPL) *
# * as published by the Free Software Foundation; either version 2 of *
# * the License, or (at your option) any later version. *
# * for detail see the LICENCE text file. *
# * *
# * This program is distributed in the hope that it will be useful, *
# * but WITHOUT ANY WARRANTY; without even the implied warranty of *
# * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
# * GNU Library General Public License for more details. *
# * *
# * You should have received a copy of the GNU Library General Public *
# * License along with this program; if not, write to the Free Software *
# * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 *
# * USA *
# * *
# ***************************************************************************
import Path
from CAMTests import PathTestUtils
from CAMTests import PostTestMocks
from Path.Post.Processor import PostProcessorFactory
Path.Log.setLevel(Path.Log.Level.DEBUG, Path.Log.thisModule())
Path.Log.trackModule(Path.Log.thisModule())
class TestFanucPost(PathTestUtils.PathTestBase):
@classmethod
def setUpClass(cls):
"""setUpClass()...
This method is called upon instantiation of this test class. Add code
and objects here that are needed for the duration of the test() methods
in this class. In other words, set up the 'global' test environment
here; use the `setUp()` method to set up a 'local' test environment.
This method does not have access to the class `self` reference, but it
is able to call static methods within this same class.
"""
@classmethod
def tearDownClass(cls):
"""tearDownClass()...
This method is called prior to destruction of this test class. Add
code and objects here that cleanup the test environment after the
test() methods in this class have been executed. This method does
not have access to the class `self` reference. This method is able
to call static methods within this same class.
"""
# Setup and tear down methods called before and after each unit test
def setUp(self):
"""setUp()...
This method is called prior to each `test()` method. Add code and
objects here that are needed for multiple `test()` methods.
"""
# Create mock job with default operation and tool controller
self.job, self.profile_op, self.tool_controller = (
PostTestMocks.create_default_job_with_operation()
)
# Create postprocessor using the mock job
self.post = PostProcessorFactory.get_post_processor(self.job, "fanuc")
# allow a full length "diff" if an error occurs
self.maxDiff = None
# reinitialize the postprocessor data structures between tests
self.post.reinitialize()
def tearDown(self):
"""tearDown()...
This method is called after each test() method. Add cleanup instructions here.
Such cleanup instructions will likely undo those in the setUp() method.
"""
def test_empty_path(self):
"""Test Output Generation.
Empty path. Produces only the preamble and postable.
"""
self.profile_op.Path = Path.Path([])
self.job.PostProcessorArgs = "--no-show-editor"
# Test generating with header
# Header contains a time stamp that messes up unit testing.
# Only test length of result.
gcode = self.post.export()[0][1]
self.assertEqual(28, len(gcode.splitlines()))
# Test without header
expected = """%
(BEGIN PREAMBLE)
G17 G54 G40 G49 G80 G90
G21
(BEGIN OPERATION: TC: DEFAULT TOOL)
(MACHINE UNITS: MM/MIN)
M05
G28 G91 Z0
M6 T1
G91 G0 G43 G54 Z-[#[2000+#4120]] H#4120
G90
M3 S1000
(FINISH OPERATION: TC: DEFAULT TOOL)
(BEGIN OPERATION: FIXTURE)
(MACHINE UNITS: MM/MIN)
G54
(FINISH OPERATION: FIXTURE)
(BEGIN OPERATION: PROFILE)
(MACHINE UNITS: MM/MIN)
(FINISH OPERATION: PROFILE)
(BEGIN POSTAMBLE)
M05
G17 G54 G90 G80 G40
M30
%
"""
self.profile_op.Path = Path.Path([])
self.job.PostProcessorArgs = (
"--no-header --no-show-editor"
# "--no-header --no-comments --no-show-editor --precision=2"
)
gcode = self.post.export()[0][1]
self.assertEqual(gcode, expected)
# test without comments
expected = """%
G17 G54 G40 G49 G80 G90
G21
M05
G28 G91 Z0
M6 T1
G91 G0 G43 G54 Z-[#[2000+#4120]] H#4120
G90
M3 S1000
G54
M05
G17 G54 G90 G80 G40
M30
%
"""
self.profile_op.Path = Path.Path([])
self.job.PostProcessorArgs = (
"--no-header --no-comments --no-show-editor"
# "--no-header --no-comments --no-show-editor --precision=2"
)
gcode = self.post.export()[0][1]
self.assertEqual(gcode, expected)
def test_empty_path_spindle_empty(self):
"""Test Output Generation.
