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create/src/Mod/CAM/Path/Post/scripts/grbl_post.py

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# -*- coding: utf-8 -*-
# ***************************************************************************
# * Copyright (c) 2014 sliptonic <shopinthewoods@gmail.com> *
# * Copyright (c) 2018, 2019 Gauthier Briere *
# * Copyright (c) 2019, 2020 Schildkroet *
# * *
# * This file is part of the FreeCAD CAx development system. *
# * *
# * 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. *
# * *
# * FreeCAD 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 Lesser General Public License for more details. *
# * *
# * You should have received a copy of the GNU Library General Public *
# * License along with FreeCAD; if not, write to the Free Software *
# * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 *
# * USA *
# * *
# ***************************************************************************
import FreeCAD
from FreeCAD import Units
import Path
import Path.Base.Util as PathUtil
import Path.Post.Utils as PostUtils
import PathScripts.PathUtils as PathUtils
import argparse
import datetime
import shlex
import re
TOOLTIP = """
Generate g-code from a Path that is compatible with the grbl controller.
import grbl_post
grbl_post.export(object, "/path/to/file.ncc")
"""
# ***************************************************************************
# * Globals set customization preferences
# ***************************************************************************
# Default values for command line arguments:
OUTPUT_COMMENTS = True # default output of comments in output gCode file
OUTPUT_HEADER = True # default output header in output gCode file
OUTPUT_LINE_NUMBERS = False # default doesn't output line numbers in output gCode file
OUTPUT_BCNC = (
False # default doesn't add bCNC operation block headers in output gCode file
)
SHOW_EDITOR = True # default show the resulting file dialog output in GUI
PRECISION = 3 # Default precision for metric (see http://linuxcnc.org/docs/2.7/html/gcode/overview.html#_g_code_best_practices)
TRANSLATE_DRILL_CYCLES = False # If true, G81, G82 & G83 are translated in G0/G1 moves
PREAMBLE = """G17 G90
""" # default preamble text will appear at the beginning of the gCode output file.
POSTAMBLE = """M5
G17 G90
M2
""" # default postamble text will appear following the last operation.
SPINDLE_WAIT = 0 # no waiting after M3 / M4 by default
RETURN_TO = None # no movements after end of program
# Customisation with no command line argument
MODAL = False # if true commands are suppressed if the same as previous line.
LINENR = 100 # line number starting value
LINEINCR = 10 # line number increment
OUTPUT_TOOL_CHANGE = False # default don't output M6 tool changes (comment it) as grbl currently does not handle it
DRILL_RETRACT_MODE = "G98" # Default value of drill retractations (CURRENT_Z) other possible value is G99
MOTION_MODE = "G90" # G90 for absolute moves, G91 for relative
UNITS = "G21" # G21 for metric, G20 for us standard
UNIT_FORMAT = "mm"
UNIT_SPEED_FORMAT = "mm/min"
PRE_OPERATION = """""" # Pre operation text will be inserted before every operation
POST_OPERATION = """""" # Post operation text will be inserted after every operation
TOOL_CHANGE = """""" # Tool Change commands will be inserted before a tool change
# ***************************************************************************
# * End of customization
# ***************************************************************************
# Parser arguments list & definition
parser = argparse.ArgumentParser(prog="grbl", add_help=False)
parser.add_argument("--comments", action="store_true", help="output comment (default)")
parser.add_argument(
"--no-comments", action="store_true", help="suppress comment output"
)
parser.add_argument("--header", action="store_true", help="output headers (default)")
parser.add_argument("--no-header", action="store_true", help="suppress header output")
parser.add_argument(
"--line-numbers", action="store_true", help="prefix with line numbers"
)
parser.add_argument(
"--no-line-numbers",
action="store_true",
