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Merge gcodeInterpreter optimizations from daid/Cura

master
Bryan Mayland 2013-08-07 11:01:48 -04:00
parent 3b3bb36377
commit 1726e85a68
2 changed files with 199 additions and 154 deletions
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4
octoprint/gcodefiles.py
View File

@ -63,8 +63,8 @@ class GcodeManager:
dirty = True dirty = True
if gcode.extrusionAmount: if gcode.extrusionAmount:
analysisResult["filament"] = "%.2fm" % (gcode.extrusionAmount / 1000) analysisResult["filament"] = "%.2fm" % (gcode.extrusionAmount / 1000)
if gcode.extrusionVolume: if gcode.calculateVolumeCm3():
analysisResult["filament"] += " / %.2fcm³" % gcode.extrusionVolume analysisResult["filament"] += " / %.2fcm³" % gcode.calculateVolumeCm3()
dirty = True dirty = True
if dirty: if dirty:

349
octoprint/util/gcodeInterpreter.py
View File

@ -1,15 +1,13 @@
from __future__ import absolute_import from __future__ import absolute_import
__copyright__ = "Copyright (C) 2013 David Braam - Released under terms of the AGPLv3 License"
import sys import sys
import math import math
import re
import os import os
import base64 import base64
import zlib import zlib
import logging import logging
from octoprint.util import util3d
preferences = { preferences = {
"extruder_offset_x1": -22.0, "extruder_offset_x1": -22.0,
"extruder_offset_y1": 0.0, "extruder_offset_y1": 0.0,
@ -28,82 +26,105 @@ def getPreference(key, default=None):
class AnalysisAborted(Exception): class AnalysisAborted(Exception):
pass pass
class gcodePath(object): #class gcodePath(object):
def __init__(self, newType, pathType, layerThickness, startPoint): # def __init__(self, newType, pathType, layerThickness, startPoint):
self.type = newType # self.type = newType
self.pathType = pathType # self.pathType = pathType
self.layerThickness = layerThickness # self.layerThickness = layerThickness
self.list = [startPoint] # self.points = [startPoint]
# self.extrusion = [0.0]
def gcodePath(newType, pathType, layerThickness, startPoint):
return {'type': newType,
'pathType': pathType,
'layerThickness': layerThickness,
'points': [startPoint],
'extrusion': [0.0]}
class gcode(object): class gcode(object):
def __init__(self): def __init__(self):
self._logger = logging.getLogger(__name__) self._logger = logging.getLogger(__name__)
self.regMatch = {} self.layerList = None
self.layerList = []
self.extrusionAmount = 0 self.extrusionAmount = 0
self.extrusionVolume = None
self.totalMoveTimeMinute = 0 self.totalMoveTimeMinute = 0
self.filename = None
self.progressCallback = None self.progressCallback = None
self._abort = False self._abort = False
self._filamentDiameter = 0
def load(self, filename): def load(self, filename):
if os.path.isfile(filename): if os.path.isfile(filename):
self.filename = filename
self._fileSize = os.stat(filename).st_size self._fileSize = os.stat(filename).st_size
gcodeFile = open(filename, 'r') gcodeFile = open(filename, 'r')
self._load(gcodeFile) self._load(gcodeFile)
gcodeFile.close() gcodeFile.close()
def loadList(self, l): def loadList(self, l):
self.filename = None
self._load(l) self._load(l)
def abort(self): def abort(self):
self._abort = True self._abort = True
def calculateVolumeCm3(self):
radius = self._filamentDiameter / 2
return (self.extrusionAmount * (math.pi * radius * radius)) / 1000
def calculateWeight(self):
#Calculates the weight of the filament in kg
volumeM3 = calculateVolumeCm3 /(1000*1000)
return volumeM3 * getPreference('filament_physical_density')
def calculateCost(self):
