pyGCodeDecode API Reference¶

pyGCodeDecode.abaqus_file_generator¶

Module for generating Abaqus .inp files for AMSIM.

generate_abaqus_event_series¶

def generate_abaqus_event_series(
        simulation: gcode_interpreter.simulation,
        filepath: str = "pyGcodeDecode_abaqus_events.inp",
        tolerance: float = 1e-12,
        output_unit_system: str = None,
        return_tuple: bool = False) -> tuple

Generate abaqus event series.

Arguments:

simulation gcode_interpreter.simulation - simulation instance
filepath string, default = "pyGcodeDecode_abaqus_events.inp" - output file path
tolerance float, default = 1e-12 - tolerance to determine whether extrusion is happening
output_unit_system str, optional - Unit system for the output. The one from the simulation is used, in None is specified.
return_tuple bool, default = False - return the event series as tuple.

Returns:

(optional) tuple: the event series as a tuple for use in ABAQUS-Python

pyGCodeDecode.cli¶

The pyGCodeDecode CLI Module.

Interact with pyGCodeDecode via the command line to run examples and plot GCode files.

Features:

Run built-in examples: brace, benchy
Plot GCode files with printer presets and output options
Save simulation summaries, metrics, screenshots, and VTK files

Usage Examples:

pygcd --help
pygcd run_example brace
pygcd plot -g myfile.gcode
pygcd plot -g myfile.gcode -p presets.yaml -pn my_printer
pygcd plot -g myfile.gcode -o ./outputs -lc ";LAYER"

pyGCodeDecode.gcode_interpreter¶

GCode Interpreter Module.

find_current_segment¶

def find_current_segment(path: List[segment],
                         t: float,
                         last_index: int = None,
                         keep_position: bool = False)

Find the current segment.

Arguments:

path - (list[segment]) all segments to be searched
t - (float) time of search
last_index - (int) last found index for optimizing search
keep_position - (bool) keeps position of last segment, use this when working with gaps of no movement between segments

Returns:

segment - (segment) the segment which defines movement at that point in time
last_index - (int) last index where something was found, search speed optimization possible

generate_planner_blocks¶

def generate_planner_blocks(states: List[state], firmware=None)

Convert list of states to trajectory repr. by planner blocks.

Arguments:

states - (list[state]) list of states
firmware - (string, default = None) select firmware by name

Returns:

block_list (list[planner_block]) list of all planner blocks to complete travel between all states

setup Objects¶

class setup()

Setup for printing simulation.

setup.getattr¶

def __getattr__(name)

Access to setup_dict content.

setup.init¶

def __init__(presets_file: str,
             printer: str = None,
             verbosity_level: Optional[int] = None,
             **kwargs)

Initialize the setup for the printing simulation.

Arguments:

presets_file str - Path to the YAML file containing printer presets.
printer str, optional - Name of the printer to select from the preset file. Defaults to None.
verbosity_level int, optional - Verbosity level for logging (0: no output, 1: warnings, 2: info, 3: debug). Defaults to None.
**kwargs - Additional properties to set or override in the setup.

Raises:

ValueError - If multiple printers are found in the preset file but none is selected.

setup.setattr¶

def __setattr__(name, value)

Set setup_dict keys.

setup.check_initial_setup¶

def check_initial_setup()

Check the printer Dict for typos or missing parameters and raise errors if invalid.

setup.get_dict¶

def get_dict() -> dict

Return the setup for the selected printer.

Returns:

return_dict - (dict) setup dictionary

setup.get_scaling_factor¶

def get_scaling_factor(input_unit_system: str = None) -> float

Get a scaling factor to convert lengths from mm to another supported unit system.

Arguments:

input_unit_system str, optional - Wanted input unit system. Uses the one specified for the setup if None is specified.

Returns:

float - scaling factor

setup.load_setup¶

def load_setup(filepath, printer=None)

Load setup from file.