Empty path. Produces only the preamble and postable.
"""
self.profile_op.Path = Path.Path([])
self.job.PostProcessorArgs = "--no-show-editor --end-spindle-empty"
# Test generating with header
# Header contains a time stamp that messes up unit testing.
# Only test length of result.
gcode = self.post.export()[0][1]
self.assertEqual(32, len(gcode.splitlines()))
# Test without header
expected = """%
(BEGIN PREAMBLE)
G17 G54 G40 G49 G80 G90
G21
(BEGIN OPERATION: TC: DEFAULT TOOL)
(MACHINE UNITS: MM/MIN)
M05
G28 G91 Z0
M6 T1
G91 G0 G43 G54 Z-[#[2000+#4120]] H#4120
G90
M3 S1000
(FINISH OPERATION: TC: DEFAULT TOOL)
(BEGIN OPERATION: FIXTURE)
(MACHINE UNITS: MM/MIN)
G54
(FINISH OPERATION: FIXTURE)
(BEGIN OPERATION: PROFILE)
(MACHINE UNITS: MM/MIN)
(FINISH OPERATION: PROFILE)
(BEGIN MAKING SPINDLE EMPTY)
M05
G28 G91 Z0
M6 T0
(BEGIN POSTAMBLE)
M05
G17 G54 G90 G80 G40
M30
%
"""
self.profile_op.Path = Path.Path([])
self.job.PostProcessorArgs = (
"--no-header --no-show-editor --end-spindle-empty"
# "--no-header --no-comments --no-show-editor --precision=2"
)
gcode = self.post.export()[0][1]
self.assertEqual(gcode, expected)
# test without comments
expected = """%
G17 G54 G40 G49 G80 G90
G21
M05
G28 G91 Z0
M6 T1
G91 G0 G43 G54 Z-[#[2000+#4120]] H#4120
G90
M3 S1000
G54
M05
G28 G91 Z0
M6 T0
M05
G17 G54 G90 G80 G40
M30
%
"""
self.profile_op.Path = Path.Path([])
self.job.PostProcessorArgs = (
"--no-header --no-comments --no-show-editor --end-spindle-empty"
# "--no-header --no-comments --no-show-editor --precision=2"
)
gcode = self.post.export()[0][1]
self.assertEqual(gcode, expected)
def test_precision(self):
"""Test command Generation.
