diff options
Diffstat (limited to 'scripts/check_gcode_buffer.py')
| -rwxr-xr-x | scripts/check_gcode_buffer.py | 65 |
1 files changed, 40 insertions, 25 deletions
diff --git a/scripts/check_gcode_buffer.py b/scripts/check_gcode_buffer.py index 2024ce2214..ed093089e4 100755 --- a/scripts/check_gcode_buffer.py +++ b/scripts/check_gcode_buffer.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -# Copyright (c) 2018 Ultimaker B.V. +# Copyright (c) 2020 Ultimaker B.V. # Cura is released under the terms of the LGPLv3 or higher. import copy @@ -31,16 +31,19 @@ MACHINE_MAX_JERK_E = 5 MACHINE_MINIMUM_FEEDRATE = 0.001 MACHINE_ACCELERATION = 3000 -## Gets the code and number from the given g-code line. + def get_code_and_num(gcode_line: str) -> Tuple[str, str]: + """Gets the code and number from the given g-code line.""" + gcode_line = gcode_line.strip() cmd_code = gcode_line[0].upper() cmd_num = str(gcode_line[1:]) return cmd_code, cmd_num -## Fetches arguments such as X1 Y2 Z3 from the given part list and returns a -# dict. + def get_value_dict(parts: List[str]) -> Dict[str, str]: + """Fetches arguments such as X1 Y2 Z3 from the given part list and returns a dict""" + value_dict = {} for p in parts: p = p.strip() @@ -63,39 +66,49 @@ def calc_distance(pos1, pos2): distance = math.sqrt(distance) return distance -## Given the initial speed, the target speed, and the acceleration, calculate -# the distance that's neede for the acceleration to finish. + def calc_acceleration_distance(init_speed: float, target_speed: float, acceleration: float) -> float: + """Given the initial speed, the target speed, and the acceleration + + calculate the distance that's neede for the acceleration to finish. + """ if acceleration == 0: return 0.0 return (target_speed ** 2 - init_speed ** 2) / (2 * acceleration) -## Gives the time it needs to accelerate from an initial speed to reach a final -# distance. + def calc_acceleration_time_from_distance(initial_feedrate: float, distance: float, acceleration: float) -> float: + """Gives the time it needs to accelerate from an initial speed to reach a final distance.""" + discriminant = initial_feedrate ** 2 - 2 * acceleration * -distance #If the discriminant is negative, we're moving in the wrong direction. #Making the discriminant 0 then gives the extremum of the parabola instead of the intersection. discriminant = max(0, discriminant) return (-initial_feedrate + math.sqrt(discriminant)) / acceleration -## Calculates the point at which you must start braking. -# -# This gives the distance from the start of a line at which you must start -# decelerating (at a rate of `-acceleration`) if you started at speed -# `initial_feedrate` and accelerated until this point and want to end at the -# `final_feedrate` after a total travel of `distance`. This can be used to -# compute the intersection point between acceleration and deceleration in the -# cases where the trapezoid has no plateau (i.e. never reaches maximum speed). + def calc_intersection_distance(initial_feedrate: float, final_feedrate: float, acceleration: float, distance: float) -> float: + """Calculates the point at which you must start braking. + + This gives the distance from the start of a line at which you must start + decelerating (at a rate of `-acceleration`) if you started at speed + `initial_feedrate` and accelerated until this point and want to end at the + `final_feedrate` after a total travel of `distance`. This can be used to + compute the intersection point between acceleration and deceleration in the + cases where the trapezoid has no plateau (i.e. never reaches maximum speed). + """ + if acceleration == 0: return 0 return (2 * acceleration * distance - initial_feedrate * initial_feedrate + final_feedrate * final_feedrate) / (4 * acceleration) -## Calculates the maximum speed that is allowed at this point when you must be -# able to reach target_velocity using the acceleration within the allotted -# distance. + def calc_max_allowable_speed(acceleration: float, target_velocity: float, distance: float) -> float: + """Calculates the maximum speed that is allowed at this point when you must be + able to reach target_velocity using the acceleration within the allotted + distance. + """ + return math.sqrt(target_velocity * target_velocity - 2 * acceleration * distance) @@ -130,10 +143,12 @@ class Command: self._delta = [0, 0, 0] self._abs_delta = [0, 0, 0] - ## Calculate the velocity-time trapezoid function for this move. - # - # Each move has a three-part function mapping time to velocity. def calculate_trapezoid(self, entry_factor, exit_factor): + """Calculate the velocity-time trapezoid function for this move. + + Each move has a three-part function mapping time to velocity. + """ + initial_feedrate = self._nominal_feedrate * entry_factor final_feedrate = self._nominal_feedrate * exit_factor @@ -169,9 +184,9 @@ class Command: return self._cmd_str.strip() + " ; --- " + info + os.linesep - ## Estimates the execution time of this command and calculates the state - # after this command is executed. def parse(self) -> None: + """Estimates the execution time of this command and calculates the state after this command is executed.""" + line = self._cmd_str.strip() if not line: self._is_empty = True @@ -507,7 +522,7 @@ class CommandBuffer: if __name__ == "__main__": if len(sys.argv) < 2 or 3 < len(sys.argv): - print("Usage: <input gcode> [output gcode]") + print("Usage: <input g-code> [output g-code]") sys.exit(1) in_filename = sys.argv[1] out_filename = None |