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rml_post.py
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rml_post.py
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#***************************************************************************
#* (c) Jon Nordby (jononor@gmail.com) 2015 *
#* *
#* 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 *
#* *
#***************************************************************************/
TOOLTIP='''
FreeCAD Path post-processor to output code for the Roland Modela MDX-## machines.
The machine speaks RML-1, specified in 'Roland RML-1 Programming Guidelines'
https://itp.nyu.edu/classes/cdp-spring2014/files/2014/09/RML1_Manual.pdf
http://altlab.org/d/content/m/pangelo/ideas/rml_command_guide_en_v100.pdf
The format has some overlap with HPGL:
https://en.wikipedia.org/wiki/HPGL
http://paulbourke.net/dataformats/hpgl/
'''
import FreeCAD
import Part
import PostUtils
# to distinguish python built-in open function from the one declared below
if open.__module__ == '__builtin__':
pythonopen = open
# Entrypoint used by FreeCAD
def export(objectslist, filename, argstring):
"Export objects as Roland Modela code."
code = ""
for obj in objectslist:
code += convertobject(obj)
gfile = pythonopen(filename,"wb")
gfile.write(code)
gfile.close()
def convertobject(obj):
gcode = obj.Path.toGCode()
gcode = parse(gcode)
return gcode
def motoron():
return [ "!MC1;" ]
def motoroff():
return [ "!MC0;" ]
def home():
return [ "H;" ]
def setjog():
# "!PZ%d,%d;",iz_down,iz_up); // set z down, jog
return ""
def addheader():
return [ "PA;PA;" ] # absolute positioning
def addfooter():
return []
def mm2cord(mm):
mm = float(mm)
return int(40.0*mm)
def feed(x=None, y=None, z=None, state={}):
c = []
if x is not None:
x = float(x)
state['X'] = x
if y is not None:
y = float(y)
state['Y'] = y
if z is not None:
z = float(z)
state['Z'] = z
if x is not None and y is not None and z is not None:
# 3d motion
c.append("Z%d,%d,%d;" % (mm2cord(x), mm2cord(y), mm2cord(z)))
elif x is not None and y is not None:
# 2d in XY plane
c.append("PD%d,%d;" % (mm2cord(x), mm2cord(y)))
elif z is not None:
pass # XXX: is this used?
return c
def jog(x=None, y=None, z=None, state={}):
c = []
if x is not None and y is not None:
x, y = float(x), float(y)
c.append("PU%d,%d;" % (mm2cord(x), mm2cord(y)))
state['X'] = x
state['Y'] = y
if z is not None:
z = float(z)
c.append("PU;")
# TODO: use !ZZ command
state['Z'] = z
return c
def xyarc(args, state):
# no native support in RML/Modela, convert to linear line segments
c = []
lastPoint = FreeCAD.Vector(state['X'], state['Y'])
newPoint = FreeCAD.Vector(float(args['X']), float(args['Y']))
centerOffset = FreeCAD.Vector(float(args['I']), float(args['J']))
center = lastPoint + centerOffset
radius = (center - lastPoint).Length
xyNormal = FreeCAD.Vector(0, 0, 1)
circle = Part.Circle(center, xyNormal, radius)
p0 = circle.parameter(lastPoint)
p1 = circle.parameter(newPoint)
arc = Part.ArcOfCircle(circle, p0, p1)
steps = 64 # TODO: specify max error instead
points = arc.discretize(steps)
# TODO: consider direction
#print 'p = Part.ArcOfCircle(Part.Circle(FreeCAD.Vector(%f, %f), FreeCAD.Vector(0, 0, 1), %f), %f, %f)' % (center.x, center.y, radius, p0, p1)
for p in points:
#print 'p', p.x, p.y
c += feed(p.x, p.y, state['Z'], state)
return c
def speed(xy=None, z=None, state={}):
c = []
print xy, z, state
if xy is not None:
xy = float(xy)
if xy > 0.0 and xy != state['XYspeed']:
c.append("VS%.1f;" % xy)
state['XYspeed'] = xy
if z is not None:
z = float(z)
if z > 0.0 and z != state['Zspeed']:
c.append("!VZ%.1f;" % z)
state['Zspeed'] = z
return c
def convertgcode(cmd, args, state):
"""Convert a single gcode command to equivalent Roland code"""
if cmd == 'G0':
# jog
return jog(args['X'], args['Y'], args['Z'], state)
elif cmd == 'G1':
# linear feed
c = []
# feedrate
c += speed(xy=args['F'], z=args['F'], state=state)
# motion
c += feed(args['X'], args['Y'], args['Z'], state)
return c
elif cmd == 'G2' or cmd == 'G3':
# arc feed
c = []
# feedrate
c += speed(xy=args['F'], state=state)
# motion
if args['X'] and args['Y'] and args['Z']:
# helical motion
pass
elif args['X'] and args['Y']:
# arc in plane
c += xyarc(args, state)
return c
elif cmd == 'G20':
# inches mode
raise ValueError("rml_post: Inches mode not supported")
elif cmd == 'G21':
# millimeter mode
return ""
elif cmd == 'G40':
# tool compensation off
return ""
elif cmd == 'G80':
# cancel all cycles (drill normally)
return "PU;"
elif cmd == 'G81':
c = []
# feedrate
c += speed(z=args['F'], state=state)
# motion
c += jog(args['X'], args['Y'], state=state)
c += feed(args['X'], args['Y'], args['Z'], state)
return c
elif cmd == 'G90':
# absolute mode?
return ""
elif cmd == 'G98':
# feedrate
return ""
else:
raise NotImplementedError("rml_post: GCode command %s not understood" % (cmd,))
raise Exception("should not be reached. cmd=%s" % (cmd,))
def parse(inputstring):
"parse(inputstring): returns a parsed output string"
state = { 'X': 0.0, 'Y': 0.0, 'Z': 0.0, 'XYspeed': -1.0, 'Zspeed': -1.0 }
output = []
# header
output += addheader()
output += motoron()
output += speed(2.0, 1.0, state) # defaults
# TODO: respect clearance height
# treat the input line by line
lines = inputstring.split("\n")
for line in lines:
if not line:
continue
parsed = PostUtils.stringsplit(line)
command = parsed['command']
print 'cmd', line
try:
if command:
code = convertgcode(command, parsed, state)
if not isinstance(code, list):
code = [ code ]
if len(code) and code[0]:
output += code
except NotImplementedError, e:
print e
# footer
output += motoroff()
output += home()
output += addfooter()
return '\n'.join(output)
print __name__ + " gcode postprocessor loaded."