Sameer Puri
5 years ago
parent
b89849555f
commit
f7e037cfdd
@ -1,236 +1,343 @@
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use core::convert::TryFrom;
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use std::io::{self, Write};
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/// Fields are the basic unit of GCode.
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trait Field {
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/// An uppercase letter
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const LETTER: char;
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/// A number if the field has a fixed number.
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const NUMBER: Option<u16>;
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/// A fraction if the field has a fixed fraction following a fixed number.
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const FRACTION: Option<u16>;
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fn from_arguments<'a>(arguments: &[Argument<'a>]) -> Self;
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fn into_arguments<'a>(&'a self) -> Vec<Argument<'a>>;
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/// Collapses GCode words into higher-level commands
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/// Relies on the first word being a command.
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pub struct CommandVec {
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pub inner: Vec<Word>,
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}
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/// Arguments, described by a letter and a value, belong to a field.
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pub struct Argument<'a> {
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letter: char,
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value: &'a str,
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impl Default for CommandVec {
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fn default() -> Self {
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Self {
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inner: vec![]
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}
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}
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}
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impl IntoIterator for CommandVec {
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type Item = Command;
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type IntoIter = CommandVecIntoIterator;
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fn into_iter(self) -> Self::IntoIter {
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CommandVecIntoIterator {
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vec: self,
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index: 0,
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}
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}
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}
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pub struct CommandVecIntoIterator {
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vec: CommandVec,
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index: usize,
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}
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impl Iterator for CommandVecIntoIterator {
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type Item = Command;
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fn next(&mut self) -> Option<Self::Item> {
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if self.vec.inner.len() == self.index {
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return None;
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}
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let mut i = self.index + 1;
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while i < self.vec.inner.len() {
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if CommandWord::is_command(&self.vec.inner[i]) {
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break;
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}
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i += 1;
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}
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Command::try_from(&self.vec.inner[self.index..i]).ok()
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}
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}
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/// Fundamental unit of GCode: a value preceded by a descriptive letter.
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/// A float is used here to encompass all the possible variations of a value.
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/// Some flavors of GCode may allow strings, but that is currently not supported.
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#[derive(Clone, PartialEq, Debug)]
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pub struct Word {
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pub letter: char,
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pub value: f64,
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}
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#[macro_export]
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macro_rules! command {
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($commandWord: expr, {$($argument: ident : $value: expr,)*}) => {
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paste::expr! (Command::new($commandWord, vec![$(Word {
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letter: stringify!([<$argument:upper>]).chars().next().unwrap(),
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value: $value as f64,
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},)*]))
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};
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}
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macro_rules! field {
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($(#[$outer:meta])* $fieldName: ident {$letter: pat, $number: pat, $fraction: pat, {$($(#[$inner:meta])* $argument: ident : $type: ty), *} }) => {
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$(#[$outer])*
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struct $fieldName {
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macro_rules! commands {
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($($(#[$outer:meta])* $commandName: ident {$letter: pat, $number: pat, $fraction: pat, {$($(#[$inner:meta])* $argument: ident), *} },)*) => {
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/// Commands are the operational unit of GCode
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/// They consist of an identifying word followed by arguments
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#[derive(Clone, PartialEq)]
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pub struct Command {
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command_word: CommandWord,
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arguments: Vec<Word>
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}
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paste::item! {
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impl Command {
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pub fn new(command_word: CommandWord, mut arguments: Vec<Word>) -> Self {
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Self {
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command_word: command_word.clone(),
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arguments: arguments.drain(..).filter(|w| {
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match command_word {
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$(CommandWord::$commandName => match w.letter.to_lowercase() {
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$($argument => true,)*
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_ => false
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},)*
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_ => false
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}
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}).collect()
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}
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}
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pub fn push(&mut self, argument: Word) {
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match self.command_word {
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$(CommandWord::$commandName => match argument.letter.to_lowercase() {
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$($argument => {
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self.arguments.push(argument);
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})*
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_ => {}
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},)*
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_ => {}
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}
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}
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}
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}
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paste::item! {
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impl Into<Vec<Word>> for Command {
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fn into(self) -> Vec<Word> {
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let mut args = self.arguments;
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args.insert(0, self.command_word.into());
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args
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}
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}
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}
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paste::item! {
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impl TryFrom<&[Word]> for Command {
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type Error = ();
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fn try_from(words: &[Word]) -> Result<Self, ()> {
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let command_word = CommandWord::try_from(&words[0])?;
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let mut arguments = Vec::with_capacity(words.len() - 1);
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for i in 1..words.len() {
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match command_word {
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$(CommandWord::$commandName => match words[i].letter.to_lowercase() {
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$($argument => {
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arguments.push(words[i].clone());
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})*
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_ => {}
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},)*
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_ => {}
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}
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}
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Ok(Self {
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command_word,
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arguments
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})
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}
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}
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}
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#[derive(Clone, PartialEq, Eq)]
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pub enum CommandWord {