Arguments:

filepath - (string) specify path to setup file

setup.set_initial_position¶

def set_initial_position(initial_position: Union[tuple, dict],
                         input_unit_system: str = None)

Set initial Position.

Arguments:

initial_position - (tuple or dict) set initial position as tuple of len(4) or dictionary with keys: {X, Y, Z, E} or "first" to use first occuring absolute position in GCode.
input_unit_system str, optional - Wanted input unit system. Uses the one specified for the setup if None is specified.

Example:

setup.set_initial_position((1, 2, 3, 4))
setup.set_initial_position({"X": 1, "Y": 2, "Z": 3, "E": 4})
setup.set_initial_position("first") # use first GCode position

setup.set_property¶

def set_property(property_dict: dict)

Overwrite or add a property to the printer dictionary.

Arguments:

property_dict - (dict) set or add property to the setup

Example:

setup.set_property({"layer_cue": "LAYER_CHANGE"})

simulation Objects¶

class simulation()

Simulation of .gcode with given machine parameters.

simulation.getattr¶

def __getattr__(name)

Get result by name.

simulation.init¶

def __init__(gcode_path: Path,
             machine_name: str = None,
             initial_machine_setup: "setup" = None,
             output_unit_system: str = "SI (mm)",
             verbosity_level: Optional[int] = None)

Initialize the Simulation of a given G-code with initial machine setup or default machine.

Generate all states from GCode.
Connect states with planner blocks, consisting of segments
Self correct inconsistencies.

Arguments:

gcode_path - (Path) path to GCode
machine_name - (string, default = None) name of the default machine to use
initial_machine_setup - (setup, default = None) setup instance
output_unit_system - (string, default = "SI (mm)") available unit systems: SI, SI (mm) & inch
verbosity_level - (int, default = None) set verbosity level (0: no output, 1: warnings, 2: info, 3: debug)

Example:

gcode_interpreter.simulation(gcode_path=r"path/to/part.gcode", initial_machine_setup=printer_setup)

simulation.calc_results¶

def calc_results()

Calculate the results.

simulation.calculate_averages¶

def calculate_averages()

Calculate averages for averageable results.

simulation.extrusion_extent¶

def extrusion_extent(output_unit_system: str = None) -> np.ndarray

Return scaled xyz min & max while extruding.

Arguments:

output_unit_system str, optional - Unit system for the output. The one from the simulation is used, in None is specified.

Raises:

ValueError - if nothing is extruded

Returns:

np.ndarray - extent of extruding positions

simulation.extrusion_max_vel¶

def extrusion_max_vel(output_unit_system: str = None) -> np.float64

Return scaled maximum velocity while extruding.

Arguments:

output_unit_system str, optional - Unit system for the output. The one from the simulation is used, in None is specified.

Returns:

max_vel - (np.float64) maximum travel velocity while extruding

simulation.get_scaling_factor¶

def get_scaling_factor(output_unit_system: str = None) -> float

Get a scaling factor to convert lengths from mm to another supported unit system.

Arguments:

output_unit_system str, optional - Wanted output unit system. Uses the one specified for the simulation on None is specified.

Returns:

float - scaling factor

simulation.get_values¶

def get_values(t: float, output_unit_system: str = None) -> Tuple[List[float]]

Return unit system scaled values for vel and pos.

Arguments:

t - (float) time
output_unit_system str, optional - Unit system for the output. The one from the simulation is used, in None is specified.

Returns:

list - [vel_x, vel_y, vel_z, vel_e] velocity
list - [pos_x, pos_y, pos_z, pos_e] position

simulation.get_width¶

def get_width(t: float,
              extrusion_h: float,
              filament_dia: Optional[float] = None) -> float

Return the extrusion width for a certain extrusion height at time.

Arguments:

t float - time
extrusion_h float - extrusion height / layer height
filament_dia float - filament_diameter

Returns:

float - width

simulation.print_summary¶

def print_summary(start_time: float)

Print simulation summary to console.

