'''
This module provides a UI element which can display gcode on a Kivy canvas element. It also provides panning
and zooming features. It was not originally written as a stand alone module which might create some weirdness.
'''
from kivy.uix.floatlayout import FloatLayout
from kivy.properties import NumericProperty, ObjectProperty
from kivy.graphics import Color, Ellipse, Line, Point
from kivy.clock import Clock
from DataStructures.makesmithInitFuncs import MakesmithInitFuncs
from UIElements.positionIndicator import PositionIndicator
from UIElements.viewMenu import ViewMenu
from kivy.graphics.transformation import Matrix
from kivy.core.window import Window
from UIElements.modernMenu import ModernMenu
from kivy.metrics import dp
from kivy.graphics.texture import Texture
from kivy.graphics import Rectangle
import re
import math
import global_variables
import sys
class GcodeCanvas(FloatLayout, MakesmithInitFuncs):
canvasScaleFactor = 1 #scale from mm to pixels
INCHES = 25.4
MILLIMETERS = 1
xPosition = 0
yPosition = 0
zPosition = 0
lineNumber = 0 #the line number currently being processed
absoluteFlag = 0
prependString = "G01 "
maxNumberOfLinesToRead = 300000
def initialize(self):
self.targetIndicator.color = self.data.targetInicatorColor
self.positionIndicator.color = self.data.posIndicatorColor
self.drawWorkspace()
if self.data.config.getboolean('Ground Control Settings', 'centerCanvasOnResize'):
Window.bind(on_resize = self.centerCanvas)
self.data.bind(gcode = self.updateGcode)
self.data.bind(backgroundRedraw = self.reloadGcode)
self.data.bind(gcodeShift = self.reloadGcode) #No need to reload if the origin is changed, just clear and redraw
self.data.bind(gcodeFile = self.centerCanvasAndReloadGcode)
global_variables._keyboard = Window.request_keyboard(self._keyboard_closed, self)
global_variables._keyboard.bind(on_key_down=self._on_keyboard_down)
self.centerCanvasAndReloadGcode()
def addPoint(self, x, y):
'''
Add a point to the line currently being plotted
'''
self.line.points.extend((x,y))
def _keyboard_closed(self):
'''
If the window looses focus.
'''
global_variables._keyboard.unbind(on_key_down=self._on_keyboard_down)
global_variables._keyboard = None
def _on_keyboard_down(self, keyboard, keycode, text, modifiers):
'''
Called when a button is pressed.
'''
scaleFactor = .03
anchor = (0,0)
# print 'gcodeCanvas',keycode, text, modifiers # handy for exploring keyboard input
if keycode[1] == self.data.config.get('Ground Control Settings', 'zoomIn'):
mat = Matrix().scale(1-scaleFactor, 1-scaleFactor, 1)
self.scatterInstance.apply_transform(mat, anchor)
return True # we handled this key - don't pass to other callbacks
elif keycode[1] == self.data.config.get('Ground Control Settings', 'zoomOut'):
mat = Matrix().scale(1+scaleFactor, 1+scaleFactor, 1)
self.scatterInstance.apply_transform(mat, anchor)
return True # we handled this key - don't pass to other callbacks
elif keycode[1] == self.data.config.get('Ground Control Settings', 'runKey'):
self.parent.startRun() # "click" the 'Run' button
return True # we handled this key - don't pass to other callbacks
elif keycode[1] == self.data.config.get('Ground Control Settings', 'pauseKey'):
self.parent.pause() # "click" the 'Pause' button
return True # we handled this key - don't pass to other callbacks
elif keycode[1] == self.data.config.get('Ground Control Settings', 'stopKey'):
self.parent.stopRun() # "click" the 'Stop' button
return True # we handled this key - don't pass to other callbacks
# elif keycode[1] == self.data.config.get('Ground Control Settings', 'fakeServo_Off'):
# if self.data.config.get('Ground Control Settings', 'fsModeAllowed') == "Allowed":
# if 'ctrl' in modifiers or 'alt' in modifiers or 'meta' in modifiers:
# self.data.gcode_queue.put("B99 ON \n")
# else:
# self.data.gcode_queue.put("B99 OFF \n")
# return True # we handled this key - don't pass to other callbacks
# else:
# return False # we didn't handle this key - let next callback handle it
elif keycode[1] == self.data.config.get('Ground Control Settings', 'fakeServo_Off'):
if 'ctrl' in modifiers or 'alt' in modifiers or 'meta' in modifiers:
if self.data.config.get('Ground Control Settings', 'fsModeAllowed') == "Allowed":
self.data.gcode_queue.put("B99 ON \n")
else:
self.data.gcode_queue.put("B99 OFF \n")
return True # we handled this key - don't pass to other callbacks
else:
return False # we didn't handle this key - let next callback handle it
def isClose(self, a, b):
return abs(a-b) <= self.data.tolerance
def centerCanvasAndReloadGcode(self, *args):
self.centerCanvas()
self.reloadGcode()
def reloadGcode(self, *args):
'''
This reloads the gcode from the hard drive in case it has been updated.
