# Copyright (c) 2017 Aleph Objects, Inc. # Cura is released under the terms of the LGPLv3 or higher. from UM.Application import Application from UM.Backend import Backend from UM.Job import Job from UM.Logger import Logger from UM.Math.AxisAlignedBox import AxisAlignedBox from UM.Math.Vector import Vector from UM.Mesh.MeshReader import MeshReader from UM.Message import Message from UM.Scene.SceneNode import SceneNode from UM.i18n import i18nCatalog from UM.Preferences import Preferences catalog = i18nCatalog("cura") from cura import LayerDataBuilder from cura import LayerDataDecorator from cura.LayerPolygon import LayerPolygon from cura.GCodeListDecorator import GCodeListDecorator from cura.Settings.ExtruderManager import ExtruderManager import numpy import math import re from collections import namedtuple # Class for loading and parsing G-code files class GCodeReader(MeshReader): def __init__(self): super(GCodeReader, self).__init__() self._supported_extensions = [".gcode", ".g"] Application.getInstance().hideMessageSignal.connect(self._onHideMessage) self._cancelled = False self._message = None self._layer_number = 0 self._extruder_number = 0 self._clearValues() self._scene_node = None # X, Y, Z position, F feedrate and E extruder values are stored self._position = namedtuple('Position', ['x', 'y', 'z', 'f', 'e']) self._is_layers_in_file = False # Does the Gcode have the layers comment? self._extruder_offsets = {} # Offsets for multi extruders. key is index, value is [x-offset, y-offset] self._current_layer_thickness = 0.2 # default Preferences.getInstance().addPreference("gcodereader/show_caution", True) def _clearValues(self): self._filament_diameter = 2.85 self._extruder_number = 0 self._extrusion_length_offset = [0] self._layer_type = LayerPolygon.Inset0Type self._layer_number = 0 self._previous_z = 0 self._layer_data_builder = LayerDataBuilder.LayerDataBuilder() self._center_is_zero = False self._is_absolute_positioning = True # It can be absolute (G90) or relative (G91) self._is_absolute_extrusion = True # It can become absolute (M82, default) or relative (M83) @staticmethod def _getValue(line, code): n = line.find(code) if n < 0: return None n += len(code) pattern = re.compile("[;\s]") match = pattern.search(line, n) m = match.start() if match is not None else -1 try: if m < 0: return line[n:] return line[n:m] except: return None def _getInt(self, line, code): value = self._getValue(line, code) try: return int(value) except: return None def _getFloat(self, line, code): value = self._getValue(line, code) try: return float(value) except: return None def _onHideMessage(self, message): if message == self._message: self._cancelled = True @staticmethod def _getNullBoundingBox(): return AxisAlignedBox(minimum=Vector(0, 0, 0), maximum=Vector(10, 10, 10)) def _createPolygon(self, layer_thickness, path, extruder_offsets): countvalid = 0 for point in path: if point[5] > 0: countvalid += 1 if countvalid >= 2: # we know what to do now, no need to count further continue if countvalid < 2: return False try: self._layer_data_builder.addLayer(self._layer_number) self._layer_data_builder.setLayerHeight(self._layer_number, path[0][2]) self._layer_data_builder.setLayerThickness(self._layer_number, layer_thickness) this_layer = self._layer_data_builder.getLayer(self._layer_number) except ValueError: return False count = len(path) line_types = numpy.empty((count - 1, 1), numpy.int32) line_widths = numpy.empty((count - 1, 1), numpy.float32) line_thicknesses = numpy.empty((count - 1, 1), numpy.float32) line_feedrates = numpy.empty((count - 1, 1), numpy.float32) line_widths[:, 0] = 0.35 # Just a guess line_thicknesses[:, 0] = layer_thickness points = numpy.empty((count, 3), numpy.float32) extrusion_values = numpy.empty((count, 1), numpy.float32) i = 0 for point in path: points[i, :] = [point[0] + extruder_offsets[0], point[2], -point[1] - extruder_offsets[1]] extrusion_values[i] = point[4] if i > 0: line_feedrates[i - 1] = point[3] line_types[i - 1] = point[5] if point[5] in [LayerPolygon.MoveCombingType, LayerPolygon.MoveRetractionType]: line_widths[i - 1] = 0.1 line_thicknesses[i - 1] = 0.0 # Travels are set as zero thickness lines else: line_widths[i - 1] = self._calculateLineWidth(points[i], points[i-1], extrusion_values[i], extrusion_values[i-1], layer_thickness) i += 1 this_poly = LayerPolygon(self._extruder_number, line_types, points, line_widths, line_thicknesses, line_feedrates) this_poly.buildCache() this_layer.polygons.append(this_poly) return True def _calculateLineWidth(self, current_point, previous_point, current_extrusion, previous_extrusion, layer_thickness): # Area of the filament Af = (self._filament_diameter / 2) ** 2 * numpy.pi # Length of the extruded filament de = current_extrusion - previous_extrusion # Volumne of the extruded filament dVe = de * Af # Length of the printed line dX = numpy.sqrt((current_point[0] - previous_point[0])**2 + (current_point[2] - previous_point[2])**2) # When the extruder recovers from a retraction, we