Hi,
I've noticed some non-optimal paths during loading of G-code into AXIS,
which are easy to fix...
Please review/apply.
Regards,
Alex.
Optimize G-code loading path
From: Alexey Starikovskiy <[email protected]>
Signed-off-by: Alexey Starikovskiy <[email protected]>
---
lib/python/rs274/interpret.py | 36 +++++++++-------
src/emc/rs274ngc/gcodemodule.cc | 86 ++++++++++++++++-----------------------
2 files changed, 54 insertions(+), 68 deletions(-)
diff --git a/lib/python/rs274/interpret.py b/lib/python/rs274/interpret.py
index 12fe081..b11636e 100644
--- a/lib/python/rs274/interpret.py
+++ b/lib/python/rs274/interpret.py
@@ -20,13 +20,13 @@ class Translated:
offset_x = offset_y = offset_z = offset_a = offset_b = offset_c = 0
rotation_xy = 0
def rotate_and_translate(self, x,y,z,a,b,c,u,v,w):
- t = self.rotation_xy
- t = math.radians(t)
- rotx = x * math.cos(t) - y * math.sin(t)
- roty = x * math.sin(t) + y * math.cos(t)
- rotx += self.offset_x
- roty += self.offset_y
- return [rotx, roty, z+self.offset_z,
+ if (self.rotation_xy):
+ t = self.rotation_xy
+ t = math.radians(t)
+ rotx = x * math.cos(t) - y * math.sin(t)
+ y = x * math.sin(t) + y * math.cos(t)
+ x = rotx
+ return [x + self.offset_x, y + self.offset_y, z+self.offset_z,
a+self.offset_a, b+self.offset_b, c+self.offset_c,
u+self.offset_u, v+self.offset_v, w+self.offset_w]
@@ -55,17 +55,19 @@ class ArcsToSegmentsMixin:
def arc_feed(self, x1, y1, cx, cy, rot, z1, a, b, c, u, v, w):
if self.plane == 1:
- t = self.rotation_xy
- t = math.radians(t)
- rotx = x1 * math.cos(t) - y1 * math.sin(t)
- roty = x1 * math.sin(t) + y1 * math.cos(t)
- x1 = rotx
- y1 = roty
+ if self.rotation_xy:
+ t = self.rotation_xy
+ t = math.radians(t)
+ rotx = x1 * math.cos(t) - y1 * math.sin(t)
+ roty = x1 * math.sin(t) + y1 * math.cos(t)
+ x1 = rotx
+ y1 = roty
f = n = [x1+self.offset_x,y1+self.offset_y,z1+self.offset_z, a+self.offset_a, b+self.offset_b, c+self.offset_c, u+self.offset_u, v+self.offset_v, w+self.offset_w]
- rotcx = cx * math.cos(t) - cy * math.sin(t)
- rotcy = cx * math.sin(t) + cy * math.cos(t)
- cx = rotcx
- cy = rotcy
+ if self.rotation_xy:
+ rotcx = cx * math.cos(t) - cy * math.sin(t)
+ rotcy = cx * math.sin(t) + cy * math.cos(t)
+ cx = rotcx
+ cy = rotcy
cx += self.offset_x
cy += self.offset_y
xyz = [0,1,2]
diff --git a/src/emc/rs274ngc/gcodemodule.cc b/src/emc/rs274ngc/gcodemodule.cc
index 04cdec4..3aee4f8 100644
--- a/src/emc/rs274ngc/gcodemodule.cc
+++ b/src/emc/rs274ngc/gcodemodule.cc
@@ -25,14 +25,6 @@
#include "canon.hh"
#include "config.h" // LINELEN
-#define active_settings interp_new.active_settings
-#define active_g_codes interp_new.active_g_codes
-#define active_m_codes interp_new.active_m_codes
-#define interp_init interp_new.init
-#define interp_open interp_new.open
-#define interp_close interp_new.close
-#define interp_read interp_new.read
-#define interp_execute interp_new.execute
char _parameter_file_name[LINELEN];
@@ -153,22 +145,18 @@ bool metric;
double _pos_x, _pos_y, _pos_z, _pos_a, _pos_b, _pos_c, _pos_u, _pos_v, _pos_w;
EmcPose tool_offset;
-Interp interp_new;
+Interp interp;
void maybe_new_line(int line_number) {
- if(interp_error) return;
+ if(interp_error || line_number == last_sequence_number)
+ return;
+ last_sequence_number = line_number;