'''
filename = self.data.gcodeFile
if filename is "": #Blank the g-code if we're loading "nothing"
self.data.gcode = " "
self.data.gcode = ""
return
try:
filterfile = open(filename, 'r')
rawfilters = filterfile.read()
filtersparsed = re.sub(r'\(([^)]*)\)','\n',rawfilters) #replace mach3 style gcode comments with newline
filtersparsed = re.sub(r';([^\n]*)\n','\n',filtersparsed) #replace standard ; initiated gcode comments with newline
filtersparsed = re.sub(r'\n\n','\n',filtersparsed) #removes blank lines
filtersparsed = re.sub(r'([0-9])([GXYZIJFTM]) *', '\\1 \\2',filtersparsed) #put spaces between gcodes
filtersparsed = re.sub(r' +',' ',filtersparsed) #condense space runs
if self.data.config.getint('Advanced Settings','truncate'):
digits = self.data.config.get('Advanced Settings','digits')
filtersparsed = re.sub(r'([+-]?\d*\.\d{1,'+digits+'})(\d*)',r'\g<1>',filtersparsed) #truncates all long floats to 4 decimal places, leaves shorter floats
filtersparsed = re.split('\n', filtersparsed) #splits the gcode into elements to be added to the list
filtersparsed = [x + ' ' for x in filtersparsed] #adds a space to the end of each line
filtersparsed = [x.lstrip() for x in filtersparsed]
filtersparsed = [x.replace('X ','X') for x in filtersparsed]
filtersparsed = [x.replace('Y ','Y') for x in filtersparsed]
filtersparsed = [x.replace('Z ','Z') for x in filtersparsed]
filtersparsed = [x.replace('I ','I') for x in filtersparsed]
filtersparsed = [x.replace('J ','J') for x in filtersparsed]
filtersparsed = [x.replace('F ','F') for x in filtersparsed]
self.data.gcode = "[]"
self.data.gcode = filtersparsed
filterfile.close() #closes the filter save file
#Find gcode indicies of z moves
self.data.zMoves = [0]
zList = []
for index, line in enumerate(self.data.gcode):
z = re.search("Z(?=.)([+-]?([0-9]*)(\.([0-9]+))?)",line)
if z:
zList.append(z)
if len(zList) > 1:
if not self.isClose(float(zList[-1].groups()[0]),float(zList[-2].groups()[0])):
self.data.zMoves.append(index-1)
else:
self.data.zMoves.append(index)
except:
self.data.message_queue.put("Message: Cannot reopen gcode file. It may have been moved or deleted. To locate it or open a different file use Actions > Open G-code")
self.data.gcodeFile = ""
def centerCanvas(self, *args):
'''
Return the canvas to the center of the screen.