Test Precision
"""
c = Path.Command("G0 X10 Y20 Z30")
self.profile_op.Path = Path.Path([c])
self.job.PostProcessorArgs = "--no-header --no-show-editor"
gcode = self.post.export()[0][1]
result = gcode.splitlines()[19]
expected = "G0 X10.000 Y20.000 Z30.000"
self.assertEqual(result, expected)
self.job.PostProcessorArgs = "--no-header --precision=2 --no-show-editor"
gcode = self.post.export()[0][1]
result = gcode.splitlines()[19]
expected = "G0 X10.00 Y20.00 Z30.00"
self.assertEqual(result, expected)
def test_line_numbers(self):
"""
Test Line Numbers
"""
c = Path.Command("G0 X10 Y20 Z30")
self.profile_op.Path = Path.Path([c])
self.job.PostProcessorArgs = "--no-header --line-numbers --no-show-editor"
gcode = self.post.export()[0][1]
result = gcode.splitlines()[19]
expected = "N290 G0 X10.000 Y20.000 Z30.000"
self.assertEqual(result, expected)
def test_pre_amble(self):
"""
Test Pre-amble
"""
self.profile_op.Path = Path.Path([])
self.job.PostProcessorArgs = (
"--no-header --no-comments --preamble='G18 G55' --no-show-editor"
)
gcode = self.post.export()[0][1]
result = gcode.splitlines()[1]
self.assertEqual(result, "G18 G55")
def test_post_amble(self):
"""
Test Post-amble
"""
self.profile_op.Path = Path.Path([])
self.job.PostProcessorArgs = (
"--no-header --no-comments --postamble='G0 Z50\nM30' --no-show-editor"
)
gcode = self.post.export()[0][1]
self.assertEqual(gcode.splitlines()[-3], "G0 Z50")
self.assertEqual(gcode.splitlines()[-2], "M30")
self.assertEqual(gcode.splitlines()[-1], "%")
def test_inches(self):
"""
Test inches
"""
c = Path.Command("G0 X10 Y20 Z30")
self.profile_op.Path = Path.Path([c])
self.job.PostProcessorArgs = "--no-header --inches --no-show-editor"
gcode = self.post.export()[0][1]
self.assertEqual(gcode.splitlines()[3], "G20")
result = gcode.splitlines()[19]
expected = "G0 X0.3937 Y0.7874 Z1.1811"
self.assertEqual(result, expected)
self.job.PostProcessorArgs = "--no-header --inches --precision=2 --no-show-editor"
gcode = self.post.export()[0][1]
result = gcode.splitlines()[19]
expected = "G0 X0.39 Y0.79 Z1.18"
self.assertEqual(result, expected)
def test_tool_change(self):
"""
Test tool change
"""
c = Path.Command("M6 T1")
c2 = Path.Command("M3 S3000")
self.profile_op.Path = Path.Path([c, c2])
self.job.PostProcessorArgs = "--no-header --no-show-editor"
gcode = self.post.export()[0][1]
self.assertEqual(gcode.splitlines()[19], "M05")
self.assertEqual(gcode.splitlines()[20], "G28 G91 Z0")
self.assertEqual(gcode.splitlines()[21], "M6 T1")
self.assertEqual(gcode.splitlines()[22], "G91 G0 G43 G54 Z-[#[2000+#4120]] H#4120")
self.assertEqual(gcode.splitlines()[23], "G90")
self.assertEqual(gcode.splitlines()[24], "M3 S3000")
# suppress TLO
self.job.PostProcessorArgs = "--no-header --no-tlo --no-show-editor"
gcode = self.post.export()[0][1]
self.assertEqual(gcode.splitlines()[20], "M3 S3000")
def test_thread_tap(self):
"""
Test threading using drill cycle converted to tapping
"""
self.tool_controller.Tool.ShapeName = "tap"
c = Path.Command("G0 X10 Y10")
c2 = Path.Command("G81 X10 Y10 Z-10 R20 F1 P1 Q1")
self.profile_op.Path = Path.Path([c, c2])
self.job.PostProcessorArgs = "--no-header --no-show-editor"
gcode = self.post.export()[0][1]
self.assertEqual(gcode.splitlines()[18], "G0 X10.000 Y10.000")
self.assertEqual(gcode.splitlines()[19], "G95")
self.assertEqual(gcode.splitlines()[20], "M29 S1000")
self.assertEqual(gcode.splitlines()[21], "G84 Z-10.000 R20.000 F1.000 P1.000 Q1.000")
self.assertEqual(gcode.splitlines()[22], "G80")
self.assertEqual(gcode.splitlines()[23], "G94")
def test_comment(self):
"""
Test comment
"""
c = Path.Command("(comment)")
self.profile_op.Path = Path.Path([c])
self.job.PostProcessorArgs = "--no-header --no-show-editor"
gcode = self.post.export()[0][1]
result = gcode.splitlines()[19]
expected = "(COMMENT)"
self.assertEqual(result, expected)