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$(
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$(#[$inner])*
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$argument: Option<$type>,
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$(#[$outer])*
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$commandName,
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)*
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/// A comment is a special command: it is a semicolon followed by text until the end of the line
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Comment(Box<String>),
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/// Letter N followed by an integer (with no sign) between 0 and 99999 written with no more than five digits
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LineNumber(u16),
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/// Byte-sized checksums are used by some GCode generators at the end of each line
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Checksum(u8),
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}
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paste::item! {
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impl Field for $fieldName {
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const LETTER: char = $letter;
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const NUMBER: Option<u16> = $number;
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const FRACTION: Option<u16> = $fraction;
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fn from_arguments<'a>(arguments: &[Argument<'a>]) -> Self {
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let mut field = Self {
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$($argument: None,)*
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impl CommandWord {
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pub fn is_command(word: &Word) -> bool {
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let number = word.value as u16;
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let fraction_numeric =
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f64::from_bits(word.value.fract().to_bits() & 0x00_00_FF_FF_FF_FF_FF_FF) as u16;
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let fraction = if fraction_numeric == 0 {
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None
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} else {
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Some(fraction_numeric)
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};
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for arg in arguments.iter() {
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$(if arg.letter == stringify!([<$argument:upper>]).chars().next().unwrap() {
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field.$argument = Some(arg.value.parse().unwrap());
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})*
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match (word.letter, number, fraction) {
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$(($letter, $number, $fraction) => true,)*
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('*', _checksum, None) => true,
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('N', _line_number, None) => true,
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(_, _, _) => false
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}
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field
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}
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fn into_arguments<'a>(&'a self) -> Vec<Argument<'a>> {
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let mut args = vec![];
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$(
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if let Some(value) = self.$argument {
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args.push(Argument {
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letter: stringify!([<$argument:upper>]).chars().next().unwrap(),
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value: &value.to_string()
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});
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}
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}
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paste::item! {
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impl TryFrom<&Word> for CommandWord {
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type Error = ();
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fn try_from(word: &Word) -> Result<Self, ()> {
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let number = word.value as u16;
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let fraction_numeric =
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f64::from_bits(word.value.fract().to_bits() & 0x00_00_FF_FF_FF_FF_FF_FF) as u16;
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let fraction = if fraction_numeric == 0 {
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None
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} else {
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Some(fraction_numeric)
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};
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match (word.letter, number, fraction) {
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$(($letter, $number, $fraction) => Ok(Self::$commandName),)*
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('*', checksum, None) => Ok(Self::Checksum(checksum as u8)),
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('N', line_number, None) => Ok(Self::LineNumber(line_number)),
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(_, _, _) => Err(())
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}
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}
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}
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}
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paste::item!{
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impl Into<Word> for CommandWord {
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fn into(self) -> Word {
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match self {
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$(
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Self::$commandName {} => Word {
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letter: $letter,
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// TODO: fix fraction
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value: $number as f64 + ($fraction.unwrap_or(0) as f64)
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},
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)*
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Self::Checksum(value) => Word {
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letter: '*',
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value: value as f64
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},
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Self::LineNumber(value) => Word {
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letter: 'N',
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value: value as f64
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},
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Self::Comment(_string) => Word {
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letter: ';',
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value: 0.0
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}
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)*
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args
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}
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}
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}
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}
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};
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}
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field!(
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/// Moves the head at the fastest possible speed to the desired speed.
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/// Never enter a cut with rapid positioning.
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/// Some older machines may "dog leg" rapid positioning, moving one axis at a time.
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commands!(
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/// Moves the head at the fastest possible speed to the desired speed
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/// Never enter a cut with rapid positioning
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/// Some older machines may "dog leg" rapid positioning, moving one axis at a time
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RapidPositioning {
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'G', Some(0), None, {
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x: f64,
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y: f64,
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z: f64,
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e: f64,
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f: f64,
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h: f64,
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r: f64,
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s: f64,
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a: f64,
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b: f64,
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c: f64
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}
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});
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field!(
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'G', 0, None, {
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x,
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y,
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z,
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e,
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f,
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h,
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r,
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s,
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a,
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b,
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c
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}
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},
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/// Typically used for "cutting" motion
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LinearInterpolation {
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'G', Some(1), None, {
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x: f64,
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y: f64,
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z: f64,
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e: f64,
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f: f64,
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h: f64,
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r: f64,
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s: f64,
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a: f64,
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b: f64,
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c: f64
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}
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});
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field!(
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/// This will keep the axes unmoving for the period of time in seconds specified by the P number.
