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# -*- coding: utf-8 -*-
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# ***************************************************************************
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# * (c) sliptonic (shopinthewoods@gmail.com) 2014 *
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# * (c) Gauthier Briere - 2018 - 2021 *
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# * *
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# * This program is free software; you can redistribute it and/or modify *
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# * it under the terms of the GNU Lesser General Public License (LGPL) *
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# * as published by the Free Software Foundation; either version 2.1 of *
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# * the License, or (at your option) any later version. *
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# * for detail see the LICENSE text file. *
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# * *
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# * This program is distributed in the hope that it will be useful, *
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# * but WITHOUT ANY WARRANTY; without even the implied warranty of *
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# * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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# * GNU Lesser General Public License for more details. *
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# * *
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# * You should have received a copy of the GNU Library General Public *
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# * License along with This program; if not, write to the Free Software *
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# * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 *
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# * USA *
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# * *
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# ***************************************************************************/
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import FreeCAD
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from FreeCAD import Units
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#import PathScripts.PostUtils as PostUtils *ligne présente sur le fichier original
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import Path.Post.Utils as PostUtils #ligne ajoutée en copiant sur les post_pross des machines prises en charge par défaut sur FreeCAD
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import PathScripts.PathUtils as PathUtils #ligne ajoutée en copiant sur les post_pross des machines prises en charge par défaut sur FreeCAD
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import argparse
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import datetime
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import shlex
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TOOLTIP = '''
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Generate g-code from a Path that is compatible with the Charly robot.
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import charly_post
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charly_post.export(object,"/path/to/file.iso")
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'''
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# ***************************************************************************
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# * Globals set customization preferences
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# ***************************************************************************
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# Default values for command line arguments:
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OUTPUT_HEADER = True # default output of comments in output gCode file
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OUTPUT_COMMENTS = True # default output header in output gCode file
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OUTPUT_LINE_NUMBERS = True # default does'nt utput lines numbers in output gCode file
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SHOW_EDITOR = True # default show the resulting file dialog output in GUI
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PRECISION = 3 # Default precision for metric (see http://linuxcnc.org/docs/2.7/html/gcode/overview.html#_g_code_best_practices)
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PREAMBLE = '''''' # Preamble text will appear at the beginning of the GCODE output file.
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POSTAMBLE = '''M5
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M2
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''' # Postamble text will appear following the last operation.
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# Customisation with no command line argument
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OUTPUT_TOOL_CHANGE = True
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MODAL = True # if true commands are suppressed if the same as previous line.
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COMMAND_SPACE = " "
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LINENR = 10 # line number starting value
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LINEINCR = 10
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START_OR_M6 = True
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DRILL_RETRACT_MODE = 'G98' # Default value of drill retractations (OLD_Z) other possible value is G99
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MOTION_MODE = 'G90'
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UNITS = "G71" # Les unités dans Charly robot sont gérées par G71 pour le metrique et G70 pour les pouces
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UNIT_FORMAT = 'mm'
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UNIT_SPEED_FORMAT = 'mm/min'
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# ***************************************************************************
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# * End of customization
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# ***************************************************************************
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parser = argparse.ArgumentParser(prog='grbl', add_help=False)
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parser.add_argument('--header', action='store_true', help='output headers (default)')
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parser.add_argument('--no-header', action='store_true', help='suppress header output')
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parser.add_argument('--comments', action='store_true', help='output comment (default)')
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parser.add_argument('--no-comments', action='store_true', help='suppress comment output')
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parser.add_argument('--line-numbers', action='store_true', help='prefix with line numbers')
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parser.add_argument('--no-line-numbers', action='store_true', help='don\'t prefix with line numbers (default)')
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parser.add_argument('--show-editor', action='store_true', help='pop up editor before writing output (default)')
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parser.add_argument('--no-show-editor', action='store_true', help='don\'t pop up editor before writing output')
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parser.add_argument('--precision', default='3', help='number of digits of precision, default=3')
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parser.add_argument('--preamble', help='set commands to be issued before the first command, default="G17\nG90"')
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parser.add_argument('--postamble', help='set commands to be issued after the last command, default="M05\nG17 G90\n; M2"')
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TOOLTIP_ARGS = parser.format_help()
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# ***************************************************************************
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# * Internal global variables