Arguments:

start_time float - time when the simulation run was started

simulation.refresh¶

def refresh(new_state_list: List[state] = None)

Refresh simulation. Either through new state list or by rerunning the self.states as input.

Arguments:

new_state_list - (list[state], default = None) new list of states, if None is provided, existing states get resimulated

simulation.save_summary¶

def save_summary(filepath: Union[Path, str])

Save summary to .yaml file.

Arguments:

filepath Path | str - path to summary file

Saved data keys: - filename (string, filename) - t_end (float, end time) - x/y/z _min/_max (float, extent where positive extrusion) - max_extrusion_travel_velocity (float, maximum travel velocity where positive extrusion)

simulation.trajectory_self_correct¶

def trajectory_self_correct()

Self correct all blocks in the blocklist with self_correction() method.

unpack_blocklist¶

def unpack_blocklist(blocklist: List[planner_block]) -> List[segment]

Return list of segments by unpacking list of planner blocks.

Arguments:

blocklist - (list[planner_block]) list of planner blocks

Returns:

path - (list[segment]) list of all segments

pyGCodeDecode.helpers¶

Helper functions.

custom_print¶

def custom_print(*args, lvl=2, **kwargs) -> None

Sanitize outputs for ABAQUS and print them if the log level is high enough. Takes all arguments for print.

Arguments:

*args - arguments to be printed
lvl - verbosity level of the print (1 = WARNING, 2 = INFO, 3 = DEBUG)
**kwargs - keyword arguments to be passed to print

get_verbosity_level¶

def get_verbosity_level() -> int

Get the current global verbosity level.

ProgressBar Objects¶

class ProgressBar()

A simple progress bar for the console.

ProgressBar.init¶

def __init__(name: str = "Percent",
             barLength: int = 4,
             verbosity_level: int = 2)

Initialize a progress bar.

ProgressBar.update¶

def update(progress: float) -> None

Display or update a console progress bar.

Arguments:

progress - float between 0 and 1 for percentage, < 0 represents a 'halt', > 1 represents 100%

set_verbosity_level¶

def set_verbosity_level(level: Optional[int]) -> None

Set the global verbosity level.

pyGCodeDecode.helpers.VERBOSITY_LEVEL¶

default to INFO

pyGCodeDecode.junction_handling¶

Junction handling module for calculating the velocity at junctions.

get_handler¶

def get_handler(firmware_name: str) -> type[junction_handling]

Get the junction handling class for the given firmware name.

Arguments:

firmware_name - (str) name of the firmware

Returns:

junction_handling - (type[junction_handling]) junction handling class

junction_deviation Objects¶

class junction_deviation(junction_handling)

Marlin specific junction handling with Junction Deviation.

Reference: 1: Developer Blog 2: Kynetic CNC Blog

junction_deviation.init¶

def __init__(state_A: state, state_B: state)

Marlin specific junction velocity calculation with Junction Deviation.

Arguments:

state_A - (state) start state
state_B - (state) end state

junction_deviation.calc_JD¶

def calc_JD(vel_0: velocity, vel_1: velocity, p_settings: state.p_settings)

Calculate junction deviation velocity from 2 velocities.

Arguments:

vel_0 - (velocity) entry
vel_1 - (velocity) exit
p_settings - (state.p_settings) print settings

Returns:

velocity - (float) velocity abs value

junction_deviation.get_junction_vel¶

def get_junction_vel()

Return junction velocity.

Returns:

junction_vel - (float) junction velocity

junction_handling Objects¶

class junction_handling()

Junction handling super class.

junction_handling.init¶

def __init__(state_A: state, state_B: state)

Initialize the junction handling.

Arguments:

state_A - (state) start state
state_B - (state) end state

junction_handling.connect_state¶

def connect_state(state_A: state, state_B: state)

Connect two states and generates the velocity for the move from state_A to state_B.

