Further GCODE interpreter fixes & optimizations
* Introduce Vector3D type to help with coordinate back and
forth calculations
* Fix typo in movement calculation (Y twice instead of Y and Z)
* Removed some code duplication
This commit is contained in:
Gina Häußge
parent
2ae2405792
commit
79d660f377
1 changed files with 141 additions and 64 deletions
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@ -14,6 +14,107 @@ import logging
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from octoprint.settings import settings
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class Vector3D(object):
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"""
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3D vector value
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Supports addition, subtraction and multiplication with a scalar value (float, int) as well as calculating the
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length of the vector.
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Examples:
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>>> a = Vector3D(1.0, 1.0, 1.0)
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>>> b = Vector3D(4.0, 4.0, 4.0)
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>>> a + b == Vector3D(5.0, 5.0, 5.0)
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True
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>>> b - a == Vector3D(3.0, 3.0, 3.0)
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True
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>>> abs(a - b) == Vector3D(3.0, 3.0, 3.0)
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True
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>>> a * 2 == Vector3D(2.0, 2.0, 2.0)
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True
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>>> a * 2 == 2 * a
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True
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>>> a.length == math.sqrt(a.x ** 2 + a.y ** 2 + a.z ** 2)
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True
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>>> copied_a = Vector3D(a)
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>>> a == copied_a
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True
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>>> copied_a.x == a.x and copied_a.y == a.y and copied_a.z == a.z
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True
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"""
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def __init__(self, *args, **kwargs):
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self.x = kwargs.get("x", 0.0)
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self.y = kwargs.get("y", 0.0)
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self.z = kwargs.get("z", 0.0)
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if len(args) == 3:
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self.x = args[0]
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self.y = args[1]
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self.z = args[2]
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elif len(args) == 1:
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# copy constructor
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other = args[0]
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if not isinstance(other, Vector3D):
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raise ValueError("Object to copy must be a Scalar3D instance")
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self.x = other.x
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self.y = other.y
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self.z = other.z
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@property
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def length(self):
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return math.sqrt(self.x * self.x + self.y * self.y + self.z * self.z)
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def __add__(self, other):
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if isinstance(other, Vector3D):
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return Vector3D(self.x + other.x,
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self.y + other.y,
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self.z + other.z)
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elif isinstance(other, (tuple, list)) and len(other) == 3:
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return Vector3D(self.x + other[0],
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self.y + other[1],
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self.z + other[2])
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else:
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raise ValueError("other must be a Scalar3D instance or a list or tuple of length 3")
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def __sub__(self, other):
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if isinstance(other, Vector3D):
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return Vector3D(self.x - other.x,
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self.y - other.y,
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self.z - other.z)
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elif isinstance(other, (tuple, list)) and len(other) == 3:
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return Vector3D(self.x - other[0],
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self.y - other[1],
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self.z - other[2])
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else:
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raise ValueError("other must be a Scalar3D instance or a list or tuple")
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def __mul__(self, other):
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if isinstance(other, (int, float)):
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return Vector3D(self.x * other,
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self.y * other,
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self.z * other)
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else:
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raise ValueError("other must be a float or int value")
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def __rmul__(self, other):
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return self.__mul__(other)
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def __abs__(self):
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return Vector3D(abs(self.x), abs(self.y), abs(self.z))
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def __eq__(self, other):
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if not isinstance(other, Vector3D):
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return False
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return self.x == other.x and self.y == other.y and self.z == other.z
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def __str__(self):
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return "Scalar3D(x={}, y={}, z={}, length={})".format(self.x, self.y, self.z, self.length)
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class AnalysisAborted(Exception):
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pass
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@ -46,8 +147,8 @@ class gcode(object):
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def _load(self, gcodeFile, printer_profile, throttle=None):
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filePos = 0
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readBytes = 0
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pos = [0.0, 0.0, 0.0]
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posOffset = [0.0, 0.0, 0.0]
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pos = Vector3D(0.0, 0.0, 0.0)
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posOffset = Vector3D(0.0, 0.0, 0.0)
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currentE = [0.0]
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totalExtrusion = [0.0]
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maxExtrusion = [0.0]
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@ -56,10 +157,10 @@ class gcode(object):
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absoluteE = True
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scale = 1.0
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posAbs = True
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feedRateXY = min(printer_profile["axes"]["x"]["speed"], printer_profile["axes"]["y"]["speed"])
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if feedRateXY == 0:
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feedrate = min(printer_profile["axes"]["x"]["speed"], printer_profile["axes"]["y"]["speed"])
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if feedrate == 0:
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# some somewhat sane default if axes speeds are insane...