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# ***************************************************************************
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CURRENT_X = 0
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CURRENT_Y = 0
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CURRENT_Z = 0
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CORNER_MIN = {'x': 0, 'y': 0, 'z': 0}
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CORNER_MAX = {'x': 600, 'y': 420, 'z': 280} # Pour Charly 2U (format A2)
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# Commandes de mouvements
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MOTION_COMMANDS = ['G0', 'G00', 'G1', 'G01', 'G2', 'G02', 'G3', 'G03']
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RAPID_MOVES = ['G0', 'G00']
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# liste des commandes modales
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MODAL_COMMANDS = ['G0', 'G00', 'G1', 'G01']
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# These commands are ignored by commenting them out
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SUPPRESS_COMMANDS = ['G98', 'G99', 'G80', 'G17', 'G53', 'G54', 'G55', 'G56', 'G57', 'G58', 'G59']
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# Pre operation text will be inserted before every operation
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PRE_OPERATION = ''''''
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# Post operation text will be inserted after every operation
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POST_OPERATION = ''''''
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# Tool Change commands will be inserted before a tool change
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TOOL_CHANGE = ''''''
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# to distinguish python built-in open function from the one declared below
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if open.__module__ in ['__builtin__', 'io']:
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pythonopen = open
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def processArguments(argstring):
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global OUTPUT_HEADER
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global OUTPUT_COMMENTS
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global OUTPUT_LINE_NUMBERS
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global SHOW_EDITOR
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global PRECISION
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global PREAMBLE
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global POSTAMBLE
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print(argstring)
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try:
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args = parser.parse_args(shlex.split(argstring))
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if args.no_header:
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OUTPUT_HEADER = False
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if args.header:
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OUTPUT_HEADER = True
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if args.no_comments:
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OUTPUT_COMMENTS = False
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if args.comments:
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OUTPUT_COMMENTS = True
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if args.no_line_numbers:
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OUTPUT_LINE_NUMBERS = False
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if args.line_numbers:
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OUTPUT_LINE_NUMBERS = True
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if args.no_show_editor:
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SHOW_EDITOR = False
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if args.show_editor:
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SHOW_EDITOR = True
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PRECISION = args.precision
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if args.preamble is not None:
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PREAMBLE = args.preamble
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if args.postamble is not None:
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POSTAMBLE = args.postamble
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except Exception as e:
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print("processArguments() error !")
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return False
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return True
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def export(objectslist, filename, argstring):
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if not processArguments(argstring):
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return None
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global UNITS
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global UNIT_FORMAT
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global UNIT_SPEED_FORMAT
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global MOTION_MODE
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print("Post Processor: " + __name__ + " postprocessing...")
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gcode = ""
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# write header
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if OUTPUT_HEADER:
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gcode += linenumber() + "(Exported by FreeCAD)\n"
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gcode += linenumber() + "(Post Processor: " + __name__ + ")\n"
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gcode += linenumber() + "(Output Time: " + str(datetime.datetime.now()) + ")\n"
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# Write the preamble
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if OUTPUT_COMMENTS:
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gcode += linenumber() + "(begin preamble)\n"
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for line in PREAMBLE.splitlines(True):
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gcode += linenumber() + line
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gcode += linenumber() + UNITS + "\n"
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# verify if PREAMBLE have changed MOTION_MODE or UNITS
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if 'G90' in PREAMBLE:
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MOTION_MODE = 'G90'
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elif 'G91' in PREAMBLE:
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MOTION_MODE = 'G91'
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else:
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gcode += linenumber() + MOTION_MODE + "\n"
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if 'G71' in PREAMBLE:
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UNITS = 'G71'
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UNIT_FORMAT = 'mm'
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UNIT_SPEED_FORMAT = 'mm/min'
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elif 'G21' in PREAMBLE:
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UNITS = 'G71'
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UNIT_FORMAT = 'mm'
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UNIT_SPEED_FORMAT = 'mm/min'
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elif 'G70' in PREAMBLE:
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UNITS = 'G70'
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UNIT_FORMAT = 'in'
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UNIT_SPEED_FORMAT = 'in/min'
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elif 'G20' in PREAMBLE:
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UNITS = 'G70'
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UNIT_FORMAT = 'in'
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UNIT_SPEED_FORMAT = 'in/min'
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else:
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gcode += linenumber() + UNITS + "\n"
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for obj in objectslist:
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if not hasattr(obj, "Path"):
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print("Error : " + obj.Name + " is not a path. Please select only path and Compounds.")