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'G', 1, None, {
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x,
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y,
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z,
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e,
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f,
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h,
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r,
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s,
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a,
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b,
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c
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}
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},
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/// This will keep the axes unmoving for the period of time in seconds specified by the P number
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Dwell {
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'G', Some(4), None, {
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/// Time in seconds
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p: f64
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}
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});
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field!(
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'G', 4, None, {
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/// Time in seconds
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p
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}
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},
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/// Use inches for length units
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UnitsInches {
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'G', Some(20), None, {}
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});
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field!(
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'G', 20, None, {}
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},
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/// Use millimeters for length units
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UnitsMillimeters {
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'G', Some(21), None, {}
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});
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field!(
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'G', 21, None, {}
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},
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/// In absolute distance mode, axis numbers usually represent positions in terms of the currently active coordinate system.
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AbsoluteDistanceMode {
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'G', Some(90), None, {}
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});
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field!(
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/// In incremental distance mode, axis numbers usually represent increments from the current values of the numbers.
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IncrementalDistanceMode {
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'G', Some(91), None, {}
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});
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field!(
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'G', 90, None, {}
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},
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/// In relative distance mode, axis numbers usually represent increments from the current values of the numbers
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RelativeDistanceMode {
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'G', 91, None, {}
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},
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/// Start spinning the spindle clockwise with speed `p`
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StartSpindleClockwise {
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'M', Some(3), None, {
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'M', 3, None, {
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/// Speed
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p: f64
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p
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}
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}
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);
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field!(
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},
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/// Start spinning the spindle counterclockwise with speed `p`
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StartSpindleCounterclockwise {
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'M', Some(4), None, {
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'M', 4, None, {
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/// Speed
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p: f64
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p
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}
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}
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);
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field!(
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},
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/// Stop spinning the spindle
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StopSpindle {
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'M', Some(5), None, {}
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}
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);
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field!(
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'M', 5, None, {}
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},
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/// Signals the end of a program
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ProgramEnd {
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'M', Some(20), None, {}
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}
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'M', 20, None, {}
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},
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);
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/// Checksums are used by some GCode generators at the end of each line
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struct Checksum {
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/// Checksum value
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value: u8,
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}
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impl Field for Checksum {
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const LETTER: char = '*';
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const NUMBER: Option<u16> = None;
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const FRACTION: Option<u16> = None;
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fn from_arguments<'a>(arguments: &[Argument<'a>]) -> Self {
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Self { value: 0 }
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}
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fn into_arguments(&self) -> Vec<Argument> {
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vec![]
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}
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}
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/// A line number is the letter N followed by an integer (with no sign) between 0 and 99999 written with no more than five digits
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struct LineNumber {
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/// Line number
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value: u16,
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}
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impl Field for LineNumber {
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const LETTER: char = 'N';
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const NUMBER: Option<u16> = None;
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const FRACTION: Option<u16> = None;
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fn from_arguments<'a>(arguments: &[Argument<'a>]) -> Self {
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Self { value: 0 }
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}
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fn into_arguments(&self) -> Vec<Argument> {
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vec![]
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}
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}
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/// Rudimentary regular expression GCode validator.
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/// Rudimentary regular expression GCode validator
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pub fn validate_gcode(gcode: &&str) -> bool {
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use regex::Regex;
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let re = Regex::new(r##"^(?:(?:%|\(.*\)|(?:[A-Z^E^U][+-]?\d+(?:\.\d*)?))\h*)*$"##).unwrap();
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gcode.lines().all(|line| re.is_match(line))
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}
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// TODO: Documentation
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// TODO: This function is too large
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pub fn program2gcode<W: Write>(p: &Program, mut w: W) -> io::Result<()> {
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let mut last_feedrate: Option<f64> = None;
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let letter = '*';
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let number = Some(0);
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let fraction = None;
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macro_rules! match_field {
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($($fieldName: ident)*) => {
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match (letter, number, fraction) {
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$(($fieldName::LETTER, $fieldName::NUMBER, $fieldName::FRACTION) => {
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Some($fieldName::from_arguments(arguments))
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},)*
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_ => {None}
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/// Writes a GCode program (or sequence) to a Writer
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pub fn program2gcode<W: Write>(program: Vec<Command>, mut w: W) -> io::Result<()> {
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for command in program.into_iter() {
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match &command.command_word {
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CommandWord::Comment(string) => {
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writeln!(w, ";{}", string)?;
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},
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_other => {
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let words: Vec<Word> = command.into();
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let mut it = words.iter();
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if let Some(command_word) = it.next() {
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write!(w, "{}{}", command_word.letter, command_word.value)?;
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for word in it {
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write!(w, " {}{} ", word.letter, word.value)?;
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}
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writeln!(w, "")?;
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}
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};
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}
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for code in p.iter() {
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match_field!(LineNumber);
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}
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}
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}
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Ok(())
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}
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