feat: works on actual HW now

gcode_parser.py

@@ -1,21 +0,0 @@
-
-class GCodeParser():
-    def __init__(self, gcode_file):
-        self.gcode_file = gcode_file
-        self.lines = []
-        self._parse_gcode()
-    
-    def _parse_gcode(self):
-        from pygcode import Line, Machine
-        machine = Machine()
-        positions = []
-        with open(self.gcode_file, "r") as gcode_file:
-            for line_text in gcode_file:
-                line = Line(line_text)
-                if line.block.gcodes:
-                    machine.process_gcodes(*line.block.gcodes)
-                    positions.append((machine.pos.X, machine.pos.Y, machine.pos.Z))
-        self.lines = positions
-
-    def get_positions(self):
-        return self.lines

gcodeinterpreter.py

@@ -0,0 +1,210 @@
+import math
+import re
+
+class GcodeInterpreter:
+    """
+    A basic G-code interpreter that converts G-code commands into a list of coordinates.
+    Supports G00, G01, G02, and G03 commands.
+
+    Attributes:
+        current_position (list): The current position in 3D space [X, Y, Z].
+        feed_rate (float): The current feed rate.
+        coordinates (list): The list of calculated coordinates.
+        segment_multiplier (float): Multiplier for distance to determine number of segments.
+        max_segments (int): Maximum number of segments allowed.
+    """
+
+    def __init__(self, initial_position=[0, 0, 0], initial_feed_rate=0, segment_multiplier=2, max_segments=50):
+        """
+        Initializes the GcodeInterpreter with the initial position, feed rate, segment multiplier, and maximum segments.
+
+        Args:
+            initial_position (list, optional): The initial position [X, Y, Z]. Defaults to [0, 0, 0].
+            initial_feed_rate (float, optional): The initial feed rate. Defaults to 0.
+            segment_multiplier (float, optional): Multiplier for distance to determine number of segments. Defaults to 10.0
+            max_segments (int, optional): Maximum number of segments allowed. Defaults to 100.
+        """
+        self.current_position = initial_position[:]  # Use a copy to avoid modifying the original
+        self.feed_rate = initial_feed_rate
+        self.coordinates = [initial_position[:]]  # Store the initial position
+        self.segment_multiplier = segment_multiplier  # Added segment multiplier
+        self.max_segments = max_segments  # Added max segments
+
+    def parse_file(self, filename):
+        """
+        Parses a G-code file and processes each line.
+
+        Args:
+            filename (str): The path to the G-code file.
+
+        Returns:
+            GcodeInterpreter: The instance of the GcodeInterpreter with processed coordinates.
+        """
+        with open(filename, 'r') as file:
+            for line in file:
+                self.parse_line(line)
+        return self
+
+    def parse_line(self, line):
+        """
+        Parses a single line of G-code.
+
+        Args:
+            line (str): The G-code line to parse.
+        """
+        line = line.strip()
+        if not line or line.startswith('%') or line.startswith('('):  # Skip empty lines and lines starting with '%'
+            return
+
+        # Use regular expression for more robust parsing
+        parts = re.findall(r'([A-Za-z])([-+]?\d*\.?\d*)', line)  # Find all letter-number pairs
+        if not parts:
+            return  # Skip lines without any recognized G-code commands
+
+        command = parts[0][0].upper() + parts[0][1]
+        args = {}
+        for part in parts:
+            if part[0].upper() != command:
+                try:
+                    args[part[0].upper()] = float(part[1]) if part[1] else 0.0 # convert the number part to float
+                except ValueError:
+                    print(f"Warning: Could not convert value '{part[1]}' to float for argument {part[0]}. Skipping.")
+                    args[part[0].upper()] = 0.0
+        self.process_command(command, args)
+
+    def process_command(self, command, args):
+        """
+        Processes a G-code command and calls the appropriate function.
+
+        Args:
+            command (str): The G-code command (e.g., 'G00', 'G01', 'G02', 'G03').
+            args (dict): A dictionary of arguments for the command (e.g., {'X': 10, 'Y': 20}).
+        """
+        if not command:  # Add this check
+            return
+        if command in ('G00', 'G01'):
+            self.process_g00_g01(command, args)
+        elif command == 'G02':
+            self.process_g02_g03(command, args, clockwise=True)
+        elif command == 'G03':
+            self.process_g02_g03(command, args, clockwise=False)
+        elif command == 'G04':
+            self.process_g04(args)
+        elif command == 'F':
+            self.feed_rate = args.get('F', self.feed_rate) # Keep the current feed rate if not provided
+        # Add other G-code commands as needed (e.g., G02, G03, G28, etc.)
+        else:
+            print(f"Unsupported G-code command: {command}")
+
+    def process_g00_g01(self, command, args):
+        """