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return
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# do the pre_op
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if OUTPUT_COMMENTS:
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gcode += linenumber() + "(begin operation: " + obj.Label + ")\n"
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for line in PRE_OPERATION.splitlines(True):
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gcode += linenumber() + line
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# Do the op
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gcode += parse(obj)
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# do the post_op
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if OUTPUT_COMMENTS:
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gcode += linenumber() + "(finish operation: " + obj.Label + ")\n"
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for line in POST_OPERATION.splitlines(True):
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gcode += linenumber() + line
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# do the post_amble
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if OUTPUT_COMMENTS:
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gcode += linenumber() + "(begin postamble)\n"
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for line in POSTAMBLE.splitlines(True):
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gcode += linenumber() + line
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# Show dialog result
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if FreeCAD.GuiUp and SHOW_EDITOR:
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dia = PostUtils.GCodeEditorDialog()
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dia.editor.setText(gcode)
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result = dia.exec_()
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if result:
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final = dia.editor.toPlainText()
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else:
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final = gcode
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else:
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final = gcode
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print("Done postprocessing.")
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# write the file
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gfile = pythonopen(filename, "w")
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gfile.write(final)
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gfile.close()
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def linenumber():
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global LINENR
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global LINEINCR
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if OUTPUT_LINE_NUMBERS:
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s = "N" + str(LINENR) + " "
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LINENR += LINEINCR
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return s
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return ""
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def format_outstring(strTbl):
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global COMMAND_SPACE
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# construct the line for the final output
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s = ""
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for w in strTbl:
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s += w + COMMAND_SPACE
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s = s.strip()
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return s
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def parse(pathobj):
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global DRILL_RETRACT_MODE
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global MOTION_MODE
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global CURRENT_X
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global CURRENT_Y
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global CURRENT_Z
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global START_OR_M6
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x_ok = False
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y_ok = False
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z_ok = False
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out = ""
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lastcommand = None
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precision_string = '.' + str(PRECISION) + 'f'
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params = ['X', 'Y', 'Z', 'A', 'B', 'I', 'J', 'F', 'S', 'T', 'Q', 'R', 'L', 'P'] # This list control the order of parameters
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if hasattr(pathobj, "Group"): # We have a compound or project.
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if OUTPUT_COMMENTS:
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out += linenumber() + "(compound: " + pathobj.Label + ")\n"
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for p in pathobj.Group:
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out += parse(p)
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return out
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else: # parsing simple path
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if not hasattr(pathobj, "Path"): # groups might contain non-path things like stock.
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return out
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if OUTPUT_COMMENTS:
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out += linenumber() + "(Path: " + pathobj.Label + ")\n"
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for c in pathobj.Path.Commands:
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outstring = []
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command = c.Name
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# Conversion des gCodes Charly différents du standard Unités
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if command == 'G21':
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command = 'G71'
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elif command == 'G20':
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command = 'G70'
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outstring.append(command)
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# Check for Tool Change:
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if command in ('M6', 'M06'):
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if OUTPUT_COMMENTS:
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out += linenumber() + "(begin toolchange)\n"
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if not OUTPUT_TOOL_CHANGE:
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outstring.insert(0, "(")
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outstring.append(")")
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else:
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for line in TOOL_CHANGE.splitlines(True):
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out += linenumber() + line
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# Flag les changements d'outils pour assurer le mouvement suivant complet avec ses 3 coordonnées
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START_OR_M6 = True
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# if modal: only print the command if it is not the same as the last one
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if MODAL:
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if (command == lastcommand) and (command in MODAL_COMMANDS):
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outstring.pop(0)
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# Now add the remaining parameters in order
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for param in params:
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if param in c.Parameters:
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# Transforme les coordonnées IJK des interpolations circulaires en coordonnées absolues
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if param == 'I':
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pos = Units.Quantity(c.Parameters[param], FreeCAD.Units.Length) + CURRENT_X