cost_kg = getPreference('filament_cost_kg')
cost_meter = getPreference('filament_cost_meter')
if cost_kg > 0.0 and cost_meter > 0.0:
return "%.2f / %.2f" % (self.calculateWeight() * cost_kg, self.extrusionAmount / 1000 * cost_meter)
elif cost_kg > 0.0:
return "%.2f" % (self.calculateWeight() * cost_kg)
elif cost_meter > 0.0:
return "%.2f" % (self.extrusionAmount / 1000 * cost_meter)
return None
def _load(self, gcodeFile): def _load(self, gcodeFile):
filePos = 0 filePos = 0
pos = util3d.Vector3() self.layerList = []
posOffset = util3d.Vector3() pos = [0.0, 0.0, 0.0]
posOffset = [0.0, 0.0, 0.0]
currentE = 0.0 currentE = 0.0
totalExtrusion = 0.0 totalExtrusion = 0.0
maxExtrusion = 0.0 maxExtrusion = 0.0
currentExtruder = 0 currentExtruder = 0
extrudeAmountMultiply = 1.0 extrudeAmountMultiply = 1.0
totalMoveTimeMinute = 0.0 totalMoveTimeMinute = 0.0
filamentDiameter = 0.0 absoluteE = True
scale = 1.0 scale = 1.0
posAbs = True posAbs = True
posAbsExtruder = True; feedRate = 3600.0
feedRate = 3600 moveType = 'move'
layerThickness = 0.1 layerThickness = 0.1
pathType = 'CUSTOM'; pathType = 'CUSTOM'
currentLayer = [] currentLayer = []
unknownGcodes={} unknownGcodes = {}
unknownMcodes={} unknownMcodes = {}
currentPath = gcodePath('move', pathType, layerThickness, pos.copy()) currentPath = gcodePath('move', pathType, layerThickness, pos)
currentPath.list[0].e = totalExtrusion currentPath['extruder'] = currentExtruder
currentPath.list[0].extrudeAmountMultiply = extrudeAmountMultiply
currentLayer.append(currentPath) currentLayer.append(currentPath)
for line in gcodeFile: for line in gcodeFile:
if self._abort: if self._abort:
raise AnalysisAborted() raise AnalysisAborted()
if type(line) is tuple: if type(line) is tuple:
line = line[0] line = line[0]
if self.progressCallback != None: filePos += 1
if self.progressCallback is not None and (filePos % 100 == 0):
if isinstance(gcodeFile, (file)): if isinstance(gcodeFile, (file)):
self.progressCallback(float(filePos) / float(self._fileSize)) self.progressCallback(float(gcodeFile.tell()) / float(self._fileSize))
elif isinstance(gcodeFile, (list)): elif isinstance(gcodeFile, (list)):
self.progressCallback(float(filePos) / float(len(gcodeFile))) self.progressCallback(float(filePos) / float(len(gcodeFile)))
filePos += 1
#Parse Cura_SF comments
if line.startswith(';TYPE:'):
pathType = line[6:].strip()
if pathType != "CUSTOM":
startCodeDone = True
if ';' in line: if ';' in line:
# Slic3r GCode comment parser
comment = line[line.find(';')+1:].strip() comment = line[line.find(';')+1:].strip()
if comment == 'fill': if comment == 'fill':
pathType = 'FILL' pathType = 'FILL'
@ -112,148 +133,156 @@ class gcode(object):
elif comment == 'skirt': elif comment == 'skirt':
pathType = 'SKIRT' pathType = 'SKIRT'
elif comment.startswith("filament_diameter"): elif comment.startswith("filament_diameter"):
filamentDiameter = float(line.split("=", 1)[1].strip()) self._filamentDiameter = float(comment.split("=", 1)[1].strip())
elif comment.startswith('TYPE:'):
# Cura Gcode comment parser pathType = comment[5:]
if comment.startswith('LAYER:'): elif comment.startswith('LAYER:'):
currentPath = gcodePath(moveType, pathType, layerThickness, currentPath['points'][-1])
currentPath['extruder'] = currentExtruder
#for path in currentLayer:
# path['points'] = numpy.array(path['points'], numpy.float32)
# path['extrusion'] = numpy.array(path['extrusion'], numpy.float32)
self.layerList.append(currentLayer) self.layerList.append(currentLayer)
currentLayer = [] currentLayer = [currentPath]