Arguments:

state_A - (state) start state
state_B - (state) end state

Returns:

velocity - (float) the target velocity for that travel move

junction_handling.get_junction_vel¶

def get_junction_vel()

Return default junction velocity of zero.

Returns:

0 - zero for default full stop junction handling

junction_handling.get_target_vel¶

def get_target_vel()

Return target velocity.

marlin Objects¶

class marlin(junction_handling)

Marlin classic jerk specific junction handling.

Code reference: Marlin/src/module/planner.cpp

// ...
float v_factor = 1.0f;
LOOP_LOGICAL_AXES(i) {
  // Jerk is the per-axis velocity difference.
  const float jerk = ABS(speed_diff[i]), maxj = max_j[i];
  if (jerk * v_factor > maxj) v_factor = maxj / jerk;
}
vmax_junction_sqr = sq(vmax_junction * v_factor);
// ...

marlin.init¶

def __init__(state_A: state, state_B: state)

Marlin classic jerk specific junction velocity calculation.

Arguments:

state_A - (state) start state
state_B - (state) end state

marlin.calc_j_vel¶

def calc_j_vel()

Calculate the junction velocity.

marlin.get_junction_vel¶

def get_junction_vel()

Return the calculated junction velocity.

Returns:

junction_vel - (float) junction velocity

mka Objects¶

class mka(prusa)

Anisoprint Composer models using MKA Firmware junction handling.

The MKA firmware uses a similar approach to Prusa's classic jerk handling.

Code reference: anisoprint/MKA-firmware/src/core/planner/planner.cpp

// ...
float v_exit = previous_speed[axis] * smaller_speed_factor,
        v_entry = current_speed[axis];
  if (limited) {
    v_exit *= v_factor;
    v_entry *= v_factor;
  }

  // Calculate jerk depending on whether the axis is coasting in the same direction or reversing.
  const float jerk = (v_exit > v_entry)
      ? //                                  coasting             axis reversal
        ( (v_entry > 0 || v_exit < 0) ? (v_exit - v_entry) : max(v_exit, -v_entry) )
      : // v_exit <= v_entry                coasting             axis reversal
        ( (v_entry < 0 || v_exit > 0) ? (v_entry - v_exit) : max(-v_exit, v_entry) );

  const float maxj = mechanics.max_jerk[axis];
  if (jerk > maxj) {
    v_factor *= maxj / jerk;
    ++limited;
  }
}
if (limited) vmax_junction *= v_factor;
// ...

prusa Objects¶

class prusa(junction_handling)

Prusa specific classic jerk junction handling (validated on Prusa Mini).

Code reference: Prusa-Firmware-Buddy/lib/Marlin/Marlin/src/module/planner.cpp

// ...
// Factor to multiply the previous / current nominal velocities to get componentwise limited velocities.
  float v_factor = 1;
  limited = 0;

  // The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
  // Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
  vmax_junction = _MIN(block->nominal_speed, previous_nominal_speed);

  // Now limit the jerk in all axes.
  const float smaller_speed_factor = vmax_junction / previous_nominal_speed;
  `if` HAS_LINEAR_E_JERK
    LOOP_XYZ(axis)
  `else`
    LOOP_XYZE(axis)
  `endif`
  {
    // Limit an axis. We have to differentiate: coasting, reversal of an axis, full stop.
    float v_exit = previous_speed[axis] * smaller_speed_factor,
          v_entry = current_speed[axis];
    if (limited) {
      v_exit *= v_factor;
      v_entry *= v_factor;
    }