1
src/Mod/CAM/CMakeLists.txt
View File

@@ -502,6 +502,7 @@ SET(Tests_SRCS
CAMTests/TestCAMSanity.py
CAMTests/TestCentroidPost.py
CAMTests/TestCentroidLegacyPost.py
CAMTests/TestFanucPost.py
CAMTests/TestGenericPost.py
CAMTests/TestGrblPost.py
CAMTests/TestGrblLegacyPost.py

149
src/Mod/CAM/Path/Post/scripts/fanuc_post.py
View File

@@ -60,14 +60,14 @@ parser.add_argument(
action="store_true",
help="don't pop up editor before writing output",
)
parser.add_argument("--precision", default="3", help="number of digits of precision, default=3")
parser.add_argument("--precision", help="number of digits of precision, default=3 (mm) or 4 (in)")
parser.add_argument(
"--preamble",
help='set commands to be issued before the first command, default="G17 G54 G40 G49 G80 G90\\n"',
)
parser.add_argument(
"--postamble",
help='set commands to be issued after the last command, default="M05\\nG17 G54 G90 G80 G40\\nM6 T0\\nM2\\n"',
help='set commands to be issued after the last command, default="M05\\nG17 G54 G90 G80 G40\\nM30\\n"',
)
parser.add_argument(
"--inches", action="store_true", help="Convert output for US imperial mode (G20)"
@@ -85,6 +85,11 @@ parser.add_argument(
action="store_true",
help="suppress tool length offset (G43) following tool changes",
)
parser.add_argument(
"--end-spindle-empty",
action="store_true",
help="place last tool in tool change carousel before postamble",
)
TOOLTIP_ARGS = parser.format_help()
@@ -101,6 +106,8 @@ OUTPUT_DOUBLES = (
COMMAND_SPACE = " "
LINENR = 100 # line number starting value
END_SPINDLE_EMPTY = False
# These globals will be reflected in the Machine configuration of the project
UNITS = "G21" # G21 for metric, G20 for us standard
UNIT_SPEED_FORMAT = "mm/min"
@@ -116,14 +123,13 @@ PRECISION = 3
tapSpeed = 0
# Preamble text will appear at the beginning of the GCODE output file.
PREAMBLE = """G17 G54 G40 G49 G80 G90
DEFAULT_PREAMBLE = """G17 G54 G40 G49 G80 G90
"""
# Postamble text will appear following the last operation.
POSTAMBLE = """M05
DEFAULT_POSTAMBLE = """M05
G17 G54 G90 G80 G40
M6 T0
M2
M30
"""
# Pre operation text will be inserted before every operation
@@ -133,7 +139,9 @@ PRE_OPERATION = """"""
POST_OPERATION = """"""
# Tool Change commands will be inserted before a tool change
TOOL_CHANGE = """"""
# Move to tool change Z position
TOOL_CHANGE = """G28 G91 Z0
"""
def processArguments(argstring):
@@ -149,35 +157,66 @@ def processArguments(argstring):
global UNIT_FORMAT
global MODAL
global USE_TLO
global END_SPINDLE_EMPTY
global OUTPUT_DOUBLES
global LINENR
try:
args = parser.parse_args(shlex.split(argstring))
if args.no_header:
OUTPUT_HEADER = False
else:
OUTPUT_HEADER = True
if args.no_comments:
OUTPUT_COMMENTS = False
else:
OUTPUT_COMMENTS = True
if args.line_numbers:
OUTPUT_LINE_NUMBERS = True
LINENR = 100
else:
OUTPUT_LINE_NUMBERS = False
if args.no_show_editor:
SHOW_EDITOR = False
print("Show editor = %d" % SHOW_EDITOR)
PRECISION = args.precision
else:
SHOW_EDITOR = True
print("Show editor = %s" % SHOW_EDITOR)
if args.preamble is not None:
PREAMBLE = args.preamble.replace("\\n", "\n")
else:
PREAMBLE = DEFAULT_PREAMBLE
if args.postamble is not None:
POSTAMBLE = args.postamble.replace("\\n", "\n")
else:
POSTAMBLE = DEFAULT_POSTAMBLE
if args.inches:
UNITS = "G20"
UNIT_SPEED_FORMAT = "in/min"
UNIT_FORMAT = "in"
PRECISION = 4
else:
UNITS = "G21"
UNIT_SPEED_FORMAT = "mm/min"
UNIT_FORMAT = "mm"
PRECISION = 3
if args.precision:
PRECISION = int(args.precision)
if args.no_modal:
MODAL = False
else:
MODAL = True
if args.no_tlo:
USE_TLO = False
else:
USE_TLO = True
if args.no_axis_modal:
OUTPUT_DOUBLES = True
else:
OUTPUT_DOUBLES = False
if args.end_spindle_empty:
END_SPINDLE_EMPTY = True
else:
END_SPINDLE_EMPTY = False
except Exception:
return False
@@ -204,20 +243,20 @@ def export(objectslist, filename, argstring):
print("postprocessing...")
