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 +1,6 @@
 #! /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
 
@@ -18,8 +18,8 @@ if __name__ == "__main__":
 
     args = argparser.parse_args()
 
-    parser = GCodeParser(args.file)
+    parser = GcodeInterpreter().parse_file(args.file)
-    positions = parser.get_positions()
+    positions = parser.get_coordinates()
 
     if args.visualize:
         screen_dimensions = (1024*1.5, 1024*1.5 * args.height/args.width)

requirements.txt

@@ -1,4 +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()