MK4duo Gcode support

pymkcam/Exporters/GCode/MK4duo.py

@@ -25,11 +25,17 @@ from pymkcam.Toolpath import CORNER_STYLE_EXACT_PATH, CORNER_STYLE_EXACT_STOP, \
         CORNER_STYLE_OPTIMIZE_SPEED, CORNER_STYLE_OPTIMIZE_TOLERANCE
 
 
-DEFAULT_HEADER = (("G40", "disable tool radius compensation"),
-                ("G49", "disable tool length compensation"),
-                ("G80", "cancel modal motion"),
-                ("G54", "select coordinate system 1"),
-                ("G90", "disable incremental moves"))
+DEFAULT_HEADER = (
+                ("M82", "select absolute coordinate system"),
+                )
+
+
+DEFAULT_FOOTER = (
+            ("G0 Z5.00000 F200", "safe Z position"),
+            ("M5", "stop spindle"),
+            ("M18", "unlock all steppers"),
+            ("M2", "program ends")
+      )
 
 DEFAULT_DIGITS = 6
 
@@ -42,28 +48,30 @@ def _render_number(number):
 
 class MK4duo(pymkcam.Exporters.GCode.BaseGenerator):
 
+    sspeed = "10000"
+    feed = "300"
+    fast = "3000"
+    
 
     def add_header(self):
         for command, comment in DEFAULT_HEADER:
             self.add_command(command, comment=comment)
-        # TODO: use a "unit" filter
         if True:
             self.add_command("G21", "metric")
         else:
             self.add_command("G20", "imperial")
 
     def add_footer(self):
-        self.add_command("M2", "end program")
+        for command, comment in DEFAULT_FOOTER:
+           self.add_command(command, comment=comment)
 
     def add_comment(self, comment):
         self.add_command("; %s" % comment)
 
     def add_command(self, command, comment=None):
-        self.destination.write(command)
         if comment:
-            self.destination.write("\t")
             self.add_comment(comment)
-        else:
+        self.destination.write(command)
         self.destination.write(os.linesep)
 
     def add_move(self, coordinates, is_rapid=False):
@@ -72,52 +80,49 @@ class MK4duo(pymkcam.Exporters.GCode.BaseGenerator):
         #   True: the last move was G0
         #   False: the last move was G1
         #   None: some non-move happened before
-        if self._get_cache("rapid_move", None) != is_rapid:
         components.append("G0" if is_rapid else "G1")
-        else:
-            # improve gcode style
-            components.append(" ")
         axes = [axis for axis in "XYZABCUVW"]
         previous = self._get_cache("position", [None] * len(coordinates))
         for (axis, value, last) in zip(axes, coordinates, previous):
             if (last is None) or (last != value):
                 components.append("%s%.6f" % (axis, value))
+        if len(components) > 1:
+            if self._get_cache("rapid_move", None) != is_rapid:
+                components.append("F%s" % (self.fast if is_rapid else self.feed)) 
             command = " ".join(components)
             if command.strip():
                 self.add_command(command)
 
     def command_feedrate(self, feedrate):
-        self.add_command("F%s" % _render_number(feedrate), "set feedrate")
+        self.feed = _render_number(feedrate)
 
     def command_select_tool(self, tool_id):
-        self.add_command("T%d M6" % tool_id, "select tool")
+        self.add_command("T%d" % tool_id, "select tool")
 
     def command_spindle_speed(self, speed):
-        self.add_command("S%s" % _render_number(speed), "set spindle speed")
+        self.sspeed = _render_number(speed)
 
     def command_spindle_enabled(self, state):
         if state:
-            self.add_command("M3", "start spindle")
+            self.add_command("M3 S%s" % self.sspeed, "start spindle")
         else:
             self.add_command("M5", "stop spindle")
 
     def command_delay(self, seconds):
-        self.add_command("G04 P%d" % seconds, "wait for %d seconds" % seconds)
+        self.add_command("G04 S%d" % seconds, "wait for %d seconds" % seconds)
 
     def command_corner_style(self,
             (path_mode, motion_tolerance, naive_tolerance)):
         if path_mode == CORNER_STYLE_EXACT_PATH:
-            self.add_command("G61", "exact path mode")
+            self.add_comment("G61 exact path mode was requested but not implemented")
         elif path_mode == CORNER_STYLE_EXACT_STOP:
-            self.add_command("G61.1", "exact stop mode")
+            self.add_comment("G61.1 exact stop mode was requested but not implemented")
         elif path_mode == CORNER_STYLE_OPTIMIZE_SPEED:
-            self.add_command("G64", "continuous mode with maximum speed")
+            self.add_comment("G64 continuous mode with maximum speed was requested but not implemented")
         else:
             if not naive_tolerance:
-                self.add_command("G64 P%f" % motion_tolerance,
-                        "continuous mode with tolerance")
+                self.add_comment("G64 P%f continuous mode with tolerance was requested but not implemented" % motion_tolerance)
             else:
-                self.add_command("G64 P%f Q%f" % \
-                        (motion_tolerance, naive_tolerance),
-                        "continuous mode with tolerance and cleanup")
+                self.add_command("G64 P%f Q%f continuous mode with tolerance and cleanup was requested but not implemented" % \
+                        (motion_tolerance, naive_tolerance))