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feedRateXY = 2000
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feedrate = 2000
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offsets = printer_profile["extruder"]["offsets"]
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for line in gcodeFile:
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@ -117,63 +218,39 @@ class gcode(object):
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z = getCodeFloat(line, 'Z')
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e = getCodeFloat(line, 'E')
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f = getCodeFloat(line, 'F')
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oldPos = pos
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pos = pos[:]
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if posAbs:
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if x is not None:
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pos[0] = x * scale + posOffset[0]
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if y is not None:
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pos[1] = y * scale + posOffset[1]
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if z is not None:
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pos[2] = z * scale + posOffset[2]
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else:
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if x is not None:
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pos[0] += x * scale
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if y is not None:
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pos[1] += y * scale
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if z is not None:
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pos[2] += z * scale
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if f is not None and f != 0:
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feedRateXY = f
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moveType = 'move'
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oldPos = pos
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newPos = Vector3D(x if x is not None else pos.x,
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y if y is not None else pos.y,
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z if z is not None else pos.z)
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if posAbs:
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pos = newPos * scale + posOffset
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else:
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pos += newPos * scale
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if f is not None and f != 0:
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feedrate = f
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if e is not None:
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if absoluteE:
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# make sure e is relative
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e -= currentE[currentExtruder]
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if e > 0.0:
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moveType = 'extrude'
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if e < 0.0:
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moveType = 'retract'
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totalExtrusion[currentExtruder] += e
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currentE[currentExtruder] += e
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if totalExtrusion[currentExtruder] > maxExtrusion[currentExtruder]:
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maxExtrusion[currentExtruder] = totalExtrusion[currentExtruder]
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maxExtrusion[currentExtruder] = max(maxExtrusion[currentExtruder],
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totalExtrusion[currentExtruder])
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else:
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e = 0.0
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if moveType == "move":
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diffX = oldPos[0] - pos[0]
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diffY = oldPos[1] - pos[1]
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diffZ = oldPos[1] - pos[1]
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totalMoveTimeMinute += math.sqrt(diffX * diffX + diffY * diffY + diffZ * diffZ) / feedRateXY
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elif moveType == "extrude":
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diffX = oldPos[0] - pos[0]
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diffY = oldPos[1] - pos[1]
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diffZ = oldPos[1] - pos[1]
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time1 = math.sqrt(diffX * diffX + diffY * diffY + diffZ * diffZ) / feedRateXY
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time2 = abs(e / feedRateXY)
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totalMoveTimeMinute += max(time1, time2)
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elif moveType == "retract":
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diffX = oldPos[0] - pos[0]
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diffY = oldPos[1] - pos[1]
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diffZ = oldPos[1] - pos[1]
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time1 = math.sqrt(diffX * diffX + diffY * diffY + diffZ * diffZ) / feedRateXY
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time2 = abs(e / feedRateXY)
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totalMoveTimeMinute += max(time1, time2)
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# move time in x, y, z, will be 0 if no movement happened
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moveTimeXYZ = abs((oldPos - pos).length / feedrate)
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# time needed for extruding, will be 0 if no extrusion happened
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extrudeTime = abs(e / feedrate)
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# time to add is maximum of both
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totalMoveTimeMinute += max(moveTimeXYZ, extrudeTime)
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if moveType == 'move' and oldPos[2] != pos[2]:
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if oldPos[2] > pos[2] and abs(oldPos[2] - pos[2]) > 5.0 and pos[2] < 1.0:
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oldPos[2] = 0.0
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elif G == 4: #Delay
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S = getCodeFloat(line, 'S')
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if S is not None:
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@ -189,17 +266,17 @@ class gcode(object):
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x = getCodeFloat(line, 'X')
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y = getCodeFloat(line, 'Y')
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z = getCodeFloat(line, 'Z')
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center = [0.0,0.0,0.0]
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center = Vector3D(0.0, 0.0, 0.0)
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if x is None and y is None and z is None:
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pos = center
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else:
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pos = pos[:]
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pos = Vector3D(pos)
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if x is not None:
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pos[0] = center[0]
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pos.x = center.x
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if y is not None:
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pos[1] = center[1]
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pos.y = center.y
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if z is not None:
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pos[2] = center[2]
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pos.z = center.z
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elif G == 90: #Absolute position
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posAbs = True
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elif G == 91: #Relative position
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@ -212,11 +289,11 @@ class gcode(object):
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if e is not None:
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currentE[currentExtruder] = e
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if x is not None:
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posOffset[0] = pos[0] - x
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posOffset.x = pos.x - x
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if y is not None:
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posOffset[1] = pos[1] - y
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posOffset.y = pos.y - y
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if z is not None:
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posOffset[2] = pos[2] - z
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posOffset.z = pos.z - z
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elif M is not None:
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if M == 82: #Absolute E
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@ -228,13 +305,13 @@ class gcode(object):
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if T > settings().getInt(["gcodeAnalysis", "maxExtruders"]):
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self._logger.warn("GCODE tried to select tool %d, that looks wrong, ignoring for GCODE analysis" % T)
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else:
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posOffset[0] -= offsets[currentExtruder][0] if currentExtruder < len(offsets) else 0
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posOffset[1] -= offsets[currentExtruder][1] if currentExtruder < len(offsets) else 0
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posOffset.x -= offsets[currentExtruder][0] if currentExtruder < len(offsets) else 0
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posOffset.y -= offsets[currentExtruder][1] if currentExtruder < len(offsets) else 0
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currentExtruder = T
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posOffset[0] += offsets[currentExtruder][0] if currentExtruder < len(offsets) else 0
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posOffset[1] += offsets[currentExtruder][1] if currentExtruder < len(offsets) else 0
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posOffset.x += offsets[currentExtruder][0] if currentExtruder < len(offsets) else 0
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posOffset.y += offsets[currentExtruder][1] if currentExtruder < len(offsets) else 0
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if len(currentE) <= currentExtruder:
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for i in range(len(currentE), currentExtruder + 1):
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