    // Calculate jerk depending on whether the axis is coasting in the same direction or reversing.
    const float jerk = (v_exit > v_entry)
        ? //                                  coasting             axis reversal
          ( (v_entry > 0 || v_exit < 0) ? (v_exit - v_entry) : _MAX(v_exit, -v_entry) )
        : // v_exit <= v_entry                coasting             axis reversal
          ( (v_entry < 0 || v_exit > 0) ? (v_entry - v_exit) : _MAX(-v_exit, v_entry) );

    if (jerk > settings.max_jerk[axis]) {
      v_factor *= settings.max_jerk[axis] / jerk;
      ++limited;
    }
  }
  if (limited) vmax_junction *= v_factor;
  // Now the transition velocity is known, which maximizes the shared exit / entry velocity while
  // respecting the jerk factors, it may be possible, that applying separate safe exit / entry velocities will achieve faster prints.
  const float vmax_junction_threshold = vmax_junction * 0.99f;
  if (previous_safe_speed > vmax_junction_threshold && safe_speed > vmax_junction_threshold)
    vmax_junction = safe_speed;
}
// ...

prusa.init¶

def __init__(state_A: state, state_B: state)

Marlin classic jerk specific junction velocity calculation.

Arguments:

state_A - (state) start state
state_B - (state) end state

prusa.calc_j_vel¶

def calc_j_vel()

Calculate the junction velocity.

prusa.get_junction_vel¶

def get_junction_vel()

Return the calculated junction velocity.

Returns:

junction_vel - (float) junction velocity

ultimaker Objects¶

class ultimaker(junction_handling)

Ultimaker specific junction handling.

Code reference: UM2.1-Firmware/Marlin/planner.cpp

// ...
float vmax_junction = max_xy_jerk/2;
float vmax_junction_factor = 1.0;
if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2)
    vmax_junction = min(vmax_junction, max_z_jerk/2);
if(fabs(current_speed[E_AXIS]) > max_e_jerk/2)
    vmax_junction = min(vmax_junction, max_e_jerk/2);
vmax_junction = min(vmax_junction, block->nominal_speed);
float safe_speed = vmax_junction;

if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
    float xy_jerk = sqrt(square(current_speed[X_AXIS]-previous_speed[X_AXIS])+square(current_speed[Y_AXIS]-previous_speed[Y_AXIS]));
    //    if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
    vmax_junction = block->nominal_speed;
    //    }
    if (xy_jerk > max_xy_jerk) {
    vmax_junction_factor = (max_xy_jerk / xy_jerk);
    }
    if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
    vmax_junction_factor= min(vmax_junction_factor, (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])));
    }
    if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
    vmax_junction_factor = min(vmax_junction_factor, (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS])));
    }
    vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
}
// Max entry speed of this block equals the max exit speed of the previous block.
block->max_entry_speed = vmax_junction;
// ...

ultimaker.init¶

def __init__(state_A: state, state_B: state)

Ultimaker specific junction velocity calculation.

Arguments:

state_A - (state) start state
state_B - (state) end state

ultimaker.calc_j_vel¶

def calc_j_vel()

Calculate the junction velocity.

ultimaker.get_junction_vel¶

def get_junction_vel()

Return the calculated junction velocity.

Returns:

junction_vel - (float) junction velocity

pyGCodeDecode.planner_block¶

Planner block Module.

planner_block Objects¶

class planner_block()

Planner Block Class.

planner_block.init¶

def __init__(state: state, prev_block: "planner_block", firmware=None)

Calculate and store planner block consisting of one or multiple segments.

Arguments:

state - (state) the current state
prev_block - (planner_block) previous planner block
firmware - (string, default = None) firmware selection for junction

planner_block.repr¶

def __repr__() -> str

Represent planner block.

planner_block.str¶

def __str__() -> str

Create a visually aligned ASCII art string for planner block.

planner_block.calc_results¶

def calc_results(*additional_calculators: abstract_result)

Calculate the result of the planner block.

planner_block.extrusion_block_max_vel¶

def extrusion_block_max_vel() -> Union[np.ndarray, None]

Return max vel from planner block while extruding.