+        Processes G00 (Rapid Linear Move) and G01 (Controlled Linear Move) commands.
+
+        Args:
+            command (str): The G-code command ('G00' or 'G01').
+            args (dict): A dictionary of arguments for the command (e.g., {'X': 10, 'Y': 20, 'Z': 5}).
+        """
+        new_position = [args.get('X', self.current_position[0]),
+                        args.get('Y', self.current_position[1]),
+                        args.get('Z', self.current_position[2])]
+
+        # Calculate the distance between the current position and the new position
+        distance = math.sqrt(
+            (new_position[0] - self.current_position[0]) ** 2 +
+            (new_position[1] - self.current_position[1]) ** 2 +
+            (new_position[2] - self.current_position[2]) ** 2
+        )
+
+        # Number of segments.  Increase for smoother lines, but use a reasonable maximum.
+        segments = int(distance * self.segment_multiplier) + 1
+        segments = min(segments, self.max_segments)  # Limit the maximum number of segments
+
+        for i in range(segments + 1):
+            x = self.current_position[0] + (new_position[0] - self.current_position[0]) * i / segments
+            y = self.current_position[1] + (new_position[1] - self.current_position[1]) * i / segments
+            z = self.current_position[2] + (new_position[2] - self.current_position[2]) * i / segments
+            self.current_position = [x, y, z]
+            self.coordinates.append([x, y, z])
+
+    def process_g02_g03(self, command, args, clockwise=True):
+        """
+        Processes G02 (Clockwise Circular Interpolation) and G03 (Counter-Clockwise Circular Interpolation) commands.
+
+        Args:
+            command (str): The G-code command ('G02' or 'G03').
+            args (dict): A dictionary of arguments for the command.
+            clockwise (bool): True for G02 (clockwise), False for G03 (counter-clockwise).
+        """
+        new_position = [args.get('X', self.current_position[0]),
+                        args.get('Y', self.current_position[1]),
+                        args.get('Z', self.current_position[2])]
+        center = [self.current_position[0] + args.get('I', 0),
+                  self.current_position[1] + args.get('J', 0),
+                  self.current_position[2] + args.get('K', 0)]
+
+        radius = math.sqrt((self.current_position[0] - center[0]) ** 2 +
+                           (self.current_position[1] - center[1]) ** 2 +
+                           (self.current_position[2] - center[2]) ** 2)
+        # Handle the case where the radius is zero
+        if radius == 0:
+            print(f"Warning: Radius is zero for {command}.  No interpolation performed.")
+            return
+
+        # Calculate the angle between the current point and the target point
+        start_angle = math.atan2(self.current_position[1] - center[1], self.current_position[0] - center[0])
+        end_angle = math.atan2(new_position[1] - center[1], new_position[0] - center[0])
+
+        # Ensure angles are between 0 and 2*pi
+        if start_angle < 0:
+            start_angle += 2 * math.pi
+        if end_angle < 0:
+            end_angle += 2 * math.pi
+
+        # Calculate the total angle
+        total_angle = end_angle - start_angle
+        if clockwise:
+            if total_angle > 0:
+                total_angle -= 2 * math.pi
+        else:
+            if total_angle < 0:
+                total_angle += 2 * math.pi
+
+        # Number of segments.  Increase for smoother curves.
+        arc_length = radius * abs(total_angle)
+        segments = int(arc_length * self.segment_multiplier) + 1 # Dynamic segments, at least 1.
+        segments = min(segments, self.max_segments) # Limit max segments
+        angle_increment = total_angle / segments
+
+        for i in range(segments + 1):
+            angle = start_angle + i * angle_increment
+            x = center[0] + radius * math.cos(angle)
+            y = center[1] + radius * math.sin(angle)
+            z = (self.current_position[2] + (new_position[2] - self.current_position[2]) * i / segments)
+            self.current_position = [x, y, z]
+            self.coordinates.append([x, y, z])
+
+    def process_g04(self, args):
+        """Processes G04 (Dwell) command.  For now, just prints a message.
+
+           Args:
+              args (dict): A dictionary of arguments, containing 'P' for the dwell time in milliseconds
+        """
+        dwell_time = args.get('P', 0)
+        print(f"G04 Dwell for {dwell_time} milliseconds")
+        # In a real implementation, you would pause execution here.  For this example, we just print.
+        pass
+
+    def get_coordinates(self):
+        """
+        Returns the list of calculated coordinates.
+
+        Returns:
+            list: The list of coordinates.
+        """
+        return self.coordinates
+    
+    def reset(self):
+        """Resets the interpreter to its initial state."""
+        self.current_position = [0, 0, 0]
+        self.feed_rate = 0
+        self.coordinates = [[0,0,0]]