LineCode *new_line_code =
(LineCode*)(PyObject_New(LineCode, &LineCodeType));
- active_settings(new_line_code->settings);
- active_g_codes(new_line_code->gcodes);
- active_m_codes(new_line_code->mcodes);
- int sequence_number = line_number == -1? interp_new.sequence_number(): line_number;
- new_line_code->gcodes[0] = sequence_number;
- if(sequence_number == last_sequence_number) {
- Py_DECREF(new_line_code);
- return;
- }
- last_sequence_number = sequence_number;
+ interp.active_settings(new_line_code->settings);
+ interp.active_g_codes(new_line_code->gcodes);
+ new_line_code->gcodes[0] = line_number;
+ interp.active_m_codes(new_line_code->mcodes);
PyObject *result =
PyObject_CallMethod(callback, "next_line", "O", new_line_code);
Py_DECREF(new_line_code);
@@ -176,6 +164,10 @@ void maybe_new_line(int line_number) {
Py_XDECREF(result);
}
+void maybe_new_line(void) {
+ maybe_new_line(interp.sequence_number());
+}
+
static double TO_PROG_LEN(double p) {
if(metric) return p*25.4;
return p;
@@ -185,19 +177,18 @@ void NURBS_FEED(std::vector<CONTROL_POINT> nurbs_control_points, unsigned int k)
double u = 0.0;
unsigned int n = nurbs_control_points.size() - 1;
double umax = n - k + 2;
+ int line_number = interp.sequence_number();
unsigned int div = nurbs_control_points.size()*15;
- std::vector<unsigned int> knot_vector = knot_vector_creator(n, k);
+ std::vector<unsigned int> knot_vector = knot_vector_creator(n, k);
PLANE_POINT P1;
while (u+umax/div < umax) {
PLANE_POINT P1 = nurbs_point(u+umax/div,k,nurbs_control_points,knot_vector);
- // EBo -- replace 12345 with *whatever* gives us the line_number
- STRAIGHT_FEED(12345, P1.X,P1.Y, _pos_z, _pos_a, _pos_b, _pos_c, _pos_u, _pos_v, _pos_w);
+ STRAIGHT_FEED(line_number, P1.X,P1.Y, _pos_z, _pos_a, _pos_b, _pos_c, _pos_u, _pos_v, _pos_w);
u = u + umax/div;
}
P1.X = nurbs_control_points[n].X;
P1.Y = nurbs_control_points[n].Y;
- // EBo -- replace 12345 with *whatever* gives us the line_number
- STRAIGHT_FEED(12345, P1.X,P1.Y, _pos_z, _pos_a, _pos_b, _pos_c, _pos_u, _pos_v, _pos_w);
+ STRAIGHT_FEED(line_number, P1.X,P1.Y, _pos_z, _pos_a, _pos_b, _pos_c, _pos_u, _pos_v, _pos_w);
knot_vector.clear();
}
@@ -215,8 +206,7 @@ void SPLINE_FEED(double x1, double y1, double x2, double y2) {
double t0 = (1-t)*(1-t);
double x = x0*t0 + x1*t1 + x2*t2;
double y = y0*t0 + y1*t1 + y2*t2;
- // EBo -- replace 12345 with *whatever* gives us the line_number
- STRAIGHT_FEED(12345, x,y, _pos_z, _pos_a, _pos_b, _pos_c, _pos_u, _pos_v, _pos_w);
+ STRAIGHT_FEED(interp.sequence_number(), x,y, _pos_z, _pos_a, _pos_b, _pos_c, _pos_u, _pos_v, _pos_w);
}
}
@@ -232,16 +222,10 @@ void SPLINE_FEED(double x1, double y1, double x2, double y2, double x3, double y
double x = x0*t0 + x1*t1 + x2*t2 + x3*t3;
double y = y0*t0 + y1*t1 + y2*t2 + y3*t3;
// EBo -- replace 12345 with *whatever* gives us the line_number
- STRAIGHT_FEED(12345, x,y, _pos_z, _pos_a, _pos_b, _pos_c, _pos_u, _pos_v, _pos_w);
+ STRAIGHT_FEED(interp.sequence_number(), x,y, _pos_z, _pos_a, _pos_b, _pos_c, _pos_u, _pos_v, _pos_w);
}
}
-
-void maybe_new_line(void) {
- maybe_new_line(-1);
-}
-
-
void ARC_FEED(int line_number,
double first_end, double second_end, double first_axis,
double second_axis, int rotation, double axis_end_point,