Returns:

block_max_vel - (np.ndarray 1x4) maximum axis velocity while extruding in block or None if no extrusion is happening

planner_block.get_block_travel¶

def get_block_travel()

Return the travel length of the planner block.

planner_block.get_segments¶

def get_segments()

Return segments, contained by the planner block.

planner_block.inverse_time_at_pos¶

def inverse_time_at_pos(dist_local)

Get the global time, at which the local length is reached.

Arguments:

dist_local - (float) local (relative to planner block start) distance

Returns:

time_global - (float) global time when the point will be reached.

planner_block.move_maker¶

def move_maker(v_end)

Calculate the correct move type (trapezoidal,triangular or singular) and generate the corresponding segments.

Arguments:

v_end - (velocity) target velocity for end of move

planner_block.next_block¶

@property
def next_block()

Define next_block as property.

planner_block.prev_block¶

@property
def prev_block()

Define prev_block as property.

planner_block.self_correction¶

def self_correction(tolerance=float("1e-12"))

Check for interfacing vel and self correct.

planner_block.timeshift¶

def timeshift(delta_t: float)

Shift planner block in time.

Arguments:

delta_t - (float) time to be shifted

pyGCodeDecode.plotter¶

This module provides functionality for 3D plotting of G-code simulation data using PyVista.

plot_2d¶

def plot_2d(sim: simulation,
            filepath: pathlib.Path = pathlib.Path("trajectory_2D.png"),
            colvar="Velocity",
            show_points=False,
            colvar_spatial_resolution=1,
            dpi=400,
            scaled=True,
            show=False)

Plot 2D position (XY plane) with matplotlib (unmaintained).

plot_3d¶

def plot_3d(sim: simulation,
            extrusion_only: bool = True,
            scalar_value: str = "velocity",
            screenshot_path: pathlib.Path = None,
            camera_settings: dict = None,
            vtk_path: pathlib.Path = None,
            mesh: pv.MultiBlock = None,
            layer_select: int = None,
            z_scaler: float = None,
            window_size: tuple = (2048, 1536),
            mpl_subplot: bool = False,
            mpl_rcParams: Union[dict, None] = None,
            solid_color: str = "black",
            transparent_background: bool = True,
            parallel_projection: bool = False,
            lighting: bool = True,
            block_colorbar: bool = False,
            extra_plotting: callable = None,
            overwrite_labels: Union[dict, None] = None,
            scalar_value_bounds: Union[Tuple[float, float], None] = None,
            return_type: str = "mesh") -> pv.MultiBlock

Plot a 3D visualization of G-code simulation data using PyVista.

Arguments:

sim simulation - The simulation object containing blocklist and segment data.
extrusion_only bool, optional - If True, plot only segments where extrusion occurs. Defaults to True.
scalar_value str, optional - Scalar value to color the plot. Options: "velocity", "rel_vel_err", "acceleration", or None. Defaults to "velocity".
screenshot_path pathlib.Path, optional - If provided, saves a screenshot to this path and disables interactive plotting. Defaults to None.
camera_settings dict, optional - Camera settings for the plotter. Keys: "camera_position", "elevation", "azimuth", "roll". Defaults to None.
vtk_path pathlib.Path, optional - If provided, saves the mesh as a VTK file to this path. Defaults to None.
mesh pv.MultiBlock, optional - Precomputed PyVista mesh to use instead of generating a new one. Defaults to None.
layer_select int, optional - If provided, only plot the specified layer. Defaults to None (all layers).
z_scaler float, optional - Scaling factor for the z-axis layer squishing (z_scaler = width/height of extrusion). Defaults to None (automatic scaling).
window_size tuple, optional - Size of the plot window in pixels. Defaults to (2048, 1536).
mpl_subplot bool, optional - If True, use matplotlib for screenshot and colorbar. Defaults to False.
mpl_rcParams dict or None, optional - Custom matplotlib rcParams for styling. Defaults to None.
solid_color str, optional - Background color for the plot. Defaults to "black".
transparent_background bool, optional - If True, screenshot background is transparent. Defaults to True.
parallel_projection bool, optional - If True, enables parallel projection in PyVista. Defaults to False.
lighting bool, optional - If True, enables lighting in the plot. Defaults to True.
block_colorbar bool, optional - If True, removes the scalar colorbar from the plot. Defaults to False.
extra_plotting callable, optional - Function to add extra plotting to the PyVista plotter. Signature: (plotter, mesh). Defaults to None.
overwrite_labels dict or None, optional - Dictionary to overwrite colorbar labels. Defaults to None.
scalar_value_bounds tuple or None, optional - Tuple (min, max) to set scalar colorbar range. Defaults to None.
return_type str, optional - Return type, "mesh" or "image". Defaults to "mesh".