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outstring.append(param + format(float(pos.getValueAs(UNIT_FORMAT)), precision_string))
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elif param == 'J':
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pos = Units.Quantity(c.Parameters[param], FreeCAD.Units.Length) + CURRENT_Y
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outstring.append(param + format(float(pos.getValueAs(UNIT_FORMAT)), precision_string))
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elif param == 'F':
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if command not in RAPID_MOVES:
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# Conversion des unités (mm/s par defaut) de FreeCAD en mm/mn
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speed = Units.Quantity(c.Parameters['F'], FreeCAD.Units.Velocity)
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if speed.getValueAs(UNIT_SPEED_FORMAT) > 0.0:
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outstring.append(param + format(float(speed.getValueAs(UNIT_SPEED_FORMAT)), precision_string))
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elif param in ['T', 'H', 'D', 'S', 'P', 'L']:
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outstring.append(param + str(c.Parameters[param]))
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elif param in ['A', 'B', 'C']:
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outstring.append(param + format(c.Parameters[param], precision_string))
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else: # [X, Y, Z, U, V, W, I, J, K, R, Q] (Conversion eventuelle mm/inches)
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pos = Units.Quantity(c.Parameters[param], FreeCAD.Units.Length)
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outstring.append(param + format(float(pos.getValueAs(UNIT_FORMAT)), precision_string))
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# store the latest command
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lastcommand = command
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if command in MOTION_COMMANDS:
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# Supprime les commandes de mouvement sans coordonnées de déplacement
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if len(list(c.Parameters.values())) == 0:
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del(outstring[:]) # Efface la ligne inutile
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outstring = []
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# Memorise la position courante pour toutes les commandes de mouvement
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# cette position sera utilisee pour recalculer les centres d'arcs G2, G3 en coordonnees absolues.
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# Utilisé aussi pour calcul des mouvements relatis et du plan de retrait des cycles de perçages.
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if 'X' in c.Parameters:
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CURRENT_X = Units.Quantity(c.Parameters['X'], FreeCAD.Units.Length)
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if 'Y' in c.Parameters:
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CURRENT_Y = Units.Quantity(c.Parameters['Y'], FreeCAD.Units.Length)
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if 'Z' in c.Parameters:
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CURRENT_Z = Units.Quantity(c.Parameters['Z'], FreeCAD.Units.Length)
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# Force le premier deplacement ou le prochain déplacement après un changement d'outil à contenir les 3 axes X, Y et Z
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if START_OR_M6:
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x_ok = False
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y_ok = False
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z_ok = False
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for p in c.Parameters:
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if p == 'X':
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x_ok = True
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if p == 'Y':
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y_ok = True
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if p == 'Z':
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z_ok = True
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if not x_ok:
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outstring.insert(1, 'X{}'.format(format(float(CURRENT_X), precision_string)))
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if not y_ok:
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outstring.insert(2, 'Y{}'.format(format(float(CURRENT_Y), precision_string)))
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if not z_ok:
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outstring.insert(3, 'Z{}'.format(format(float(CURRENT_Z), precision_string)))
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START_OR_M6 = False
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if command in ('G98', 'G99'):
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DRILL_RETRACT_MODE = command
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if command in ('G90', 'G91'):
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MOTION_MODE = command
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# Translation des cycles de perçages
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if command in ('G81', 'G82', 'G83'):
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out += drill_translate(outstring, command, c.Parameters)
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# Efface la ligne que l'on vient de translater
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del(outstring[:])
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outstring = []
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if command == "message":
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if OUTPUT_COMMENTS is False:
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out = []
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else:
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outstring.pop(0) # remove the command
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if command in SUPPRESS_COMMANDS:
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outstring.insert(0, "(")
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outstring.append(")")
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# prepend a line number and append a newline
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if len(outstring) >= 1:
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out += linenumber() + format_outstring(outstring) + "\n"
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return out
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def drill_translate(outstring, cmd, params):
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global DRILL_RETRACT_MODE
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global MOTION_MODE
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global CURRENT_X
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global CURRENT_Y
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global CURRENT_Z
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global UNITS
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global UNIT_FORMAT
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global UNIT_SPEED_FORMAT
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strFormat = '.' + str(PRECISION) + 'f'
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if OUTPUT_COMMENTS: # Comment the original command
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trBuff = linenumber() + "(Translated {} drilling cycle to G0/G1 moves)\n".format(cmd)
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outstring.insert(0, "(")
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outstring.append(")")
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trBuff += linenumber() + format_outstring(outstring) + "\n"
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else:
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trBuff = ""
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# Conversion du cycle
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# On gere uniquement les cycles dans le plan XY (G17)
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# les autres plans ZX (G18) et YZ (G19) ne sont supportés par Charly robot
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# Calculs sur Z uniquement.