@@ -329,7 +313,7 @@ void SET_XY_ROTATION(double t) {
void USE_LENGTH_UNITS(CANON_UNITS u) { metric = u == CANON_UNITS_MM; }
void SELECT_PLANE(CANON_PLANE pl) {
- maybe_new_line();
+ maybe_new_line();
if(interp_error) return;
PyObject *result =
PyObject_CallMethod(callback, "set_plane", "i", pl);
@@ -338,7 +322,7 @@ void SELECT_PLANE(CANON_PLANE pl) {
}
void SET_TRAVERSE_RATE(double rate) {
- maybe_new_line();
+ maybe_new_line();
if(interp_error) return;
PyObject *result =
PyObject_CallMethod(callback, "set_traverse_rate", "f", rate);
@@ -348,7 +332,7 @@ void SET_TRAVERSE_RATE(double rate) {
void SET_FEED_MODE(int mode) {
#if 0
- maybe_new_line();
+ maybe_new_line();
if(interp_error) return;
PyObject *result =
PyObject_CallMethod(callback, "set_feed_mode", "i", mode);
@@ -377,7 +361,7 @@ void CHANGE_TOOL_NUMBER(int pocket) {
* time feed wrong anyway..
*/
void SET_FEED_RATE(double rate) {
- maybe_new_line();
+ maybe_new_line();
if(interp_error) return;
if(metric) rate /= 25.4;
PyObject *result =
@@ -387,7 +371,7 @@ void SET_FEED_RATE(double rate) {
}
void DWELL(double time) {
- maybe_new_line();
+ maybe_new_line();
if(interp_error) return;
PyObject *result =
PyObject_CallMethod(callback, "dwell", "f", time);
@@ -396,7 +380,7 @@ void DWELL(double time) {
}
void MESSAGE(char *comment) {
- maybe_new_line();
+ maybe_new_line();
if(interp_error) return;
PyObject *result =
PyObject_CallMethod(callback, "message", "s", comment);
@@ -409,7 +393,7 @@ void LOGOPEN(char *f) {}
void LOGCLOSE() {}
void COMMENT(char *comment) {
- maybe_new_line();
+ maybe_new_line();
if(interp_error) return;
PyObject *result =
PyObject_CallMethod(callback, "comment", "s", comment);
@@ -714,25 +698,25 @@ PyObject *parse_file(PyObject *self, PyObject *args) {
_pos_x = _pos_y = _pos_z = _pos_a = _pos_b = _pos_c = 0;
_pos_u = _pos_v = _pos_w = 0;
- interp_init();
- interp_open(f);
+ interp.init();
+ interp.open(f);
maybe_new_line();
int result = INTERP_OK;
if(unitcode) {
- result = interp_read(unitcode);
+ result = interp.read(unitcode);
if(!RESULT_OK) goto out_error;
- result = interp_execute();
+ result = interp.execute();
}
if(initcode && RESULT_OK) {
- result = interp_read(initcode);
+ result = interp.read(initcode);
if(!RESULT_OK) goto out_error;
- result = interp_execute();
+ result = interp.execute();
}
while(!interp_error && RESULT_OK) {
error_line_offset = 1;
- result = interp_read();
+ result = interp.read();
gettimeofday(&t1, NULL);
if(t1.tv_sec > t0.tv_sec + wait) {
if(check_abort()) return NULL;
@@ -740,10 +724,10 @@ PyObject *parse_file(PyObject *self, PyObject *args) {
}
if(!RESULT_OK) break;
error_line_offset = 0;
- result = interp_execute();
+ result = interp.execute();
}
out_error:
- interp_close();
+ interp.close();
if(interp_error) {
if(!PyErr_Occurred()) {
PyErr_Format(PyExc_RuntimeError,
@@ -767,7 +751,7 @@ static char savedError[LINELEN+1];
static PyObject *rs274_strerror(PyObject *s, PyObject *o) {
int err;
if(!PyArg_ParseTuple(o, "i", &err)) return NULL;
- interp_new.error_text(err, savedError, LINELEN);
+ interp.error_text(err, savedError, LINELEN);
return PyString_FromString(savedError);
}
------------------------------------------------------------------------------
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