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https://github.com/luc-github/ESP3D.git
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232 lines
6.3 KiB
Python
232 lines
6.3 KiB
Python
#!/usr/bin/python
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# Marlin GCODE parser / responder
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import time
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import re
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import random
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import esp3d_common as common
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positions = {
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"X": 0.0,
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"Y": 0.0,
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"Z": 0.0,
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"A": 0.0,
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"B": 0.0,
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"C": 0.0
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}
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modes = {
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"absolute": True
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}
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report_counter = 0
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def wait(durationms, ser):
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nowtime = common.current_milli_time()
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while (common.current_milli_time() < nowtime + durationms):
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if ser.in_waiting:
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line = ser.readline().decode('utf-8').strip()
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print(common.bcolors.COL_PURPLE+line+common.bcolors.END_COL)
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def ok(line):
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if (not line.startswith("N")):
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return "ok (" + line + ")"
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N = re.findall(r'N\d*', line)
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if (len(N) > 0):
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return "ok " + N[0][1:]
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# build the response for the busy response,
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# simulating the delay of the busy response
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def send_busy(ser, nb):
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v = nb
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while (v > 0):
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# FIXME: the message is not this one on grbl
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# common.send_echo(ser, "echo:busy: processing")
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wait(1000, ser)
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v = v - 1
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# G0/G1 response
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def G0_G1_response(cmd, line, ser):
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global positions
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X_val = ""
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Y_val = ""
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Z_val = ""
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A_val = ""
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B_val = ""
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C_val = ""
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# extract X
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X = re.findall(r'X[+]*[-]*\d+[\.]*\d*', cmd)
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if (len(X) > 0):
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X_val = X[0][1:]
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# extract Y
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Y = re.findall(r'Y[+]*[-]*\d+[\.]*\d*', cmd)
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if (len(Y) > 0):
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Y_val = Y[0][1:]
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# extract Z
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Z = re.findall(r'Z[+]*[-]*\d+[\.]*\d*', cmd)
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if (len(Z) > 0):
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Z_val = Z[0][1:]
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# extract A
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A = re.findall(r'A[+]*[-]*\d+[\.]*\d*', cmd)
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if (len(A) > 0):
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A_val = A[0][1:]
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# extract B
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B = re.findall(r'B[+]*[-]*\d+[\.]*\d*', cmd)
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if (len(B) > 0):
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B_val = B[0][1:]
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# extract C
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C = re.findall(r'C[+]*[-]*\d+[\.]*\d*', cmd)
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if (len(C) > 0):
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C_val = C[0][1:]
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if (modes["absolute"]):
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if (X_val != ""):
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positions["X"] = float(X_val)
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if (Y_val != ""):
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positions["Y"] = float(Y_val)
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if (Z_val != ""):
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positions["Z"] = float(Z_val)
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if (A_val!= ""):
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positions["A"] = float(A_val)
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if (B_val!= ""):
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positions["B"] = float(B_val)
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if (C_val!= ""):
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positions["C"] = float(C_val)
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return ok(line)
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else:
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if (X_val != ""):
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positions["X"] += float(X_val)
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if (Y_val != ""):
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positions["Y"] += float(Y_val)
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if (Z_val != ""):
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positions["Z"] += float(Z_val)
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if (A_val!= ""):
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positions["A"] += float(A_val)
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if (B_val!= ""):
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positions["B"] += float(B_val)
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if (C_val!= ""):
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positions["C"] += float(C_val)
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return ok(line)
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# $H response
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def Home_response(cmd, line, ser):
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global positions
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send_busy(ser, 3)
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if (cmd.find("X") != -1):
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positions["X"] = 0.00
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if (cmd.find("Y") != -1):
