File size: 5,131 Bytes
985c397 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 | # SPDX-License-Identifier: LGPL-2.1-or-later
# ***************************************************************************
# * Copyright (c) 2021 sliptonic shopinthewoods@gmail.com *
# * *
# * This program is free software; you can redistribute it and/or modify *
# * it under the terms of the GNU Lesser General Public License (LGPL) *
# * as published by the Free Software Foundation; either version 2 of *
# * the License, or (at your option) any later version. *
# * for detail see the LICENCE text file. *
# * *
# * 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 Library General Public License for more details. *
# * *
# * You should have received a copy of the GNU Library 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 *
# * *
# ***************************************************************************
__title__ = "CAM Machine State"
__author__ = "sliptonic (Brad Collette)"
__url__ = "https://www.freecad.org"
__doc__ = "Dataclass to implement a machinestate tracker"
__contributors__ = ""
import Path
import FreeCAD
import Path
if False:
Path.Log.setLevel(Path.Log.Level.DEBUG, Path.Log.thisModule())
Path.Log.trackModule(Path.Log.thisModule())
else:
Path.Log.setLevel(Path.Log.Level.INFO, Path.Log.thisModule())
class MachineState:
def __init__(self):
self.WCSLIST = [
"G53",
"G54",
"G55",
"G56",
"G57",
"G58",
"G59",
"G59.1",
"G59.2",
"G59.3",
"G59.4",
"G59.5",
"G59.6",
"G59.7",
"G59.8",
"G59.9",
]
self.X = 0.0 #: float = field(default=0)
self.Y = 0.0 #: float = field(default=0)
self.Z = 0.0 #: float = field(default=0)
self.A = 0.0 #: float = field(default=0)
self.B = 0.0 #: float = field(default=0)
self.C = 0.0 #: float = field(default=0)
self.F = 0.0 #: float = field(default=None)
self.Coolant = False #: bool = field(default=False)
self.WCS = "G54" #: str = field(default="G54")
self.Spindle = "off" #: str = field(default="off")
self.S = 0 #: int = field(default=0)
self.T = None #: int = field(default=None)
def addCommand(self, command):
"""Processes a command and updates the internal state of the machine. Returns true if the command has alterned the machine state"""
oldstate = self.getState()
if command.Name == "M6":
self.T = int(command.Parameters["T"])
return not oldstate == self.getState()
if command.Name in ["M3", "M4"]:
self.S = command.Parameters["S"]
self.Spindle = "CW" if command.Name == "M3" else "CCW"
return not oldstate == self.getState()
if command.Name in ["M2", "M5"]:
self.S = 0
self.Spindle = "off"
return not oldstate == self.getState()
if command.Name in self.WCSLIST:
self.WCS = command.Name
return not oldstate == self.getState()
if command.Name in Path.Geom.CmdMoveDrill:
oldZ = self.Z
for p in command.Parameters:
self.__setattr__(p, command.Parameters[p])
self.__setattr__("Z", oldZ)
return not oldstate == self.getState()
for p in command.Parameters:
self.__setattr__(p, command.Parameters[p])
return not oldstate == self.getState()
def getState(self):
"""
Returns a dictionary of the current machine state
"""
state = {}
state["X"] = self.X
state["Y"] = self.Y
state["Z"] = self.Z
state["A"] = self.A
state["B"] = self.B
state["C"] = self.C
state["F"] = self.F
state["Coolant"] = self.Coolant
state["WCS"] = self.WCS
state["Spindle"] = self.Spindle
state["S"] = self.S
state["T"] = self.T
return state
def getPosition(self):
"""
Returns a vector of the current machine position
"""
# This is technical debt. The actual position may include a rotation
# component as well. We should probably be returning a placement
return FreeCAD.Vector(self.X, self.Y, self.Z)
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