help="don't prefix with line numbers (default)",
)
parser.add_argument(
"--show-editor",
action="store_true",
help="pop up editor before writing output (default)",
)
parser.add_argument(
"--no-show-editor",
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(
"--translate_drill",
action="store_true",
help="translate drill cycles G81, G82 & G83 in G0/G1 movements",
)
parser.add_argument(
"--no-translate_drill",
action="store_true",
help="don't translate drill cycles G81, G82 & G83 in G0/G1 movements (default)",
)
parser.add_argument(
"--preamble",
help='set commands to be issued before the first command, default="G17 G90"',
)
parser.add_argument(
"--postamble",
help='set commands to be issued after the last command, default="M5\nG17 G90\n;M2"',
)
parser.add_argument(
"--inches", action="store_true", help="Convert output for US imperial mode (G20)"
)
parser.add_argument(
"--tool-change", action="store_true", help="Insert M6 for all tool changes"
)
parser.add_argument(
"--wait-for-spindle",
type=int,
default=0,
help="Wait for spindle to reach desired speed after M3 / M4, default=0",
)
parser.add_argument(
"--return-to",
default="",
help="Move to the specified coordinates at the end, e.g. --return-to=0,0",
)
parser.add_argument(
"--bcnc",
action="store_true",
help="Add Job operations as bCNC block headers. Consider suppressing existing comments: Add argument --no-comments",
)
parser.add_argument(
"--no-bcnc", action="store_true", help="suppress bCNC block header output (default)"
)
TOOLTIP_ARGS = parser.format_help()
# ***************************************************************************
# * Internal global variables
# ***************************************************************************
MOTION_COMMANDS = [
"G0",
"G00",
"G1",
"G01",
"G2",
"G02",
"G3",
"G03",
] # Motion gCode commands definition
RAPID_MOVES = ["G0", "G00"] # Rapid moves gCode commands definition
SUPPRESS_COMMANDS = [] # These commands are ignored by commenting them out
COMMAND_SPACE = " "
# Global variables storing current position
CURRENT_X = 0
CURRENT_Y = 0
CURRENT_Z = 0
# ***************************************************************************
# * to distinguish python built-in open function from the one declared below
if open.__module__ in ["__builtin__", "io"]:
pythonopen = open
def processArguments(argstring):
global OUTPUT_HEADER
global OUTPUT_COMMENTS
global OUTPUT_LINE_NUMBERS
global SHOW_EDITOR
global PRECISION
global PREAMBLE
global POSTAMBLE
global UNITS
global UNIT_SPEED_FORMAT
global UNIT_FORMAT
global TRANSLATE_DRILL_CYCLES
global OUTPUT_TOOL_CHANGE
global SPINDLE_WAIT
global RETURN_TO
global OUTPUT_BCNC
try:
args = parser.parse_args(shlex.split(argstring))
if args.no_header:
OUTPUT_HEADER = False
if args.header:
OUTPUT_HEADER = True
if args.no_comments:
OUTPUT_COMMENTS = False
if args.comments:
OUTPUT_COMMENTS = True
if args.no_line_numbers:
OUTPUT_LINE_NUMBERS = False
if args.line_numbers:
OUTPUT_LINE_NUMBERS = True
if args.no_show_editor:
SHOW_EDITOR = False
if args.show_editor:
SHOW_EDITOR = True
PRECISION = args.precision
if args.preamble is not None:
PREAMBLE = args.preamble
if args.postamble is not None:
POSTAMBLE = args.postamble
if args.no_translate_drill:
TRANSLATE_DRILL_CYCLES = False
if args.translate_drill:
TRANSLATE_DRILL_CYCLES = True
if args.inches:
UNITS = "G20"
UNIT_SPEED_FORMAT = "in/min"
UNIT_FORMAT = "in"
PRECISION = 4
if args.tool_change:
OUTPUT_TOOL_CHANGE = True
if args.wait_for_spindle > 0:
SPINDLE_WAIT = args.wait_for_spindle
if args.return_to != "":
RETURN_TO = [int(v) for v in args.return_to.split(",")]
if len(RETURN_TO) != 2:
RETURN_TO = None
print("--return-to coordinates must be specified as <x>,<y>, ignoring")
if args.bcnc:
OUTPUT_BCNC = True
if args.no_bcnc:
OUTPUT_BCNC = False
except Exception as e:
return False
return True
# For debug...
def dump(obj):
for attr in dir(obj):
print("obj.%s = %s" % (attr, getattr(obj, attr)))
def export(objectslist, filename, argstring):
if not processArguments(argstring):
return None
global UNITS
global UNIT_FORMAT
global UNIT_SPEED_FORMAT
global MOTION_MODE
global SUPPRESS_COMMANDS
print("Post Processor: " + __name__ + " postprocessing...")