gcode = ""
gcode += "%\n"
# write header
if OUTPUT_HEADER:
gcode += "%\n"
gcode += ";\n"
# Get current version info
major = int(FreeCAD.ConfigGet("BuildVersionMajor"))
minor = int(FreeCAD.ConfigGet("BuildVersionMinor"))
# the filename variable always contain "-", so unable to
# provide more accurate information.
gcode += "(" + "FREECAD-FILENAME-GOES-HERE" + ", " + "JOB-NAME-GOES-HERE" + ")\n"
gcode += (
os.path.split(filename)[-1]
+ " ("
+ "FREECAD-FILENAME-GOES-HERE"
+ ", "
+ "JOB-NAME-GOES-HERE"
+ ")\n"
linenumber() + "(POST PROCESSOR: FANUC USING FREECAD %d.%d" % (major, minor) + ")\n"
)
gcode += linenumber() + "(" + filename.upper() + ",EXPORTED BY FREECAD!)\n"
gcode += linenumber() + "(POST PROCESSOR: " + __name__.upper() + ")\n"
gcode += linenumber() + "(OUTPUT TIME:" + str(now).upper() + ")\n"
# Write the preamble
@@ -229,8 +268,20 @@ def export(objectslist, filename, argstring):
for obj in objectslist:
# to stay compatible with FreeCAD 1.0
def activeForOp(obj):
# The activeForOp method is available since 2025-05-04 /
# commit 1e87d8e6681b755b9757f94b1201e50eb84b28a2
if hasattr(PathUtil, "activeForOp"):
return PathUtil.activeForOp(obj)
if hasattr(obj, "Active"):
return obj.Active
if hasattr(obj, "Base") and hasattr(obj.Base, "Active"):
return obj.Base.Active
return True
# Skip inactive operations
if not PathUtil.activeForOp(obj):
if not activeForOp(obj):
continue
# do the pre_op
@@ -240,8 +291,26 @@ def export(objectslist, filename, argstring):
for line in PRE_OPERATION.splitlines(True):
gcode += linenumber() + line
# to stay compatible with FreeCAD 1.0
def coolantModeForOp(obj):
# The coolantModeForOp method is available since
# 2025-05-04 / commit
# 1e87d8e6681b755b9757f94b1201e50eb84b28a2
if hasattr(PathUtil, "coolantModeForOp"):
return PathUtil.coolantModeForOp(obj)
if (
hasattr(obj, "CoolantMode")
or hasattr(obj, "Base")
and hasattr(obj.Base, "CoolantMode")
):
if hasattr(obj, "CoolantMode"):
return obj.CoolantMode
else:
return obj.Base.CoolantMode
return "None"
# get coolant mode
coolantMode = PathUtil.coolantModeForOp(obj)
coolantMode = coolantModeForOp(obj)
# turn coolant on if required
if OUTPUT_COMMENTS:
@@ -267,6 +336,13 @@ def export(objectslist, filename, argstring):
gcode += linenumber() + "(COOLANT OFF:" + coolantMode.upper() + ")\n"
gcode += linenumber() + "M9" + "\n"
if END_SPINDLE_EMPTY:
if OUTPUT_COMMENTS:
gcode += "(BEGIN MAKING SPINDLE EMPTY)\n"
gcode += linenumber() + "M05\n"
for line in TOOL_CHANGE.splitlines(True):
gcode += linenumber() + line
gcode += linenumber() + "M6 T0\n"
# do the post_amble
if OUTPUT_COMMENTS:
gcode += "(BEGIN POSTAMBLE)\n"
@@ -276,7 +352,13 @@ def export(objectslist, filename, argstring):
if FreeCAD.GuiUp and SHOW_EDITOR:
dia = PostUtils.GCodeEditorDialog()
dia.editor.setPlainText(gcode)