main.py

@@ -1,6 +1,7 @@
 #! /usr/bin/env python
 from argparse import ArgumentParser
-from gcode_parser import GCodeParser
+from gcodeinterpreter import GcodeInterpreter
+from pwm_driver import PWMDriver
 from visualizer import Visualizer
 
 # A4
@@ -12,12 +13,19 @@ if __name__ == "__main__":
     argparser.add_argument("-f", "--file", type=str)
     argparser.add_argument("-W", "--width", type=float, default=WIDTH_MM, required=False)
     argparser.add_argument("-H", "--height", type=float, default=HEIGHT_MM, required=False)
+    argparser.add_argument("-V", "--visualize", action="store_true", default=False, required=False)
+    argparser.add_argument("-P", "--port", type=str, default=None)
 
     args = argparser.parse_args()
 
-    parser = GCodeParser(args.file)
+    parser = GcodeInterpreter().parse_file(args.file)
-    positions = parser.get_positions()
+    positions = parser.get_coordinates()
 
-    screen_dimensions = (1024*1.5, 1024*1.5 * HEIGHT_MM/WIDTH_MM)
+    if args.visualize:
+        screen_dimensions = (1024*1.5, 1024*1.5 * args.height/args.width)
         visualizer = Visualizer(positions, screen_dimensions, (args.width, args.height))
         visualizer.visualize()
+
+    if args.port:
+        pwm = PWMDriver(positions, (args.width, args.height), args.port)
+        pwm.run()

port-finder.py

@@ -0,0 +1,18 @@
+#! /usr/bin/env python3
+
+import serial.tools.list_ports
+from serial.tools.list_ports_common import ListPortInfo
+
+if __name__ == "__main__":
+    ports = serial.tools.list_ports.comports()
+    for port in ports:
+        if port.interface and port.interface.startswith("CircuitPython CDC2"): # CDC2 is the data-port
+            print(f"Port: {port.device}")
+            print(f"  Description: {port.description}")
+            print(f"  Manufacturer: {port.manufacturer}")
+            print(f"  VID: {port.vid}")
+            print(f"  PID: {port.pid}")
+            print(f"  Serial Number: {port.serial_number}")
+            print(f"  Location: {port.location}")
+            print(f"  Interface: {port.interface}")
+            print()

pwm_driver.py

@@ -0,0 +1,39 @@
+
+class PWMDriver():
+    def __init__(self, positions : list[tuple[float, float, float]], gcode_size : tuple[float, float], port : str, baudrate : int = 115200) -> None:
+        self.positions = positions
+        self.gcode_size = gcode_size
+        self.port = port
+        self.baudrate = baudrate
+        self._init_pwm()
+
+    def _init_pwm(self) -> None:
+        from serial import Serial
+        self.serial = Serial(self.port, self.baudrate)
+    
+    def _send_position(self, pos : tuple[float, float, float]) -> None:
+        x, y, z = pos
+        # Convert coordinates to PWM values
+        precision = ((2 ** 16) - 1)
+        pwm_x : int = int(x / self.gcode_size[0] * precision)
+        pwm_y : int = int(y / self.gcode_size[1] * precision)
+        pen   : int = 1 if z < 0 else 0
+        
+        # Send PWM values to the serial port
+        print(f"Sending PWM values: X={pwm_x:<5}, Y={pwm_y:<5}, Pen={pen}")
+        self.serial.write(f"{pwm_x},{pwm_y},{pen}\n".encode())
+
+    def _position_reached(self) -> bool:
+        # Check if the position has been reached
+        return self.serial.readline().decode().strip() == "OK"
+    
+    def _wait_for_position(self) -> None:
+        # Wait until the position is reached
+        while not self._position_reached():
+            pass
+    
+    def run(self) -> None:
+        for pos in self.positions:
+            self._send_position(pos)
+            self._wait_for_position()
+        print("All positions sent successfully.")

