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egv.py
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#!/usr/bin/env python
'''
This script reads/writes egv format
Copyright (C) 2017-2019 Scorch www.scorchworks.com
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
'''
import sys
import struct
import os
from shutil import copyfile
from math import *
from interpolate import interpolate
from time import time
from LaserSpeed import LaserSpeed
##############################################################################
class egv:
def __init__(self, target=lambda s: sys.stdout.write(s)):
self.write = target
self.Modal_dir = 0
self.Modal_dist = 0
self.Modal_on = False
self.Modal_AX = 0
self.Modal_AY = 0
self.RIGHT = 66 #ord("B")=66
self.LEFT = 84 #ord("T")=84
self.UP = 76 #ord("L")=76
self.DOWN = 82 #ord("R")=82
self.ANGLE = 77 #ord("M")=77
self.ON = 68 #ord("D")=68
self.OFF = 85 #ord("U")=85
# % Yxtart % Xstart % Yend % Xend % I % C VXXXXXXX CUT_TYPE
#
# %Ystart_pos %Xstart_pos %Yend_pos %Xend_pos (start pos is the location of the head before the code is run)
# I is always I ?
# C is C for cutting or Marking otherwise it is omitted
# V is the start of 7 digits indicating the feed rate 255 255 1
# CUT_TYPE cutting/marking, Engraving=G followed by the raster step in thousandths of an inch
def move(self,direction,distance,laser_on=False,angle_dirs=None):
if angle_dirs==None:
angle_dirs = [self.Modal_AX,self.Modal_AY]
if direction == self.Modal_dir \
and laser_on == self.Modal_on \
and angle_dirs[0] == self.Modal_AX \
and angle_dirs[1] == self.Modal_AY:
self.Modal_dist = self.Modal_dist + distance
else:
self.flush()
if laser_on != self.Modal_on:
if laser_on:
self.write(self.ON)
else:
self.write(self.OFF)
self.Modal_on = laser_on
if direction == self.ANGLE:
if angle_dirs[0]!=self.Modal_AX:
self.write(angle_dirs[0])
self.Modal_AX = angle_dirs[0]
if angle_dirs[1]!=self.Modal_AY:
self.write(angle_dirs[1])
self.Modal_AY = angle_dirs[1]
self.Modal_dir = direction
self.Modal_dist = distance
if direction == self.RIGHT or direction == self.LEFT:
self.Modal_AX = direction
if direction == self.UP or direction == self.DOWN:
self.Modal_AY = direction
def flush(self,laser_on=None):
if self.Modal_dist > 0:
self.write(self.Modal_dir)
for code in self.make_distance(self.Modal_dist):
self.write(code)
if (laser_on!=None) and (laser_on!=self.Modal_on):
if laser_on:
self.write(self.ON)
else:
self.write(self.OFF)
self.Modal_on = laser_on
self.Modal_dist = 0
# The one wire CRC algorithm is derived from the OneWire.cpp Library
# The library location: http://www.pjrc.com/teensy/td_libs_OneWire.html
def OneWireCRC(self,line):
crc=0
for i in range(len(line)):
inbyte=line[i]
for j in range(8):
mix = (crc ^ inbyte) & 0x01
crc >>= 1
if (mix):
crc ^= 0x8C
inbyte >>= 1
return crcS
def make_distance(self,dist_mils):
dist_mils=float(dist_mils)
if abs(dist_mils-round(dist_mils,0)) > 0.000001:
raise Exception('Distance values should be integer value (inches*1000)')
DIST=0.0
code = []
v122 = 255
dist_milsA = int(dist_mils)
for i in range(0,int(floor(dist_mils/v122))):
code.append(122)
dist_milsA = dist_milsA-v122
DIST = DIST+v122
if dist_milsA==0:
pass
elif dist_milsA < 26: # codes "a" through "y"
code.append(96+dist_milsA)
elif dist_milsA < 52: # codes "|a" through "|z"
code.append(124)
code.append(96+dist_milsA-25)