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if MOTION_MODE == 'G90': # Deplacements en coordonnees absolues
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drill_X = Units.Quantity(params['X'], FreeCAD.Units.Length)
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drill_Y = Units.Quantity(params['Y'], FreeCAD.Units.Length)
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drill_Z = Units.Quantity(params['Z'], FreeCAD.Units.Length)
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RETRACT_Z = Units.Quantity(params['R'], FreeCAD.Units.Length)
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else: # G91 Deplacements relatifs
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drill_X = CURRENT_X + Units.Quantity(params['X'], FreeCAD.Units.Length)
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drill_Y = CURRENT_Y + Units.Quantity(params['Y'], FreeCAD.Units.Length)
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drill_Z = CURRENT_Z + Units.Quantity(params['Z'], FreeCAD.Units.Length)
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RETRACT_Z = CURRENT_Z + Units.Quantity(params['R'], FreeCAD.Units.Length)
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if DRILL_RETRACT_MODE == 'G98' and CURRENT_Z >= RETRACT_Z:
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RETRACT_Z = CURRENT_Z
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# Recupere les valeurs des autres parametres
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drill_Speed = Units.Quantity(params['F'], FreeCAD.Units.Velocity)
|
|
if cmd == 'G83':
|
|
drill_Step = Units.Quantity(params['Q'], FreeCAD.Units.Length)
|
|
elif cmd == 'G82':
|
|
drill_DwellTime = params['P']
|
|
|
|
if MOTION_MODE == 'G91':
|
|
trBuff += linenumber() + "G90" + "\n" # Force des deplacements en coordonnees absolues pendant les cycles
|
|
|
|
# Mouvement(s) preliminaire(s))
|
|
if CURRENT_Z < RETRACT_Z:
|
|
trBuff += linenumber() + 'G0 Z' + format(float(RETRACT_Z.getValueAs(UNIT_FORMAT)), strFormat) + "\n"
|
|
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:
|
|
trBuff += linenumber() + 'G0 Z' + format(float(CURRENT_Z.getValueAs(UNIT_FORMAT)), strFormat) + "\n"
|
|
|
|
# Mouvement de percage
|
|
if cmd in ('G81', 'G82'):
|
|
trBuff += linenumber() + 'G1 Z' + format(float(drill_Z.getValueAs(UNIT_FORMAT)), strFormat) + ' F' + format(float(drill_Speed.getValueAs(UNIT_SPEED_FORMAT)), '.2f') + "\n"
|
|
# Temporisation eventuelle
|
|
if cmd == 'G82':
|
|
trBuff += linenumber() + 'G4 P' + str(drill_DwellTime) + "\n"
|
|
# Sortie de percage
|
|
trBuff += linenumber() + 'G0 Z' + format(float(RETRACT_Z.getValueAs(UNIT_FORMAT)), strFormat) + "\n"
|
|
else: # 'G83'
|
|
next_Stop_Z = RETRACT_Z - drill_Step
|
|
while 1:
|
|
if next_Stop_Z > drill_Z:
|
|
trBuff += linenumber() + 'G1 Z' + format(float(next_Stop_Z.getValueAs(UNIT_FORMAT)), strFormat) + ' F' + format(float(drill_Speed.getValueAs(UNIT_SPEED_FORMAT)), '.2f') + "\n"
|
|
trBuff += linenumber() + 'G0 Z' + format(float(RETRACT_Z.getValueAs(UNIT_FORMAT)), strFormat) + "\n"
|
|
next_Stop_Z -= drill_Step
|
|
else:
|
|
trBuff += linenumber() + 'G1 Z' + format(float(drill_Z.getValueAs(UNIT_FORMAT)), strFormat) + ' F' + format(float(drill_Speed.getValueAs(UNIT_SPEED_FORMAT)), '.2f') + "\n"
|
|
trBuff += linenumber() + 'G0 Z' + format(float(RETRACT_Z.getValueAs(UNIT_FORMAT)), strFormat) + "\n"
|
|
break
|
|
|
|
if MOTION_MODE == 'G91':
|
|
trBuff += linenumber() + 'G91' # Restore le mode de deplacement relatif
|
|
|
|
return trBuff
|
|
|
|
|
|
print(__name__ + " gcode postprocessor loaded...")
|