elif comment.startswith("CURA_PROFILE_STRING"): elif comment.startswith("CURA_PROFILE_STRING"):
curaOptions = self._parseCuraProfileString(comment) curaOptions = self._parseCuraProfileString(comment)
if "filament_diameter" in curaOptions:
if "filament_diameter" in curaOptions.keys():
try: try:
filamentDiameter = float(curaOptions["filament_diameter"]) self._filamentDiameter = float(curaOptions["filament_diameter"])
except: except:
filamentDiameter = 0.0 self._filamentDiameter = 0.0
line = line[0:line.find(';')] line = line[0:line.find(';')]
T = self.getCodeInt(line, 'T')
T = getCodeInt(line, 'T')
if T is not None: if T is not None:
if currentExtruder > 0: if currentExtruder > 0:
posOffset.x -= getPreference('extruder_offset_x%d' % (currentExtruder), 0.0) posOffset[0] -= getPreference('extruder_offset_x%d' % (currentExtruder), 0.0)
posOffset.y -= getPreference('extruder_offset_y%d' % (currentExtruder), 0.0) posOffset[1] -= getPreference('extruder_offset_y%d' % (currentExtruder), 0.0)
currentExtruder = T currentExtruder = T
if currentExtruder > 0: if currentExtruder > 0:
posOffset.x += getPreference('extruder_offset_x%d' % (currentExtruder), 0.0) posOffset[0] += getPreference('extruder_offset_x%d' % (currentExtruder), 0.0)
posOffset.y += getPreference('extruder_offset_y%d' % (currentExtruder), 0.0) posOffset[1] += getPreference('extruder_offset_y%d' % (currentExtruder), 0.0)
G = self.getCodeInt(line, 'G') G = getCodeInt(line, 'G')
if G is not None: if G is not None:
if G == 0 or G == 1: #Move if G == 0 or G == 1: #Move
x = self.getCodeFloat(line, 'X') x = getCodeFloat(line, 'X')
y = self.getCodeFloat(line, 'Y') y = getCodeFloat(line, 'Y')
z = self.getCodeFloat(line, 'Z') z = getCodeFloat(line, 'Z')
e = self.getCodeFloat(line, 'E') e = getCodeFloat(line, 'E')
f = self.getCodeFloat(line, 'F') f = getCodeFloat(line, 'F')
oldPos = pos.copy() oldPos = pos
if x is not None: pos = pos[:]
if posAbs: if posAbs:
pos.x = x * scale + posOffset.x if x is not None:
else: pos[0] = x * scale + posOffset[0]
pos.x += x * scale if y is not None:
if y is not None: pos[1] = y * scale + posOffset[1]
if posAbs: if z is not None:
pos.y = y * scale + posOffset.y pos[2] = z * scale + posOffset[2]
else: else:
pos.y += y * scale if x is not None:
if z is not None: pos[0] += x * scale
if posAbs: if y is not None:
pos.z = z * scale + posOffset.z pos[1] += y * scale
else: if z is not None:
pos.z += z * scale pos[2] += z * scale
if f is not None: if f is not None:
feedRate = f feedRate = f
if x is not None or y is not None or z is not None: if x is not None or y is not None or z is not None:
totalMoveTimeMinute += (oldPos - pos).vsize() / feedRate diffX = oldPos[0] - pos[0]
diffY = oldPos[1] - pos[1]
totalMoveTimeMinute += math.sqrt(diffX * diffX + diffY * diffY) / feedRate
moveType = 'move' moveType = 'move'
if e is not None: if e is not None:
if posAbsExtruder: if absoluteE:
if e > currentE: e -= currentE
moveType = 'extrude' if e > 0.0:
if e < currentE: moveType = 'extrude'
moveType = 'retract' if e < 0.0:
totalExtrusion += e - currentE moveType = 'retract'
currentE = e totalExtrusion += e
else: currentE += e
if e > 0:
moveType = 'extrude'
if e < 0:
moveType = 'retract'
totalExtrusion += e
currentE += e
if totalExtrusion > maxExtrusion: if totalExtrusion > maxExtrusion:
maxExtrusion = totalExtrusion maxExtrusion = totalExtrusion
if moveType == 'move' and oldPos.z != pos.z: else:
if oldPos.z > pos.z and abs(oldPos.z - pos.z) > 5.0 and pos.z < 1.0: e = 0.0
oldPos.z = 0.0 if moveType == 'move' and oldPos[2] != pos[2]:
layerThickness = abs(oldPos.z - pos.z) if oldPos[2] > pos[2] and abs(oldPos[2] - pos[2]) > 5.0 and pos[2] < 1.0:
if currentPath.type != moveType or currentPath.pathType != pathType: oldPos[2] = 0.0
currentPath = gcodePath(moveType, pathType, layerThickness, currentPath.list[-1]) layerThickness = abs(oldPos[2] - pos[2])
if currentPath['type'] != moveType or currentPath['pathType'] != pathType:
currentPath = gcodePath(moveType, pathType, layerThickness, currentPath['points'][-1])
currentPath['extruder'] = currentExtruder
currentLayer.append(currentPath) currentLayer.append(currentPath)
newPos = pos.copy()
newPos.e = totalExtrusion currentPath['points'].append(pos)
newPos.extrudeAmountMultiply = extrudeAmountMultiply currentPath['extrusion'].append(e * extrudeAmountMultiply)
currentPath.list.append(newPos)
elif G == 4: #Delay elif G == 4: #Delay
S = self.getCodeFloat(line, 'S') S = getCodeFloat(line, 'S')
if S is not None: if S is not None:
totalMoveTimeMinute += S / 60 totalMoveTimeMinute += S / 60.0
P = self.getCodeFloat(line, 'P') P = getCodeFloat(line, 'P')
if P is not None: if P is not None:
totalMoveTimeMinute += P / 60 / 1000 totalMoveTimeMinute += P / 60.0 / 1000.0
elif G == 20: #Units are inches elif G == 20: #Units are inches
scale = 25.4 scale = 25.4
elif G == 21: #Units are mm elif G == 21: #Units are mm
scale = 1.0 scale = 1.0
elif G == 28: #Home elif G == 28: #Home
x = self.getCodeFloat(line, 'X') x = getCodeFloat(line, 'X')
y = self.getCodeFloat(line, 'Y') y = getCodeFloat(line, 'Y')
z = self.getCodeFloat(line, 'Z') z = getCodeFloat(line, 'Z')
if x is None and y is None and z is None: if getPreference('machine_center_is_zero') == 'True':
pos = util3d.Vector3() center = [getPreference('machine_width') / 2, getPreference('machine_depth') / 2,0.0]
else: else:
center = [0.0,0.0,0.0]
if x is None and y is None and z is None:
pos = center
else:
pos = pos[:]
if x is not None: if x is not None:
pos.x = 0.0 pos[0] = center[0]
if y is not None: if y is not None:
pos.y = 0.0 pos[1] = center[1]
if z is not None: if z is not None:
pos.z = 0.0 pos[2] = center[2]
elif G == 90: #Absolute position elif G == 90: #Absolute position
posAbs = True posAbs = True
posAbsExtruder = True
elif G == 91: #Relative position elif G == 91: #Relative position
posAbs = False posAbs = False
posAbsExtruder = False
elif G == 92: elif G == 92:
x = self.getCodeFloat(line, 'X') x = getCodeFloat(line, 'X')
y = self.getCodeFloat(line, 'Y') y = getCodeFloat(line, 'Y')
z = self.getCodeFloat(line, 'Z') z = getCodeFloat(line, 'Z')
e = self.getCodeFloat(line, 'E') e = getCodeFloat(line, 'E')
if e is not None: if e is not None:
currentE = e currentE = e
if x is not None: if x is not None:
posOffset.x = pos.x - x posOffset[0] = pos[0] - x
if y is not None: if y is not None:
posOffset.y = pos.y - y posOffset[1] = pos[1] - y
if z is not None: if z is not None:
posOffset.z = pos.z - z posOffset[2] = pos[2] - z
else: else:
if G not in unknownGcodes: if G not in unknownGcodes:
self._logger.info("Unknown G code: %r" % G) self._logger.info("Unknown G code: %r" % G)
unknownGcodes[G] = True unknownGcodes[G] = True
else: else:
M = self.getCodeInt(line, 'M') M = getCodeInt(line, 'M')
if M is not None: if M is not None:
if M == 1: #Message with possible wait (ignored) if M == 0: #Message with possible wait (ignored)
pass
elif M == 1: #Message with possible wait (ignored)
pass pass
elif M == 80: #Enable power supply elif M == 80: #Enable power supply
pass pass
elif M == 81: #Suicide/disable power supply elif M == 81: #Suicide/disable power supply