gcode = ""
# write header
if OUTPUT_HEADER:
gcode += linenumber() + "(Exported by FreeCAD)\n"
gcode += linenumber() + "(Post Processor: " + __name__ + ")\n"
gcode += linenumber() + "(Output Time:" + str(datetime.datetime.now()) + ")\n"
# Check canned cycles for drilling
if TRANSLATE_DRILL_CYCLES:
if len(SUPPRESS_COMMANDS) == 0:
SUPPRESS_COMMANDS = ["G99", "G98", "G80"]
else:
SUPPRESS_COMMANDS += ["G99", "G98", "G80"]
# Write the preamble
if OUTPUT_COMMENTS:
gcode += linenumber() + "(Begin preamble)\n"
for line in PREAMBLE.splitlines(True):
gcode += linenumber() + line
# verify if PREAMBLE have changed MOTION_MODE or UNITS
if "G90" in PREAMBLE:
MOTION_MODE = "G90"
elif "G91" in PREAMBLE:
MOTION_MODE = "G91"
else:
gcode += linenumber() + MOTION_MODE + "\n"
if "G21" in PREAMBLE:
UNITS = "G21"
UNIT_FORMAT = "mm"
UNIT_SPEED_FORMAT = "mm/min"
elif "G20" in PREAMBLE:
UNITS = "G20"
UNIT_FORMAT = "in"
UNIT_SPEED_FORMAT = "in/min"
else:
gcode += linenumber() + UNITS + "\n"
for obj in objectslist:
# Debug...
# print("\n" + "*"*70)
# dump(obj)
# print("*"*70 + "\n")
if not hasattr(obj, "Path"):
print(
"The object "
+ obj.Name
+ " is not a path. Please select only path and Compounds."
)
return
# Skip inactive operations
if PathUtil.opProperty(obj, "Active") is False:
continue
# do the pre_op
if OUTPUT_BCNC:
gcode += linenumber() + "(Block-name: " + obj.Label + ")\n"
gcode += linenumber() + "(Block-expand: 0)\n"
gcode += linenumber() + "(Block-enable: 1)\n"
if OUTPUT_COMMENTS:
gcode += linenumber() + "(Begin operation: " + obj.Label + ")\n"
for line in PRE_OPERATION.splitlines(True):
gcode += linenumber() + line
# get coolant mode
coolantMode = "None"
if (
hasattr(obj, "CoolantMode")
or hasattr(obj, "Base")
and hasattr(obj.Base, "CoolantMode")
):
if hasattr(obj, "CoolantMode"):
coolantMode = obj.CoolantMode
else:
coolantMode = obj.Base.CoolantMode
# turn coolant on if required
if OUTPUT_COMMENTS:
if not coolantMode == "None":
gcode += linenumber() + "(Coolant On:" + coolantMode + ")\n"
if coolantMode == "Flood":
gcode += linenumber() + "M8" + "\n"
if coolantMode == "Mist":
gcode += linenumber() + "M7" + "\n"
# Parse the op
gcode += parse(obj)
# do the post_op
if OUTPUT_COMMENTS:
gcode += linenumber() + "(Finish operation: " + obj.Label + ")\n"
for line in POST_OPERATION.splitlines(True):
gcode += linenumber() + line
# turn coolant off if required
if not coolantMode == "None":
if OUTPUT_COMMENTS:
gcode += linenumber() + "(Coolant Off:" + coolantMode + ")\n"
gcode += linenumber() + "M9" + "\n"
if RETURN_TO:
gcode += linenumber() + "G0 X%s Y%s\n" % tuple(RETURN_TO)
# do the post_amble
if OUTPUT_BCNC:
gcode += linenumber() + "(Block-name: post_amble)\n"
gcode += linenumber() + "(Block-expand: 0)\n"
gcode += linenumber() + "(Block-enable: 1)\n"
if OUTPUT_COMMENTS:
gcode += linenumber() + "(Begin postamble)\n"
for line in POSTAMBLE.splitlines(True):
gcode += linenumber() + line
# show the gCode result dialog
if FreeCAD.GuiUp and SHOW_EDITOR:
dia = PostUtils.GCodeEditorDialog()
dia.editor.setText(gcode)
result = dia.exec_()
if result:
final = dia.editor.toPlainText()
else:
final = gcode
else:
final = gcode
print("Done postprocessing.")
# write the file
if not filename == "-":
gfile = pythonopen(filename, "w")
gfile.write(final)
gfile.close()
return final
def linenumber():
if not OUTPUT_LINE_NUMBERS:
return ""
global LINENR
global LINEINCR
s = "N" + str(LINENR) + " "
LINENR += LINEINCR
return s
def format_outstring(strTable):
global COMMAND_SPACE
# construct the line for the final output
s = ""
for w in strTable:
s += w + COMMAND_SPACE
s = s.strip()
return s
def parse(pathobj):
global DRILL_RETRACT_MODE
global MOTION_MODE
global CURRENT_X
global CURRENT_Y
global CURRENT_Z
out = ""
lastcommand = None
precision_string = "." + str(PRECISION) + "f"
params = [
"X",
"Y",
"Z",
"A",
"B",
"C",
"U",
"V",
"W",
"I",
"J",
"K",
"F",
"S",
"T",
"Q",
"R",
"L",
"P",
]
if hasattr(pathobj, "Group"): # We have a compound or project.