'''
mat = Matrix().translate(Window.width/2, Window.height/2, 0)
self.scatterInstance.transform = mat
anchor = (0,0)
scale = self.data.config.get('Ground Control Settings', 'viewScale')
mat = Matrix().scale(dp(scale), dp(scale), 1)
self.scatterInstance.apply_transform(mat, anchor)
def on_touch_up(self, touch, *args):
if touch.is_mouse_scrolling:
self.zoomCanvas(touch)
return super(GcodeCanvas, self).on_touch_up(touch, *args)
def zoomCanvas(self, touch):
if touch.is_mouse_scrolling:
scaleFactor = .1
if touch.button == 'scrollup':
mat = Matrix().scale(1-scaleFactor, 1-scaleFactor, 1)
self.scatterInstance.apply_transform(mat, anchor = touch.pos)
elif touch.button == 'scrolldown':
mat = Matrix().scale(1+scaleFactor, 1+scaleFactor, 1)
self.scatterInstance.apply_transform(mat, anchor = touch.pos)
def drawWorkspace(self, *args):
self.scatterObject.canvas.remove_group('workspace')
with self.scatterObject.canvas:
Color(.47, .47, .47)
#create the bounding box
height = float(self.data.config.get('Maslow Settings', 'bedHeight'))
width = float(self.data.config.get('Maslow Settings', 'bedWidth'))
Line(points = ( -width/2 , -height/2 , width/2 , -height/2), group='workspace')
Line(points = ( -width/2 , height/2 , width/2 , height/2), group='workspace')
Line(points = ( -width/2 , -height/2 , -width/2 , height/2), group='workspace')
Line(points = ( width/2 , -height/2 , width/2 , height/2), group='workspace')
#create the axis lines
Line(points = (-width/2,0,width/2,0), dash_offset = 5, group='workspace')
Line(points = (0, -height/2,0,height/2), dash_offset = 5, group='workspace')
texture = self.data.backgroundTexture
if texture is not None:
Rectangle(texture=texture, pos=(-width/2, -height/2),
size=(width, height),
tex_coords=self.data.backgroundManualReg)
def drawLine(self,gCodeLine,command):
'''
drawLine draws a line using the previous command as the start point and the xy coordinates
from the current command as the end point. The line is styled based on the command to allow
visually differentiating between normal and rapid moves. If the z-axis depth is changed a
circle is placed at the location of the depth change to alert the user.
'''
try:
xTarget = self.xPosition
yTarget = self.yPosition
zTarget = self.zPosition
x = re.search("X(?=.)(([ ]*)?[+-]?([0-9]*)(\.([0-9]+))?)", gCodeLine)
if x:
xTarget = float(x.groups()[0])*self.canvasScaleFactor
if self.absoluteFlag == 1:
xTarget = self.xPosition + xTarget
y = re.search("Y(?=.)(([ ]*)?[+-]?([0-9]*)(\.([0-9]+))?)", gCodeLine)
if y:
yTarget = float(y.groups()[0])*self.canvasScaleFactor
if self.absoluteFlag == 1:
yTarget = self.yPosition + yTarget
z = re.search("Z(?=.)(([ ]*)?[+-]?([0-9]*)(\.([0-9]+))?)", gCodeLine)
if z:
zTarget = float(z.groups()[0])*self.canvasScaleFactor
#Draw lines for G1 and G0
with self.scatterObject.canvas:
Color(self.data.drawingColor[0], self.data.drawingColor[1], self.data.drawingColor[2])
if command == 'G00':
#draw a dashed line
Line(points = (self.xPosition , self.yPosition , xTarget, yTarget), width = 1, group = 'gcode', dash_length = 4, dash_offset = 2)
#start a new straight line from the end of the dashed line
self.line = Line(points = (), width = 1, group = 'gcode')
self.addPoint(xTarget , yTarget)
else:
self.addPoint(xTarget , yTarget)
#If the zposition has changed, add indicators
tol = 0.05 #Acceptable error in mm
if abs(zTarget - self.zPosition) >= tol:
with self.scatterObject.canvas:
if zTarget - self.zPosition > 0:
Color(0, 1, 0)
radius = 1
else:
Color(1, 0, 0)
radius = 2
Line(circle=(self.xPosition , self.yPosition, radius), group = 'gcode')
Color(self.data.drawingColor[0], self.data.drawingColor[1], self.data.drawingColor[2])
self.xPosition = xTarget
self.yPosition = yTarget
self.zPosition = zTarget
except:
print "Unable to draw line on screen: " + gCodeLine
def drawArc(self,gCodeLine,command):
'''
drawArc draws an arc using the previous command as the start point, the xy coordinates from
the current command as the end point, and the ij coordinates from the current command as the
circle center. Clockwise or counter-clockwise travel is based on the command.