requirements.txt

@@ -1,2 +1,3 @@
 pygame==2.6.1
-pygcode==0.2.1
+colorama==0.4.6
+pyserial

set_pos.py

@@ -0,0 +1,26 @@
+#! /usr/bin/env python3
+import serial
+import argparse
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="Set the position of the PWM driver.")
+    parser.add_argument("x", type=float, help="X coordinate [0 - 1]")
+    parser.add_argument("y", type=float, help="Y coordinate [0 - 1]")
+    parser.add_argument("pen", type=int, help="pen down (True) or pen up (False)")
+    parser.add_argument("-p", "--port", type=str, required=True, help="Serial port")
+    args = parser.parse_args()
+
+    # Open the serial port
+    ser = serial.Serial(args.port, 115200)
+
+    # Saturate values to [0, 1]
+    args.x = int(max(0, min(1, args.x)) * 0xFFFF)
+    args.y = int(max(0, min(1, args.y)) * 0xFFFF)
+    args.z = int(max(0, min(1, args.pen)))
+
+    # Send the position
+    print(f"{args.x},{args.y},{args.z}\n")
+    ser.write(f"{args.x},{args.y},{args.z}\n".encode())
+
+    # Close the serial port
+    ser.close()

test/test_arc.gcode

@@ -6,119 +6,206 @@ M3
 (Header end.)
 G21 (All units in mm)
 
-(Start cutting path id: path1471)
+(Start cutting path id: path686)
 (Change tool to Cylindrical cutter)
 