pass pass
elif M == 82: # Use absolute extruder positions elif M == 82: #Absolute E
posAbsExtruder = True absoluteE = True
elif M == 83: # Use relative extruder positions elif M == 83: #Relative E
posAbsExtruder = False absoluteE = False
elif M == 84: #Disable step drivers elif M == 84: #Disable step drivers
pass pass
elif M == 92: #Set steps per unit elif M == 92: #Set steps per unit
@ -278,50 +307,66 @@ class gcode(object):
pass pass
elif M == 113: #Extruder PWM (these should not be in the final GCode, but they are) elif M == 113: #Extruder PWM (these should not be in the final GCode, but they are)
pass pass
elif M == 117: #LCD message
pass
elif M == 140: #Set bed temperature elif M == 140: #Set bed temperature
pass pass
elif M == 190: #Set bed temperature & wait elif M == 190: #Set bed temperature & wait
pass pass
elif M == 221: #Extrude amount multiplier elif M == 221: #Extrude amount multiplier
s = self.getCodeFloat(line, 'S') s = getCodeFloat(line, 'S')
if s != None: if s is not None:
extrudeAmountMultiply = s / 100.0 extrudeAmountMultiply = s / 100.0
else: else:
if M not in unknownMcodes: if M not in unknownMcodes:
self._logger.info("Unknown M code: %r" % M) self._logger.info("Unknown M code: %r" % M)
unknownMcodes[M] = True unknownMcodes[M] = True
#for path in currentLayer:
# path['points'] = numpy.array(path['points'], numpy.float32)
# path['extrusion'] = numpy.array(path['extrusion'], numpy.float32)
self.layerList.append(currentLayer) self.layerList.append(currentLayer)
if self.progressCallback is not None:
self.progressCallback(100.0)
self.extrusionAmount = maxExtrusion self.extrusionAmount = maxExtrusion
if filamentDiameter is not None and filamentDiameter > 0:
self.extrusionVolume = math.pi * math.pow(filamentDiameter / 2.0, 2) * maxExtrusion / 1000.0
self.totalMoveTimeMinute = totalMoveTimeMinute self.totalMoveTimeMinute = totalMoveTimeMinute
#print "Extruded a total of: %d mm of filament" % (self.extrusionAmount)
def getCodeInt(self, line, code): #print "Estimated print duration: %.2f minutes" % (self.totalMoveTimeMinute)
if code not in self.regMatch:
self.regMatch[code] = re.compile(code + '([^\s]+)')
m = self.regMatch[code].search(line)
if m == None:
return None
try:
return int(m.group(1))
except:
return None
def getCodeFloat(self, line, code):
if code not in self.regMatch:
self.regMatch[code] = re.compile(code + '([^\s]+)')
m = self.regMatch[code].search(line)
if m == None:
return None
try:
return float(m.group(1))
except:
return None
def _parseCuraProfileString(self, comment): def _parseCuraProfileString(self, comment):
return {key: value for (key, value) in map(lambda x: x.split("=", 1), zlib.decompress(base64.b64decode(comment[len("CURA_PROFILE_STRING:"):])).split("\b"))} return {key: value for (key, value) in map(lambda x: x.split("=", 1), zlib.decompress(base64.b64decode(comment[len("CURA_PROFILE_STRING:"):])).split("\b"))}
if __name__ == '__main__': def getCodeInt(line, code):
for filename in sys.argv[1:]: n = line.find(code) + 1
gcode().load(filename) if n < 1:
return None
m = line.find(' ', n)
try:
if m < 0:
return int(line[n:])
return int(line[n:m])
except:
return None
def getCodeFloat(line, code):
n = line.find(code) + 1
if n < 1:
return None
m = line.find(' ', n)
try:
if m < 0:
return float(line[n:])
return float(line[n:m])
except:
return None
if __name__ == '__main__':
from time import time
t = time()
for filename in sys.argv[1:]:
g = gcode()
g.load(filename)
print g.totalMoveTimeMinute
print g.extrusionAmount
print g.calculateVolumeCm3()
print time() - t