# Workaround for 1.1 while we wait for
# https://github.com/FreeCAD/FreeCAD/pull/26008 to be merged.
if hasattr(dia.editor, "setPlainText"):
dia.editor.setPlainText(gcode)
else:
dia.editor.setText(gcode)
result = dia.exec_()
if result:
final = dia.editor.toPlainText()
@@ -392,6 +474,7 @@ def parse(pathobj):
for index, c in enumerate(commands):
outstring = []
outsuffix = []
command = c.Name
if index + 1 == len(commands):
nextcommand = ""
@@ -409,17 +492,19 @@ def parse(pathobj):
if command == "G0":
continue
# if it's a tap, we rigid tap, so don't start the spindle yet...
# if tool a tap, we thread tap, so stop the spindle for now.
# This only trigger when pathobj is a ToolController.
if command == "M03" or command == "M3":
if pathobj.Tool.ShapeID.lower() == "tap":
if hasattr(pathobj, "Tool") and pathobj.Tool.ShapeName.lower() == "tap":
tapSpeed = int(pathobj.SpindleSpeed)
continue
# convert drill cycles to tap cycles if tool is a tap
# Convert drill cycles to tap cycles if tool is a tap.
# This only trigger when pathobj is a Operation.
if command == "G81" or command == "G83":
if (
hasattr(pathobj, "ToolController")
and pathobj.ToolController.Tool.ShapeID.lower() == "tap"
and pathobj.ToolController.Tool.ShapeName.lower() == "tap"
):
command = "G84"
out += linenumber() + "G95\n"
@@ -569,14 +654,14 @@ def parse(pathobj):
# Check for Tool Change:
if command == "M6":
# stop the spindle
out += linenumber() + "M5\n"
out += linenumber() + "M05\n"
for line in TOOL_CHANGE.splitlines(True):
out += linenumber() + line
# add height offset
if USE_TLO:
tool_height = "\nG43 H" + str(int(c.Parameters["T"]))
outstring.append(tool_height)
outsuffix.append("G91 G0 G43 G54 Z-[#[2000+#4120]] H#4120")
outsuffix.append("G90")
if command == "message":
if OUTPUT_COMMENTS is False:
@@ -590,9 +675,11 @@ def parse(pathobj):
outstring.insert(0, (linenumber()))
# append the line to the final output
for w in outstring:
out += w.upper() + COMMAND_SPACE
out += COMMAND_SPACE.join(outstring).upper()
out = out.strip() + "\n"
if len(outsuffix) >= 1:
for line in outsuffix:
out += linenumber() + line + "\n"
return out

1
src/Mod/CAM/TestCAMApp.py
View File

@@ -101,6 +101,7 @@ from CAMTests.TestPathVoronoi import TestPathVoronoi
from CAMTests.TestGenericPost import TestGenericPost
from CAMTests.TestLinuxCNCPost import TestLinuxCNCPost
from CAMTests.TestFanucPost import TestFanucPost
from CAMTests.TestGrblPost import TestGrblPost
from CAMTests.TestMassoG3Post import TestMassoG3Post
from CAMTests.TestCentroidPost import TestCentroidPost