 G00 Z4.000000
-G00 X40.792992 Y80.926340
+G00 X14.552637 Y93.606430
 
 G01 Z-0.100000 F100.0(Penetrate)
-G03 X48.432275 Y88.140738 Z-0.100000 I-204.578799 J224.279063 F400.000000
+G02 X20.744531 Y97.132218 Z-0.100000 I58.837019 J-96.128067 F400.000000
-G03 X53.994514 Y93.810363 Z-0.100000 I-133.160993 J136.202090
+G02 X25.716552 Y99.525614 Z-0.100000 I34.485847 J-65.279503
-G03 X59.272395 Y99.729942 Z-0.100000 I-107.634090 J101.278949
+G02 X30.860300 Y101.491015 Z-0.100000 I23.790996 J-54.550899
-G03 X62.820468 Y104.228711 Z-0.100000 I-65.304081 J55.152310
+G02 X34.959887 Y102.600926 Z-0.100000 I12.260142 J-37.158180
-G03 X65.994164 Y108.976904 Z-0.100000 I-51.047939 J37.555235
+G02 X39.150265 Y103.209091 Z-0.100000 I6.697716 J-31.408261
-G03 X67.828284 Y112.451877 Z-0.100000 I-28.758974 J17.400746
+G02 X42.532580 Y103.224539 Z-0.100000 I1.795934 J-22.932442
-G03 X69.150010 Y116.118517 Z-0.100000 I-21.870192 J9.955166
+G02 X45.870181 Y102.713250 Z-0.100000 I-1.404588 J-20.318145
-G03 X69.575390 Y118.750352 Z-0.100000 I-12.328848 J3.342987
+G02 X48.684570 Y101.788627 Z-0.100000 I-4.188822 J-17.495591
-G03 X69.368199 Y121.376336 Z-0.100000 I-9.811238 J0.547056
+G02 X51.317759 Y100.411842 Z-0.100000 I-7.068443 J-16.725319
-G03 X68.619214 Y123.394630 Z-0.100000 I-7.424736 J-1.607186
+G02 X53.665796 Y98.685361 Z-0.100000 I-11.078526 J-17.526859
-G03 X67.328874 Y125.148383 Z-0.100000 I-7.014669 J-3.809540
+G02 X55.775079 Y96.652958 Z-0.100000 I-15.188138 J-17.873400
-G03 X65.517184 Y126.655202 Z-0.100000 I-7.995064 J-7.770148
+G02 X57.726196 Y94.306916 Z-0.100000 I-23.584596 J-21.598798
-G03 X63.423291 Y127.812114 Z-0.100000 I-7.988995 J-11.985955
+G02 X59.470711 Y91.791387 Z-0.100000 I-30.810456 J-23.229671
-G03 X60.826730 Y128.802563 Z-0.100000 I-9.942260 J-22.165825
+G02 X61.115709 Y89.045465 Z-0.100000 I-50.136040 J-31.900659
-G03 X58.130482 Y129.528270 Z-0.100000 I-9.541314 J-30.077639
+G02 X62.630031 Y86.220124 Z-0.100000 I-67.202070 J-37.837378
-G03 X55.105279 Y130.107203 Z-0.100000 I-11.295310 J-50.829803
+G02 X64.084273 Y83.293181 Z-0.100000 I-144.036213 J-73.388621
-G03 X52.049800 Y130.526407 Z-0.100000 I-10.577428 J-65.751531
+G02 X65.494590 Y80.343272 Z-0.100000 I-291.514429 J-141.180087
-G03 X48.910261 Y130.839617 Z-0.100000 I-12.954376 J-113.959914
+G03 X66.881828 Y77.442236 Z-0.100000 I283.572929 J133.817113
-G03 X45.762044 Y131.079031 Z-0.100000 I-13.816738 J-160.866844
+G03 X68.313824 Y74.564333 Z-0.100000 I137.241882 J66.494060
-G03 X42.799102 Y131.270295 Z-0.100000 I-59.054412 J-891.785707
+G03 X69.758311 Y71.884805 Z-0.100000 I61.141728 J31.231317
-G02 X39.833939 Y131.464707 Z-0.100000 I34.926137 J555.401921
+G03 X71.336939 Y69.288112 Z-0.100000 I44.576782 J25.321713
-G02 X37.329233 Y131.669732 Z-0.100000 I6.322592 J92.642654
+G03 X72.963662 Y67.013060 Z-0.100000 I26.152579 J16.980690
-G02 X34.832837 Y131.966743 Z-0.100000 I5.148114 J53.909978
+G03 X74.802248 Y64.922485 Z-0.100000 I19.649002 J15.426825
-G02 X33.058081 Y132.308419 Z-0.100000 I2.627877 J18.429995
+G03 X76.747819 Y63.219174 Z-0.100000 I12.369484 J12.165982
-G02 X31.376807 Y132.877795 Z-0.100000 I2.394198 J9.836617
+G03 X78.923535 Y61.857370 Z-0.100000 I9.054792 J12.047641
-G02 X30.543074 Y133.456849 Z-0.100000 I1.066724 J2.425631
+G03 X81.360720 Y60.895321 Z-0.100000 I6.109585 J11.909471
-G02 X30.160248 Y134.253900 Z-0.100000 I0.998202 J0.969902
+G03 X83.931304 Y60.421258 Z-0.100000 I3.758224 J13.172327
-G02 X30.341642 Y135.385514 Z-0.100000 I2.033035 J0.254456
+G03 X87.052305 Y60.433674 Z-0.100000 I1.492311 J17.147166
-G02 X31.053355 Y136.462075 Z-0.100000 I4.128165 J-1.955590
+G03 X90.141616 Y60.965854 Z-0.100000 I-1.957952 J20.598780
-G02 X33.011212 Y138.364908 Z-0.100000 I13.851663 J-12.293556
+G03 X94.072512 Y62.226406 Z-0.100000 I-7.883990 J31.344689
-G02 X35.209343 Y140.058106 Z-0.100000 I21.730814 J-25.937792
+G03 X97.849430 Y63.933050 Z-0.100000 I-15.102771 J38.456045
-G02 X39.109213 Y142.665522 Z-0.100000 I52.049120 J-73.628840
+G03 X102.671280 Y66.665690 Z-0.100000 I-30.887708 J60.123069
-G02 X43.215542 Y145.015461 Z-0.100000 I29.025488 J-45.956988
+G02 X107.455492 Y69.516107 Z-0.100000 I76.319751 J-122.656834
-G02 X48.133576 Y147.339948 Z-0.100000 I35.918327 J-69.629317
+G02 X111.778145 Y71.864657 Z-0.100000 I59.849304 J-105.004055
-G02 X53.194572 Y149.346402 Z-0.100000 I36.693592 J-85.168337
+G02 X116.195789 Y74.026840 Z-0.100000 I50.953186 J-98.510484
-G02 X58.948615 Y151.278535 Z-0.100000 I42.902754 J-118.233694
+G02 X120.197678 Y75.765423 Z-0.100000 I39.542572 J-85.544426
-G02 X64.785575 Y152.949199 Z-0.100000 I42.582637 J-137.743082
+G02 X124.277762 Y77.309185 Z-0.100000 I32.945222 J-80.908914
-G02 X71.161336 Y154.508415 Z-0.100000 I46.820418 J-177.637487
+G02 X127.992363 Y78.503646 Z-0.100000 I25.153027 J-71.849106
-G02 X77.586835 Y155.850497 Z-0.100000 I44.960072 J-199.202994
+G02 X131.764395 Y79.500062 Z-0.100000 I20.181063 J-68.759565
-G02 X84.378744 Y157.056719 Z-0.100000 I46.254865 J-240.723707
+G02 X135.224685 Y80.214984 Z-0.100000 I14.823846 J-63.017244
-G02 X98.134017 Y158.945187 Z-0.100000 I44.256544 J-271.317302
+G02 X138.719390 Y80.736201 Z-0.100000 I10.923189 J-61.262385
-G02 X112.255639 Y160.217127 Z-0.100000 I36.838985 J-329.973901
+G02 X141.957129 Y81.035094 Z-0.100000 I7.031183 J-58.479198
-G02 X126.425918 Y160.894096 Z-0.100000 I23.405641 J-341.281719
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 G00 Z4.000000
 