if OUTPUT_COMMENTS:
out += linenumber() + "(Compound: " + pathobj.Label + ")\n"
for p in pathobj.Group:
out += parse(p)
return out
else: # parsing simple path
if not hasattr(
pathobj, "Path"
): # groups might contain non-path things like stock.
return out
if OUTPUT_COMMENTS:
out += linenumber() + "(Path: " + pathobj.Label + ")\n"
for c in PathUtils.getPathWithPlacement(pathobj).Commands:
outstring = []
command = c.Name
outstring.append(command)
# if modal: only print the command if it is not the same as the last one
if MODAL:
if command == lastcommand:
outstring.pop(0)
# Now add the remaining parameters in order
for param in params:
if param in c.Parameters:
if param == "F":
if command not in RAPID_MOVES:
speed = Units.Quantity(
c.Parameters["F"], FreeCAD.Units.Velocity
)
if speed.getValueAs(UNIT_SPEED_FORMAT) > 0.0:
outstring.append(
param
+ format(
float(speed.getValueAs(UNIT_SPEED_FORMAT)),
precision_string,
)
)
elif param in ["T", "H", "S"]:
outstring.append(param + str(int(c.Parameters[param])))
elif param in ["D", "P", "L"]:
outstring.append(param + str(c.Parameters[param]))
elif param in ["A", "B", "C"]:
outstring.append(
param + format(c.Parameters[param], precision_string)
)
else: # [X, Y, Z, U, V, W, I, J, K, R, Q] (Conversion eventuelle mm/inches)
pos = Units.Quantity(c.Parameters[param], FreeCAD.Units.Length)
outstring.append(
param
+ format(
float(pos.getValueAs(UNIT_FORMAT)), precision_string
)
)
# store the latest command
lastcommand = command
# Memorizes the current position for calculating the related movements and the withdrawal plan
if command in MOTION_COMMANDS:
if "X" in c.Parameters:
CURRENT_X = Units.Quantity(c.Parameters["X"], FreeCAD.Units.Length)
if "Y" in c.Parameters:
CURRENT_Y = Units.Quantity(c.Parameters["Y"], FreeCAD.Units.Length)
if "Z" in c.Parameters:
CURRENT_Z = Units.Quantity(c.Parameters["Z"], FreeCAD.Units.Length)
if command in ("G98", "G99"):
DRILL_RETRACT_MODE = command
if command in ("G90", "G91"):
MOTION_MODE = command
if TRANSLATE_DRILL_CYCLES:
if command in ("G81", "G82", "G83"):
out += drill_translate(outstring, command, c.Parameters)
# Erase the line we just translated
outstring = []
if SPINDLE_WAIT > 0:
if command in ("M3", "M03", "M4", "M04"):
out += linenumber() + format_outstring(outstring) + "\n"
out += (
linenumber()
+ format_outstring(["G4", "P%s" % SPINDLE_WAIT])
+ "\n"
)
outstring = []
# Check for Tool Change:
if command in ("M6", "M06"):
if OUTPUT_COMMENTS:
out += linenumber() + "(Begin toolchange)\n"
if not OUTPUT_TOOL_CHANGE:
outstring.insert(0, "(")
outstring.append(")")
else:
for line in TOOL_CHANGE.splitlines(True):
out += linenumber() + line
if command == "message":
if OUTPUT_COMMENTS is False:
out = []
else:
outstring.pop(0) # remove the command
if command in SUPPRESS_COMMANDS:
outstring.insert(0, "(")
outstring.append(")")
# prepend a line number and append a newline
if len(outstring) >= 1:
out += linenumber() + format_outstring(outstring) + "\n"
# Check for comments containing machine-specific commands to pass literally to the controller
m = re.match(r"^\(MC_RUN_COMMAND: ([^)]+)\)$", command)
if m:
raw_command = m.group(1)
out += linenumber() + raw_command + "\n"
return out
def drill_translate(outstring, cmd, params):
global DRILL_RETRACT_MODE
global MOTION_MODE
global CURRENT_X
global CURRENT_Y
global CURRENT_Z
global UNITS
global UNIT_FORMAT
global UNIT_SPEED_FORMAT
strFormat = "." + str(PRECISION) + "f"
strG0_Initial_Z=("G0 Z" + format(float(CURRENT_Z.getValueAs(UNIT_FORMAT)), strFormat) + "\n")
trBuff = ""
if OUTPUT_COMMENTS: # Comment the original command
outstring[0] = "(" + outstring[0]
outstring[-1] = outstring[-1] + ")"
trBuff += linenumber() + format_outstring(outstring) + "\n"