get zero distance if dX == 0: return 0.1 # Area of the printed line. This area is a rectangle Ae = dVe / dX # This area is a rectangle with area equal to layer_thickness * layer_width line_width = Ae / layer_thickness # A threshold is set to avoid weird paths in the GCode if line_width > 1.2: return 0.35 return line_width def _gCode0(self, position, params, path): x, y, z, f, e = position if self._is_absolute_positioning: x = params.x if params.x is not None else x y = params.y if params.y is not None else y z = params.z if params.z is not None else z else: x += params.x if params.x is not None else 0 y += params.y if params.y is not None else 0 z += params.z if params.z is not None else 0 f = params.f if params.f is not None else f if params.e is not None: new_extrusion_value = params.e if self._is_absolute_extrusion else e[self._extruder_number] + params.e if new_extrusion_value > e[self._extruder_number]: path.append([x, y, z, f, new_extrusion_value + self._extrusion_length_offset[self._extruder_number], self._layer_type]) # extrusion else: path.append([x, y, z, f, new_extrusion_value + self._extrusion_length_offset[self._extruder_number], LayerPolygon.MoveRetractionType]) # retraction e[self._extruder_number] = new_extrusion_value # Only when extruding we can determine the latest known "layer height" which is the difference in height between extrusions # Also, 1.5 is a heuristic for any priming or whatsoever, we skip those. if z > self._previous_z and (z - self._previous_z < 1.5): self._current_layer_thickness = z - self._previous_z # allow a tiny overlap self._previous_z = z else: path.append([x, y, z, f, e[self._extruder_number] + self._extrusion_length_offset[self._extruder_number], LayerPolygon.MoveCombingType]) return self._position(x, y, z, f, e) # G0 and G1 should be handled exactly the same. _gCode1 = _gCode0 ## Home the head. def _gCode28(self, position, params, path): return self._position( params.x if params.x is not None else position.x, params.y if params.y is not None else position.y, 0, position.f, position.e) ## Set the absolute positioning def _gCode90(self, position, params, path): self._is_absolute_positioning = True return position ## Set the relative positioning def _gCode91(self, position, params, path): self._is_absolute_positioning = False return position ## Reset the current position to the values specified. # For example: G92 X10 will set the X to 10 without any physical motion. def _gCode92(self, position, params, path): if params.e is not None: # Sometimes a G92 E0 is introduced in the middle of the GCode so we need to keep those offsets for calculate the line_width self._extrusion_length_offset[self._extruder_number] += position.e[self._extruder_number] - params.e position.e[self._extruder_number] = params.e return self._position( params.x if params.x is not None else position.x, params.y if params.y is not None else position.y, params.z if params.z is not None else position.z, params.f if params.f is not None else position.f, position.e) def _processGCode(self, G, line, position, path): func = getattr(self, "_gCode%s" % G, None) line = line.split(";", 1)[0] # Remove comments (if any) if func is not None: s = line.upper().split(" ") x, y, z, f, e = None, None, None, None, None for item in s[1:]: if len(item) <= 1: continue if item.startswith(";"): continue if item[0] == "X": x = float(item[1:]) if item[0] == "Y": y = float(item[1:]) if item[0] == "Z": z = float(item[1:]) if item[0] == "F": f = float(item[1:]) / 60 if item[0] == "E": e = float(item[1:]) if self._is_absolute_positioning and ((x is not None and x < 0) or (y is not None and y < 0)): self._center_is_zero = True params = self._position(x, y, z, f, e) return func(position, params, path) return position def _processTCode(self, T, line, position, path): self._extruder_number = T if self._extruder_number + 1 > len(position.e): self._extrusion_length_offset.extend([0] * (self._extruder_number - len(position.e) + 1)) position.e.extend([0] * (self._extruder_number - len(position.e) + 1)) return position def _processMCode(self, m): if m == 82: # Set absolute extrusion mode self._is_absolute_extrusion = True elif m == 83: # Set relative extrusion mode self._is_absolute_extrusion = False _type_keyword = ";TYPE:" _layer_keyword = ";LAYER:" ## For showing correct x, y offsets for each extruder def _extruderOffsets(self): result = {} for extruder in ExtruderManager.getInstance().getExtruderStacks(): result[int(extruder.getMetaData().get("position", "0"))] = [ extruder.getProperty("machine_nozzle_offset_x", "value"), extruder.getProperty("machine_nozzle_offset_y", "value")] return result def read(self, file_name): Logger.log("d", "Preparing to load %s" % file_name) self._cancelled = False # We obtain the filament diameter from the selected printer to calculate line widths self._filament_diameter = Application.getInstance().getGlobalContainerStack().getProperty("material_diameter", "value") scene_node = SceneNode() # Override getBoundingBox function of