elif dist_milsA < 255:
num_str = "%03d" %(int(round(dist_milsA)))
code.append(ord(num_str[0]))
code.append(ord(num_str[1]))
code.append(ord(num_str[2]))
else:
raise Exception("Error in EGV make_distance_in(): dist_milsA=",dist_milsA)
return code
def make_dir_dist(self,dxmils,dymils,laser_on=False):
adx = abs(dxmils)
ady = abs(dymils)
if adx > 0 or ady > 0:
if ady > 0:
if dymils > 0:
self.move(self.UP ,ady,laser_on)
else:
self.move(self.DOWN,ady,laser_on)
if adx > 0:
if dxmils > 0:
self.move(self.RIGHT,adx,laser_on)
else:
self.move(self.LEFT ,adx,laser_on)
def make_cut_line(self,dxmils,dymils,Spindle):
XCODE = self.RIGHT
if dxmils < 0.0:
XCODE = self.LEFT
YCODE = self.UP
if dymils < 0.0:
YCODE = self.DOWN
if abs(dxmils-round(dxmils,0)) > 0.0 or abs(dymils-round(dymils,0)) > 0.0:
raise Exception('Distance values should be integer value (inches*1000)')
adx = abs(dxmils/1000.0)
ady = abs(dymils/1000.0)
if dxmils == 0:
self.move(YCODE,abs(dymils),laser_on=Spindle)
elif dymils == 0:
self.move(XCODE,abs(dxmils),laser_on=Spindle)
elif dxmils==dymils:
self.move(self.ANGLE,abs(dxmils),laser_on=Spindle,angle_dirs=[XCODE,YCODE])
else:
h=[]
if adx > ady:
slope = ady/adx
n = int(abs(dxmils))
CODE = XCODE
CODE1 = YCODE
else:
slope = adx/ady
n = int(abs(dymils))
CODE = YCODE
CODE1 = XCODE
for i in range(1,n+1):
h.append(round(i*slope,0))
Lh=0.0
d1=0.0
d2=0.0
d1cnt=0.0
d2cnt=0.0
for i in range(len(h)):
if h[i]==Lh:
d1=d1+1
if d2>0.0:
self.move(self.ANGLE,d2,laser_on=Spindle,angle_dirs=[XCODE,YCODE])
d2cnt=d2cnt+d2
d2=0.0
else:
d2=d2+1
if d1>0.0:
self.move(CODE,d1,laser_on=Spindle)
d1cnt=d1cnt+d1
d1=0.0
Lh=h[i]
if d1>0.0:
self.move(CODE,d1,laser_on=Spindle)
d1cnt=d1cnt+d1
d1=0.0
if d2>0.0:
self.move(self.ANGLE,d2,laser_on=Spindle,angle_dirs=[XCODE,YCODE])
d2cnt=d2cnt+d2
d2=0.0
DX = d2cnt
DY = (d1cnt+d2cnt)
if adx < ady:
error = max(DX-abs(dxmils),DY-abs(dymils))
else:
error = max(DY-abs(dxmils),DX-abs(dymils))
if error > 0:
raise Exception("egv.py: Error delta =%f" %(error))
def make_speed(self,Feed=None,board_name="LASER-M2",Raster_step=0):
board_code = board_name.split('-')[1]
speed_text = LaserSpeed.get_code_from_speed(Feed, abs(Raster_step), board=board_code)
speed=[]
for c in speed_text:
speed.append(ord(c))
return speed
def make_move_data(self,dxmils,dymils):
if (abs(dxmils)+abs(dymils)) > 0:
self.write(73) # I
self.make_dir_dist(dxmils,dymils)
self.flush()
self.write(83) #S
self.write(49) #1 (one)
self.write(80) #P
#######################################################################
def none_function(self,dummy=None):
#Don't delete this function (used in make_egv_data)
pass
def ecoord_adj(self,ecoords_adj_in,scale,FlipXoffset):
if FlipXoffset > 0:
e0 = int(round((FlipXoffset-ecoords_adj_in[0])*scale,0))
else:
e0 = int(round(ecoords_adj_in[0]*scale,0))
e1 = int(round(ecoords_adj_in[1]*scale,0))
e2 = ecoords_adj_in[2]
return e0,e1,e2
def make_egv_data(self, ecoords_in,
startX=0,
startY=0,
units = 'in',
Feed = None,
board_name="LASER-M2",
Raster_step=0,
update_gui=None,
stop_calc=None,
FlipXoffset=0,
Rapid_Feed_Rate=0,
use_laser=True):
#print("make_egv_data",Rapid_Feed_Rate,len(ecoords_in))
#print("Rapid_Feed_Rate=",Rapid_Feed_Rate)
########################################################
if stop_calc == None:
stop_calc=[]
stop_calc.append(0)
if update_gui == None:
update_gui = self.none_function
########################################################
if units == 'in':
scale = 1000.0
if units == 'mm':
scale = 1000.0/25.4;
startX = int(round(startX*scale,0))
startY = int(round(startY*scale,0))
########################################################
variable_feed_scale=None
Spindle = True and use_laser
if Feed==None:
variable_feed_scale = 25.4/60.0
Feed = round(ecoords_in[0][3]*variable_feed_scale,2)
Spindle = False
speed = self.make_speed(Feed,board_name=board_name,Raster_step=Raster_step)
##self.write(ord("I"))
#for code in speed:
# self.write(code)
if Raster_step==0:
#self.write(ord("I"))
for code in speed:
self.write(code)
lastx,lasty,last_loop = self.ecoord_adj(ecoords_in[0],scale,FlipXoffset)
if not Rapid_Feed_Rate:
self.make_dir_dist(lastx-startX,lasty-startY)
self.flush(laser_on=False)
self.write(ord("N"))
self.write(ord("R"))
self.write(ord("B"))
# Insert "S1E"
self.write(ord("S"))
self.write(ord("1"))
self.write(ord("E"))
###########################################################
laser = False
if Rapid_Feed_Rate:
self.rapid_move_slow(lastx-startX,lasty-startY,Rapid_Feed_Rate,Feed,board_name)
timestamp=0
for i in range(1,len(ecoords_in)):
e0,e1,e2 = self.ecoord_adj(ecoords_in[i] ,scale,FlipXoffset)
stamp=int(3*time()) #update every 1/3 of a second
if (stamp != timestamp):
timestamp=stamp #interlock
update_gui("Generating EGV Data: %.1f%%" %(100.0*float(i)/float(len(ecoords_in))))
if stop_calc[0]==True:
raise Exception("Action Stopped by User.")
if ( e2 == last_loop) and (not laser):
laser = True
elif ( e2 != last_loop) and (laser):
laser = False
dx = e0 - lastx
dy = e1 - lasty
min_rapid = 5
if (abs(dx)+abs(dy))>0:
if laser:
if variable_feed_scale!=None:
Feed_current = round(ecoords_in[i][3]*variable_feed_scale,2)
Spindle = ecoords_in[i][4] > 0 and use_laser
if Feed != Feed_current:
Feed = Feed_current
self.flush()
self.change_speed(Feed,board_name,laser_on=Spindle)
self.make_cut_line(dx,dy,Spindle)
else:
if ((abs(dx) < min_rapid) and (abs(dy) < min_rapid)) or Rapid_Feed_Rate:
self.rapid_move_slow(dx,dy,Rapid_Feed_Rate,Feed,board_name)
else:
self.rapid_move_fast(dx,dy)
lastx = e0
lasty = e1
last_loop = e2
if laser:
laser = False
dx = startX-lastx
dy = startY-lasty
if ((abs(dx) < min_rapid) and (abs(dy) < min_rapid)) or Rapid_Feed_Rate:
self.rapid_move_slow(dx,dy,Rapid_Feed_Rate,Feed,board_name)
else:
self.rapid_move_fast(dx,dy)
###########################################################
else: # Raster
###########################################################
Rapid_flag=True
###################################################
scanline = []
scanline_y = None
if Raster_step < 0.0:
irange = range(len(ecoords_in))
else:
irange = range(len(ecoords_in)-1,-1,-1)
timestamp=0
for i in irange:
#if i%1000 == 0:
stamp=int(3*time()) #update every 1/3 of a second
if (stamp != timestamp):
timestamp=stamp #interlock
update_gui("Preprocessing Raster Data: %.1f%%" %(100.0*float(i)/float(len(ecoords_in))))
y = ecoords_in[i][1]
if y != scanline_y:
scanline.append([ecoords_in[i]])
scanline_y = y
else:
if bool(FlipXoffset) ^ bool(Raster_step > 0.0): # ^ is bitwise XOR
scanline[-1].insert(0,ecoords_in[i])
else:
scanline[-1].append(ecoords_in[i])
update_gui("Raster Data Ready")
###################################################