'''
try:
xTarget = self.xPosition
yTarget = self.yPosition
iTarget = 0
jTarget = 0
x = re.search("X(?=.)(([ ]*)?[+-]?([0-9]*)(\.([0-9]+))?)", gCodeLine)
if x:
xTarget = float(x.groups()[0])*self.canvasScaleFactor
y = re.search("Y(?=.)(([ ]*)?[+-]?([0-9]*)(\.([0-9]+))?)", gCodeLine)
if y:
yTarget = float(y.groups()[0])*self.canvasScaleFactor
i = re.search("I(?=.)(([ ]*)?[+-]?([0-9]*)(\.([0-9]+))?)", gCodeLine)
if i:
iTarget = float(i.groups()[0])*self.canvasScaleFactor
j = re.search("J(?=.)(([ ]*)?[+-]?([0-9]*)(\.([0-9]+))?)", gCodeLine)
if j:
jTarget = float(j.groups()[0])*self.canvasScaleFactor
radius = math.sqrt(iTarget**2 + jTarget**2)
centerX = self.xPosition + iTarget
centerY = self.yPosition + jTarget
angle1 = math.atan2(self.yPosition - centerY, self.xPosition - centerX)
angle2 = math.atan2(yTarget - centerY, xTarget - centerX)
#atan2 returns results from -pi to +pi and we want results from 0 - 2pi
if angle1 < 0:
angle1 = angle1 + 2*math.pi
if angle2 < 0:
angle2 = angle2 + 2*math.pi
#take into account command G1 or G2
if int(command[1:]) == 2:
if angle1 < angle2:
angle1 = angle1 + 2*math.pi
direction = -1
else:
if angle2 < angle1:
angle2 = angle2 + 2*math.pi
direction = 1
arcLen = abs(angle1 - angle2)
if abs(angle1 - angle2) == 0:
arcLen = 6.28313530718
i = 0
while abs(i) < arcLen:
xPosOnLine = centerX + radius*math.cos(angle1 + i)
yPosOnLine = centerY + radius*math.sin(angle1 + i)
self.addPoint(xPosOnLine , yPosOnLine)
i = i+.1*direction #this is going to need to be a direction
self.addPoint(xTarget , yTarget)
self.xPosition = xTarget
self.yPosition = yTarget
except:
print "Unable to draw arc on screen: " + gCodeLine
def clearGcode(self):
'''
clearGcode deletes the lines and arcs corresponding to gcode commands from the canvas.
'''
self.scatterObject.canvas.clear()#remove_group('gcode')
self.drawWorkspace()
def moveToPos(self, xPosition, yPosition, *args):
'''
Move the machine to a point selected on the screen
'''
if self.data.units == 'MM':
scaleFactor = 1
else:
scaleFactor = 25.4
xTarget = '%.3f'%(xPosition/scaleFactor)
yTarget = '%.3f'%(yPosition/scaleFactor)
commandString = 'G0 X' + str(xTarget) + ' Y' + str(yTarget) + " "
self.data.gcode_queue.put(commandString)
def createMark(self, xPosition, yPosition, *args):
'''
Create a mark at a point selected on the screen
'''
if self.data.units == 'MM':
scaleFactor = 1
else:
scaleFactor = 25.4
xTarget = xPosition/scaleFactor
yTarget = yPosition/scaleFactor
marker = PositionIndicator()
marker.setPos(xTarget, yTarget, self.data.units)
marker.color = (0,1,0)
self.scatterInstance.add_widget(marker)
def setHome(self, xPosition, yPosition, *args):
'''
Set the home position to the location set in the long press menu
'''
if self.data.units == 'MM':
scaleFactor = 1
else:
scaleFactor = 25.4
xPosition = xPosition/scaleFactor
yPosition = yPosition/scaleFactor
self.data.gcodeShift = [xPosition,yPosition]
self.data.config.set('Advanced Settings', 'homeX', str(xPosition))
self.data.config.set('Advanced Settings', 'homeY', str(yPosition))
def doNothing(self, *args):
'''
A placeholder function which does nothing
'''
pass
def moveLine(self, gCodeLine):
originalLine = gCodeLine
try:
gCodeLine = gCodeLine.upper() + " "
x = re.search("X(?=.)(([ ]*)?[+-]?([0-9]*)(\.([0-9]+))?)", gCodeLine)
if x:
# xTarget = '%f' % (float(x.groups()[0]) + self.data.gcodeShift[0]) # not used any more...
eNtnX = re.sub('\-?\d\.|\d*e-','',str(abs(float(x.groups()[0]) + self.data.gcodeShift[0]))) # strip off everything but the decimal part or e-notation exponent
e = re.search(".*e-", str(abs(float(x.groups()[0]) + self.data.gcodeShift[0])))
if e:
fmtX = "%0%.%sf" % eNtnX # if e-notation, use the exponent from the e notation
else:
fmtX = "%0%.%sf" % len(eNtnX) # use the number of digits after the decimal place
gCodeLine = gCodeLine[0:x.start()+1] + (fmtX % (float(x.groups()[0]) + self.data.gcodeShift[0])) + gCodeLine[x.end():]
y = re.search("Y(?=.)(([ ]*)?[+-]?([0-9]*)(\.([0-9]+))?)", gCodeLine)
if y:
# yTarget = '%f' % (float(y.groups()[0]) + self.data.gcodeShift[1]) # not used any more...
eNtnY = re.sub('\-?\d\.|\d*e-','',str(abs(float(y.groups()[0]) + self.data.gcodeShift[1])))
e = re.search(".*e-", str(abs(float(y.groups()[0]) + self.data.gcodeShift[1])))
if e:
fmtY = "%0%.%sf" % eNtnY
else:
fmtY = "%0%.%sf" % len(eNtnY)
gCodeLine = gCodeLine[0:y.start()+1] + (fmtY % (float(y.groups()[0]) + self.data.gcodeShift[1])) + gCodeLine[y.end():]
return gCodeLine
except ValueError:
print "line could not be moved:"
print originalLine
return originalLine
def loadNextLine(self):
'''
Load the next line of gcode
'''
try:
self.data.gcode[self.lineNumber] = self.moveLine(self.data.gcode[self.lineNumber]) #move the line if the gcode has been moved
fullString = self.data.gcode[self.lineNumber]
self.lineNumber = self.lineNumber + 1
except:
return #we have reached the end of the file
#if the line contains multiple gcode commands split them and execute them individually
listOfLines = fullString.split('G')
if len(listOfLines) > 1: #if the line contains at least one 'G'
for line in listOfLines:
if len(line) > 0: #If the line is not blank
self.updateOneLine('G' + line) #Draw it
else:
self.updateOneLine(fullString)
def updateOneLine(self, fullString):
'''
Draw the next line on the gcode canvas
'''
validPrefixList = ['G00','G0 ','G1 ','G01','G2 ','G02','G3 ','G03', 'G17']
fullString = fullString + " " #ensures that there is a space at the end of the line
#find 'G' anywhere in string
gString = fullString[fullString.find('G'):fullString.find('G') + 3]
if gString in validPrefixList:
self.prependString = gString
if fullString.find('G') == -1: #this adds the gcode operator if it is omitted by the program
fullString = self.prependString + ' ' + fullString
gString = self.prependString
if gString == 'G00' or gString == 'G0 ':
self.drawLine(fullString, 'G00')
if gString == 'G01' or gString == 'G1 ':
self.drawLine(fullString, 'G01')
if gString == 'G02' or gString == 'G2 ':
self.drawArc(fullString, 'G02')
if gString == 'G03' or gString == 'G3 ':
self.drawArc(fullString, 'G03')
if gString == 'G17':
#Take no action, XY coordinate plane is the default
pass
if gString == 'G18':
print "G18 not supported"
if gString == 'G20':
self.canvasScaleFactor = self.INCHES
self.data.units = "INCHES"
if gString == 'G21':
self.canvasScaleFactor = self.MILLIMETERS
self.data.units = "MM"
if gString == 'G90':
self.absoluteFlag = 0
if gString == 'G91':
self.absoluteFlag = 1
def callBackMechanism(self, callback) :
'''
Call the loadNextLine function periodically in a non-blocking way to
update the gcode.
'''
with self.scatterObject.canvas:
self.line = Line(points = (), width = 1, group = 'gcode')
#Draw numberOfTimesToCall lines on the canvas
numberOfTimesToCall = 500
for _ in range(numberOfTimesToCall):
self.loadNextLine()
#Repeat until end of file
if self.lineNumber < min(len(self.data.gcode),self.maxNumberOfLinesToRead):
Clock.schedule_once(self.callBackMechanism)
def updateGcode(self, *args):
'''
updateGcode parses the gcode commands and calls the appropriate drawing function for the
specified command.
'''
#reset variables
self.data.backgroundRedraw = False
self.xPosition = self.data.gcodeShift[0]*self.canvasScaleFactor
self.yPosition = self.data.gcodeShift[1]*self.canvasScaleFactor
self.zPosition = 0
self.prependString = "G00 "
self.lineNumber = 0
self.clearGcode()
#Check to see if file is too large to load
if len(self.data.gcode) > self.maxNumberOfLinesToRead:
errorText = "The current file contains " + str(len(self.data.gcode)) + " lines of gcode.\nrendering all " + str(len(self.data.gcode)) + " lines simultaneously may crash the\n program, only the first " + self.maxNumberOfLinesToRead + "lines are shown here.\nThe complete program will cut if you choose to do so unless the home position is moved from (0,0)."
print errorText
self.data.message_queue.put("Message: " + errorText)
self.callBackMechanism(self.updateGcode)
