9ca8e01771
Fix machinestate to handle drill moves and tests move feed and rapid declarations to PathGeom
136 lines
4.8 KiB
Python
136 lines
4.8 KiB
Python
# -*- coding: utf-8 -*-
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# ***************************************************************************
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# * Copyright (c) 2021 sliptonic shopinthewoods@gmail.com *
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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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__title__ = "Path Machine State"
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__author__ = "sliptonic (Brad Collette)"
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__url__ = "https://www.freecadweb.org"
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__doc__ = "Dataclass to implement a machinestate tracker"
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__contributors__ = ""
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import PathScripts.PathLog as PathLog
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import FreeCAD
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from dataclasses import dataclass, field
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from PathScripts.PathGeom import CmdMoveRapid, CmdMoveAll, CmdMoveDrill
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if True:
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PathLog.setLevel(PathLog.Level.DEBUG, PathLog.thisModule())
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PathLog.trackModule(PathLog.thisModule())
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else:
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PathLog.setLevel(PathLog.Level.INFO, PathLog.thisModule())
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@dataclass
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class MachineState:
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WCSLIST = [
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"G53",
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"G54",
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"G55",
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"G56",
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"G57",
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"G58",
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"G59",
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"G59.1",
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"G59.2",
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"G59.3",
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"G59.4",
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"G59.5",
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"G59.6",
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"G59.7",
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"G59.8",
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"G59.9",
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]
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X: float = field(default=0)
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Y: float = field(default=0)
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Z: float = field(default=0)
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A: float = field(default=0)
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B: float = field(default=0)
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C: float = field(default=0)
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F: float = field(default=None)
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Coolant: bool = field(default=False)
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WCS: str = field(default="G54")
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Spindle: str = field(default="off")
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S: int = field(default=0)
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T: int = field(default=None)
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def addCommand(self, command):
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"""Processes a command and updates the internal state of the machine. Returns true if the command has alterned the machine state"""
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oldstate = self.getState()
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if command.Name == "M6":
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self.T = int(command.Parameters["T"])
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return not oldstate == self.getState()
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if command.Name in ["M3", "M4"]:
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self.S = command.Parameters["S"]
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self.Spindle = "CW" if command.Name == "M3" else "CCW"
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return not oldstate == self.getState()
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if command.Name in ["M2", "M5"]:
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self.S = 0
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self.Spindle = "off"
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return not oldstate == self.getState()
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if command.Name in self.WCSLIST:
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self.WCS = command.Name
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return not oldstate == self.getState()
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if command.Name in CmdMoveDrill:
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oldZ = self.Z
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for p in command.Parameters:
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self.__setattr__(p, command.Parameters[p])
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self.__setattr__("Z", oldZ)
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return not oldstate == self.getState()
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for p in command.Parameters:
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self.__setattr__(p, command.Parameters[p])
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return not oldstate == self.getState()
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def getState(self):
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"""
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Returns a dictionary of the current machine state
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"""
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state = {}
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state['X'] = self.X
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state['Y'] = self.Y
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state['Z'] = self.Z
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state['A'] = self.A
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state['B'] = self.B
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state['C'] = self.C
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state['F'] = self.F
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state['Coolant'] = self.Coolant
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state['WCS'] = self.WCS
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state['Spindle'] = self.Spindle
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state['S'] = self.S
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state['T'] = self.T
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return state
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def getPosition(self):
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"""
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Returns a vector of the current machine position
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"""
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# This is technical debt. The actual position may include a rotation
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# component as well. We should probably be returning a placement
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return FreeCAD.Vector(self.X, self.Y, self.Z)
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