-(End cutting path id: path1471)
+(End cutting path id: path686)
 
 
 (Footer)

visualizer.py

@@ -1,4 +1,6 @@
 import pygame
+import sys
+from colorama import Fore, Style
 
 class Visualizer:
     def __init__(self, positions : list[tuple[float, float, float]], screen_dimensions : tuple[int, int], gcode_size : tuple[float, float]):
@@ -30,6 +32,26 @@ class Visualizer:
         self.screen = pygame.display.set_mode(self.screen_dimensions)
         self.clock = pygame.time.Clock()
 
+    def _print_status(self) -> None:
+        normalized_x = self.prev_x / self.screen.get_width()
+        normalized_y = self.prev_y / self.screen.get_height()
+        pen_active = self.prev_z < 0
+
+        # Clear the terminal with ANSI code
+        print("\033c", end="")
+
+        # X-axis bar
+        x_bar = f"{Fore.GREEN}{'#'*int(normalized_x*100)}{Style.RESET_ALL}{' '*int((1.0-normalized_x)*100)}"
+        print(f"X: |{x_bar}| {(normalized_x*100):.2f}%")
+
+        # Y-axis bar
+        y_bar = f"{Fore.BLUE}{'#'*int(normalized_y*100)}{Style.RESET_ALL}{' '*int((1.0-normalized_y)*100)}"
+        print(f"Y: |{y_bar}| {(normalized_y*100):.2f}%")
+
+        # Pen status
+        pen_status = f"{Fore.GREEN}Active{Style.RESET_ALL}" if pen_active else f"{Fore.RED}Inactive{Style.RESET_ALL}"
+        print(f"Pen: {pen_status}")
+
     def visualize(self) -> None:
         running = True
         while running:
@@ -61,5 +83,7 @@ class Visualizer:
                 x1, y1, x2, y2 = drawn_line
                 pygame.draw.line(self.screen, (255, 255, 255), (int(x1), int(y1)), (int(x2), int(y2)), 2)
 
+            self._print_status()
+
             pygame.display.flip()
-            self.clock.tick(60)
+            self.clock.tick(10)