# cycle conversion
# currently only cycles in XY are provided (G17)
# other plains ZX (G18) and YZ (G19) are not dealt with : Z drilling only.
drill_X = Units.Quantity(params["X"], FreeCAD.Units.Length)
drill_Y = Units.Quantity(params["Y"], FreeCAD.Units.Length)
drill_Z = Units.Quantity(params["Z"], FreeCAD.Units.Length)
RETRACT_Z = Units.Quantity(params["R"], FreeCAD.Units.Length)
# R less than Z is error
if RETRACT_Z < drill_Z:
trBuff += linenumber() + "(drill cycle error: R less than Z )\n"
return trBuff
if MOTION_MODE == "G91": # G91 relative movements
drill_X += CURRENT_X
drill_Y += CURRENT_Y
drill_Z += CURRENT_Z
RETRACT_Z += CURRENT_Z
# if DRILL_RETRACT_MODE == "G98" and CURRENT_Z >= RETRACT_Z:
# RETRACT_Z = CURRENT_Z
# get the other parameters
drill_feedrate = Units.Quantity(params["F"], FreeCAD.Units.Velocity)
if cmd == "G83":
drill_Step = Units.Quantity(params["Q"], FreeCAD.Units.Length)
a_bit = (
drill_Step * 0.05
) # NIST 3.5.16.4 G83 Cycle: "current hole bottom, backed off a bit."
elif cmd == "G82":
drill_DwellTime = params["P"]
# wrap this block to ensure machine MOTION_MODE is restored in case of error
try:
if MOTION_MODE == "G91":
trBuff += linenumber() + "G90\n" # force absolute coordinates during cycles
strG0_RETRACT_Z = (
"G0 Z" + format(float(RETRACT_Z.getValueAs(UNIT_FORMAT)), strFormat) + "\n"
)
strF_Feedrate = (
" F"
+ format(float(drill_feedrate.getValueAs(UNIT_SPEED_FORMAT)), ".2f")
+ "\n"
)
print(strF_Feedrate)
# preliminary movement(s)
if CURRENT_Z < RETRACT_Z:
trBuff += linenumber() + strG0_RETRACT_Z
trBuff += (
linenumber()
+ "G0 X"
+ format(float(drill_X.getValueAs(UNIT_FORMAT)), strFormat)
+ " Y"
+ format(float(drill_Y.getValueAs(UNIT_FORMAT)), strFormat)
+ "\n"
)
if CURRENT_Z > RETRACT_Z:
# NIST GCODE 3.5.16.1 Preliminary and In-Between Motion says G0 to RETRACT_Z.
trBuff += (
linenumber()
+ "G0 Z"
+ format(float(RETRACT_Z.getValueAs(UNIT_FORMAT)), strFormat)
+ strF_Feedrate
)
last_Stop_Z = RETRACT_Z
# drill moves
if cmd in ("G81", "G82"):
trBuff += (
linenumber()
+ "G1 Z"
+ format(float(drill_Z.getValueAs(UNIT_FORMAT)), strFormat)
+ strF_Feedrate
)
# pause where applicable
if cmd == "G82":
trBuff += linenumber() + "G4 P" + str(drill_DwellTime) + "\n"
trBuff += linenumber() + strG0_RETRACT_Z
else: # 'G83'
if params["Q"] != 0:
while 1:
if last_Stop_Z != RETRACT_Z:
clearance_depth = (
last_Stop_Z + a_bit
) # rapid move to just short of last drilling depth
trBuff += (
linenumber()
+ "G0 Z"
+ format(
float(clearance_depth.getValueAs(UNIT_FORMAT)),
strFormat,
)
+ "\n"
)
next_Stop_Z = last_Stop_Z - drill_Step
if next_Stop_Z > drill_Z:
trBuff += (
linenumber()
+ "G1 Z"
+ format(
float(next_Stop_Z.getValueAs(UNIT_FORMAT)), strFormat
)
+ strF_Feedrate
)
trBuff += linenumber() + strG0_RETRACT_Z
last_Stop_Z = next_Stop_Z
else:
trBuff += (
linenumber()
+ "G1 Z"
+ format(float(drill_Z.getValueAs(UNIT_FORMAT)), strFormat)
+ strF_Feedrate
)
if DRILL_RETRACT_MODE == "G98" :
trBuff += (linenumber() + strG0_Initial_Z)
else:
trBuff += (linenumber() + strG0_RETRACT_Z)
break
except Exception as e:
pass
if MOTION_MODE == "G91":
trBuff += linenumber() + "G91" # Restore if changed
return trBuff
# print(__name__ + ": GCode postprocessor loaded.")
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