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positions["Y"] = 0.00
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if (cmd.find("Z") != -1):
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positions["Z"] = 0.00
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if (cmd.find("A")!= -1):
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positions["A"] = 0.00
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if (cmd.find("B")!= -1):
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positions["B"] = 0.00
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if (cmd.find("C")!= -1):
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positions["C"] = 0.00
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if (cmd == "G28"):
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positions["X"] = 0.00
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positions["Y"] = 0.00
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positions["Z"] = 0.00
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positions["A"] = 0.00
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positiones["B"] = 0.00
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positions["C"] = 0.00
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return ok(line)
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# Absolute mode
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def G90_response(cmd, line, ser):
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global modes
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modes["absolute"] = True
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return ok(line)
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# Relative mode
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def G91_response(cmd, line, ser):
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global modes
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modes["absolute"] = False
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return ok(line)
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def Jog_response(cmd, line, ser):
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if (cmd.find("G91")!= -1):
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G91_response(cmd, line, ser)
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elif (cmd.find("G90")!= -1):
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G90_response(cmd, line, ser)
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cmd = cmd.replace("G90", "")
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cmd = cmd.replace("G91", "")
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cmd = cmd.replace("G21", "")
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cmd = cmd.strip()
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return G0_G1_response(cmd, line, ser)
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# status response
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# "<Idle|MPos:0.000,0.000,0.000,1.000,1.000|FS:0,0|WCO:0.000,0.000,0.000,1.000,1.000>\n"
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# "<Idle|MPos:0.000,0.000,0.000,1.000,1.000|FS:0,0|A:S|Pn:P>\n"
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# "<Idle|MPos:0.000,0.000,0.000,1.000,1.000|FS:0,0|Ov:100,100,100|Pn:XYZ>\n"
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def status_response(cmd, line, ser):
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global positions
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global report_counter
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wpco = ""
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ov = ""
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fs = "|FS:0,0"
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astate = ""
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pn = ""
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status = "Idle"
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report_counter += 1
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if report_counter == 11:
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report_counter = 1
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if report_counter == 1:
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wpco = "|WCO:0.000,0.000,0.000,1.000,1.000,1.000"
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if report_counter == 2:
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#FIXME: use variable to report the override values
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ov = "|Ov:100,100,100"
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pn = "|Pn:XYZ"
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if report_counter >= 3:
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astate = "|A:S"
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pn = "|Pn:P"
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position = "|MPos:" + "{:.3f}".format(positions["X"]) + "," + "{:.3f}".format(
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positions["Y"]) + "," + "{:.3f}".format(positions["Z"]) + "," + "{:.3f}".format(positions["A"]) + "," + "{:.3f}".format(positions["B"]) + "," + "{:.3f}".format(positions["C"])
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return "<" + status + position + fs + wpco + ov + astate + pn + ">\n"
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# List of supported methods
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methods = [
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{"str": "G0", "fn": G0_G1_response},
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{"str": "G1", "fn": G0_G1_response},
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{"str": "$H", "fn": Home_response},
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{"str": "$J=", "fn": Jog_response},
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{"str": "G90", "fn": G90_response},
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{"str": "G91", "fn": G91_response},
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{"str": "?", "fn": status_response},
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]
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# Process a line of GCODE
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def processLine(line, ser):
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time.sleep(0.01)
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cmd = line
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if (line.startswith("N")):
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p = line.find(' ')
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cmd = line[p+1:]
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p = cmd.rfind('*')
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cmd = cmd[:p]
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global methods
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for method in methods:
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if cmd.startswith(method["str"]):
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return method["fn"](cmd, line, ser)
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if line.startswith("M") or line.startswith("G") or line.startswith("N") or line.startswith("$"):
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return ok(line)
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if line.find("[esp") != -1 or line.find("[0;") != -1 or line.find("[1;") != -1:
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return ""
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if line.startswith("ESP-ROM") or line.startswith("Build:") or line.startswith("SPIWP:") or line.startswith("mode:")or line.startswith("load:") or line.startswith("entry "):
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return ""
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#FIXME: this is not grbl response if the command is not recognized
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return "echo:Unknown command: \"" + line + "\"\nok"
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