lastx,lasty,last_loop = self.ecoord_adj(scanline[0][0],scale,FlipXoffset)
DXstart = lastx-startX
DYstart = lasty-startY
if Rapid_Feed_Rate:
self.make_egv_rapid(DXstart,DYstart,Rapid_Feed_Rate,board_name,finish=False)
##self.write(ord("I"))
for code in speed:
self.write(code)
if not Rapid_Feed_Rate:
self.make_dir_dist(DXstart,DYstart)
#insert "NRB"
self.flush(laser_on=False)
self.write(ord("N"))
if (Raster_step < 0.0):
self.write(ord("R"))
else:
self.write(ord("L"))
self.write(ord("B"))
# Insert "S1E"
self.write(ord("S"))
self.write(ord("1"))
self.write(ord("E"))
dx_last = 0
sign = -1
cnt = 1
timestamp=0
for scan_raw in scanline:
scan = []
for point in scan_raw:
e0,e1,e2 = self.ecoord_adj(point,scale,FlipXoffset)
scan.append([e0,e1,e2])
stamp=int(3*time()) #update every 1/3 of a second
if (stamp != timestamp):
timestamp=stamp #interlock
update_gui("Generating EGV Data: %.1f%%" %(100.0*float(cnt)/float(len(scanline))))
if stop_calc[0]==True:
raise Exception("Action Stopped by User.")
cnt = cnt+1
######################################
## Flip direction and reset loop ##
######################################
sign = -sign
last_loop = None
y = scan[0][1]
dy = y-lasty
if sign == 1:
xr = scan[0][0]
else:
xr = scan[-1][0]
dxr = xr - lastx
######################################
## Make Rapid move if needed ##
######################################
if abs(dy-Raster_step) != 0 and not Rapid_flag:
if dxr*sign < 0:
yoffset = -Raster_step*3
else:
yoffset = -Raster_step
if (dy+yoffset)*(abs(yoffset)/yoffset) < 0:
self.flush(laser_on=False)
if not Rapid_Feed_Rate:
self.write(ord("N"))
self.make_dir_dist(0,dy+yoffset)
self.flush(laser_on=False)
self.write(ord("S"))
self.write(ord("E"))
else:
DX=0
DY=dy+yoffset
self.raster_rapid_move_slow(DX,DY,Raster_step,Rapid_Feed_Rate,Feed,board_name)
Rapid_flag=True
else:
adj_steps = int(dy/Raster_step)
for stp in range(1,adj_steps):
adj_dist=5
self.make_dir_dist(sign*adj_dist,0)
lastx = lastx + sign*adj_dist
sign = -sign
if sign == 1:
xr = scan[0][0]
else:
xr = scan[-1][0]
dxr = xr - lastx
lasty = y
######################################
if sign == 1:
rng = range(0,len(scan),1)
else:
rng = range(len(scan)-1,-1,-1)
######################################
## Pad row end if needed ##
###########################
pad = 2
if (dxr*sign <= 0.0):
if (Rapid_flag == False):
self.make_dir_dist(-sign*pad,0)
self.make_dir_dist( dxr,0)
self.make_dir_dist( sign*pad,0)
else:
self.make_dir_dist( dxr,0)
lastx = lastx+dxr
Rapid_flag=False
######################################
for j in rng:
x = scan[j][0]
dx = x - lastx
##################################
loop = scan[j][2]
if loop==last_loop:
self.make_cut_line(dx,0,True)
else:
if dx*sign > 0.0:
self.make_dir_dist(dx,0)
lastx = x
last_loop = loop
lasty = y
# Make final move to ensure last move is to the right
self.make_dir_dist(pad,0)
lastx = lastx + pad
# If sign is negative the final move will have incremented the
# "y" position so adjust the lasty to acoomodate
if sign < 0:
lasty = lasty + Raster_step
self.flush(laser_on=False)
dx_final = (startX - lastx)
if Raster_step < 0:
dy_final = (startY - lasty) + Raster_step
else:
dy_final = (startY - lasty) - Raster_step
##############################################################
max_return_feed = 50.0
final_feed = 0
if Rapid_Feed_Rate:
final_feed = Rapid_Feed_Rate
elif Feed > max_return_feed:
final_feed = max_return_feed
if final_feed:
self.change_speed(final_feed,board_name,laser_on=False,pad=False)
dy_final = dy_final + abs(Raster_step)
self.make_dir_dist(dx_final,dy_final)
else:
self.write(ord("N"))
self.make_dir_dist(dx_final,dy_final)
self.flush(laser_on=False)
self.write(ord("S"))
self.write(ord("E"))
##############################################################
# Append Footer
self.flush(laser_on=False)
self.write(ord("F"))
self.write(ord("N"))
self.write(ord("S"))
self.write(ord("E"))
update_gui("EGV Data Complete")
return
def make_egv_rapid(self, DX,DY,Feed = None,board_name="LASER-M2",finish=True):
speed = self.make_speed(Feed,board_name=board_name,Raster_step=0)
if finish:
self.write(ord("I"))
for code in speed:
self.write(code)
self.flush(laser_on=False)
self.write(ord("N"))
self.write(ord("R"))
self.write(ord("B"))
# Insert "S1E"
self.write(ord("S"))
self.write(ord("1"))
self.write(ord("E"))
###########################################################
# Move Distance
self.make_cut_line(DX,DY,Spindle=0)
###########################################################
# Append Footer
self.flush(laser_on=False)
if finish:
self.write(ord("F"))
else:
self.write(ord("@"))
self.write(ord("N"))
self.write(ord("S"))
self.write(ord("E"))
return
def rapid_move_slow(self,dx,dy,Rapid_Feed_Rate,Feed,board_name):
if Rapid_Feed_Rate:
self.change_speed(Rapid_Feed_Rate,board_name,laser_on=False)
self.make_dir_dist(dx,dy)
self.change_speed(Feed,board_name,laser_on=False)
else:
self.make_dir_dist(dx,dy)
def raster_rapid_move_slow(self,DX,DY,Raster_step,Rapid_Feed_Rate,Feed,board_name):
tiny_step = Raster_step/abs(Raster_step)
self.change_speed(Rapid_Feed_Rate,board_name,laser_on=False,pad=False)
self.make_dir_dist(DX,DY-tiny_step)
self.flush(laser_on=False)
self.change_speed(Feed,board_name,laser_on=False,Raster_step=Raster_step,pad=False)
#Tiny Rapid
self.write(ord("N"))
self.make_dir_dist(0,tiny_step)
self.flush(laser_on=False)
self.write(ord("S"))
self.write(ord("E"))
def rapid_move_fast(self,dx,dy):
pad = 3
if pad == -dx:
pad = pad+3
self.make_dir_dist(-pad, 0 ) #add "T" move
self.make_dir_dist( 0, pad) #add "L" move
self.flush(laser_on=False)
if dx+pad < 0.0:
self.write(ord("B"))
else:
self.write(ord("T"))
self.write(ord("N"))
self.make_dir_dist(dx+pad,dy-pad)
self.flush(laser_on=False)
self.write(ord("S"))
self.write(ord("E"))
def change_speed(self,Feed,board_name,laser_on=False,Raster_step=0,pad=True):
cspad = 5
if laser_on:
self.write(self.OFF)
if pad:
self.make_dir_dist(-cspad,-cspad)
self.flush(laser_on=False)
self.write(ord("@"))
self.write(ord("N"))
self.write(ord("S"))
self.write(ord("E"))
speed = self.make_speed(Feed,board_name,Raster_step=Raster_step)
#print Feed,speed
for code in speed:
self.write(code)
self.write(ord("N"))
self.write(ord("R"))
self.write(ord("B"))
## Insert "SIE"
self.write(ord("S"))
self.write(ord("1"))
self.write(ord("E"))
if pad:
self.make_dir_dist(cspad,cspad)
self.flush(laser_on=False)
if laser_on:
self.write(self.ON)
if __name__ == "__main__":
EGV=egv()
bname = "LASER-M2"
values = [.1,.2,.3,.4,.5,.6,.7,.8,.9,1,2,3,4,5,6,7,8,9,10,20,30,40,50,70,90,100]
step=2
for value_in in values:
#print ("% 8.2f" %(value_in),": ",end='')
val=EGV.make_speed(value_in,board_name=bname,Raster_step=step)
txt=""
for c in val:
txt=txt+chr(c)
print(txt)
print("DONE")