the sceneNode, as this node should return a bounding box, but there is no # real data to calculate it from. scene_node.getBoundingBox = self._getNullBoundingBox gcode_list = [] self._is_layers_in_file = False Logger.log("d", "Opening file %s" % file_name) self._extruder_offsets = self._extruderOffsets() # dict with index the extruder number. can be empty last_z = 0 with open(file_name, "r") as file: file_lines = 0 current_line = 0 for line in file: file_lines += 1 gcode_list.append(line) if not self._is_layers_in_file and line[:len(self._layer_keyword)] == self._layer_keyword: self._is_layers_in_file = True file.seek(0) file_step = max(math.floor(file_lines / 100), 1) self._clearValues() self._message = Message(catalog.i18nc("@info:status", "Parsing G-code"), lifetime=0, title = catalog.i18nc("@info:title", "G-code Details")) self._message.setProgress(0) self._message.show() Logger.log("d", "Parsing %s..." % file_name) current_position = self._position(0, 0, 0, 0, [0]) current_path = [] for line in file: if self._cancelled: Logger.log("d", "Parsing %s cancelled" % file_name) return None current_line += 1 last_z = current_position.z if current_line % file_step == 0: self._message.setProgress(math.floor(current_line / file_lines * 100)) Job.yieldThread() if len(line) == 0: continue if line.find(self._type_keyword) == 0: type = line[len(self._type_keyword):].strip() if type == "WALL-INNER": self._layer_type = LayerPolygon.InsetXType elif type == "WALL-OUTER": self._layer_type = LayerPolygon.Inset0Type elif type == "SKIN": self._layer_type = LayerPolygon.SkinType elif type == "SKIRT": self._layer_type = LayerPolygon.SkirtType elif type == "SUPPORT": self._layer_type = LayerPolygon.SupportType elif type == "FILL": self._layer_type = LayerPolygon.InfillType else: Logger.log("w", "Encountered a unknown type (%s) while parsing g-code.", type) # When the layer change is reached, the polygon is computed so we have just one layer per layer per extruder if self._is_layers_in_file and line[:len(self._layer_keyword)] == self._layer_keyword: try: layer_number = int(line[len(self._layer_keyword):]) self._createPolygon(self._current_layer_thickness, current_path, self._extruder_offsets.get(self._extruder_number, [0, 0])) current_path.clear() self._layer_number = layer_number except: pass # This line is a comment. Ignore it (except for the layer_keyword) if line.startswith(";"): continue G = self._getInt(line, "G") if G is not None: # When find a movement, the new posistion is calculated and added to the current_path, but # don't need to create a polygon until the end of the layer current_position = self._processGCode(G, line, current_position, current_path) continue # When changing the extruder, the polygon with the stored paths is computed if line.startswith("T"): T = self._getInt(line, "T") if T is not None: self._createPolygon(self._current_layer_thickness, current_path, self._extruder_offsets.get(self._extruder_number, [0, 0])) current_path.clear() current_position = self._processTCode(T, line, current_position, current_path) if line.startswith("M"): M = self._getInt(line, "M") self._processMCode(M) # "Flush" leftovers. Last layer paths are still stored if len(current_path) > 1: if self._createPolygon(self._current_layer_thickness, current_path, self._extruder_offsets.get(self._extruder_number, [0, 0])): self._layer_number += 1 current_path.clear() material_color_map = numpy.zeros((10, 4), dtype = numpy.float32) material_color_map[0, :] = [0.0, 0.7, 0.9, 1.0] material_color_map[1, :] = [0.7, 0.9, 0.0, 1.0] layer_mesh = self._layer_data_builder.build(material_color_map) decorator = LayerDataDecorator.LayerDataDecorator() decorator.setLayerData(layer_mesh) scene_node.addDecorator(decorator) gcode_list_decorator = GCodeListDecorator() gcode_list_decorator.setGCodeList(gcode_list) scene_node.addDecorator(gcode_list_decorator) Application.getInstance().getController().getScene().gcode_list = gcode_list Logger.log("d", "Finished parsing %s" % file_name) self._message.hide() if self._layer_number == 0: Logger.log("w", "File %s doesn't contain any valid layers" % file_name) settings = Application.getInstance().getGlobalContainerStack() machine_width = settings.getProperty("machine_width", "value") machine_depth = settings.getProperty("machine_depth", "value") if not self._center_is_zero: scene_node.setPosition(Vector(-machine_width / 2, 0, machine_depth / 2)) Logger.log("d", "Loaded %s" % file_name) if Preferences.getInstance().getValue("gcodereader/show_caution"): caution_message = Message(catalog.i18nc( "@info:generic", "Make sure the g-code is suitable for your printer and printer configuration before sending the file to it. The g-code representation may not be accurate."), lifetime=0, title = catalog.i18nc("@info:title", "G-code Details")) caution_message.show() # The "save/print" button's state is bound to the backend state. backend = Application.getInstance().getBackend() backend.backendStateChange.emit(Backend.BackendState.Disabled) return scene_node