Returns:

pv.MultiBlock - The PyVista mesh used for plotting. or
np.ndarray - The screenshot image if screenshot_path is provided and return_type is "image".

plot_vel¶

def plot_vel(sim: simulation,
             axis: Tuple[str] = ("x", "y", "z", "e"),
             show: bool = True,
             show_planner_blocks: bool = True,
             show_segments: bool = False,
             show_jv: bool = False,
             time_steps: Union[int, str] = "constrained",
             filepath: pathlib.Path = None,
             dpi: int = 400) -> Figure

Plot axis velocity with matplotlib.

Arguments:

axis - (tuple(string), default = ("x", "y", "z", "e")) select plot axis
show - (bool, default = True) show plot and return plot figure
show_planner_blocks - (bool, default = True) show planner_blocks as vertical lines
show_segments - (bool, default = False) show segments as vertical lines
show_jv - (bool, default = False) show junction velocity as x
time_steps - (int or string, default = "constrained") number of time steps or constrain plot vertices to segment vertices
filepath - (Path, default = None) save fig as image if filepath is provided
dpi - (int, default = 400) select dpi

Returns:

(optionally) - fig - (figure)

pyGCodeDecode.result¶

Result calculation for segments and planner blocks.

abstract_result Objects¶

class abstract_result(ABC)

Abstract class for result calculation.

abstract_result.calc_pblock¶

@abstractmethod
def calc_pblock(pblock: "planner_block", **kwargs)

Calculate the result for a planner block.

abstract_result.calc_segm¶

@abstractmethod
def calc_segm(segm: "segment", **kwargs)

Calculate the result for a segment.

abstract_result.name¶

@property
@abstractmethod
def name()

Name of the result. Has to be set in the derived class.

acceleration_result Objects¶

class acceleration_result(abstract_result)

The acceleration.

acceleration_result.calc_pblock¶

def calc_pblock(pblock, **kwargs)

Calculate the acceleration for a planner block.

acceleration_result.calc_segm¶

def calc_segm(segm: "segment", **kwargs)

Calculate the acceleration for a segment.

get_all_result_calculators¶

def get_all_result_calculators()

Get all results.

get_result_info¶

def get_result_info()

Get information about available result calculators.

has_private_results¶

def has_private_results()

Check if private results are available.

velocity_result Objects¶

class velocity_result(abstract_result)

The velocity.

velocity_result.calc_pblock¶

def calc_pblock(pblock: "planner_block", **kwargs)

Calculate the velocity for a planner block.

velocity_result.calc_segm¶

def calc_segm(segm: "segment", **kwargs)

Calculate the velocity for a segment.

pyGCodeDecode.state¶

State module with state.

state Objects¶

class state()

State contains a Position and Printing Settings (p_settings) to apply for the corresponding move to this State.

state.init¶

def __init__(state_position: position = None,
             state_p_settings: p_settings = None)

Initialize a state.

Arguments:

state_position - (position) state position
state_p_settings - (p_settings) state printing settings

state.repr¶

def __repr__() -> str

Call str() for representation.

state.str¶

def __str__() -> str

Generate string for representation.

state.line_number¶

@property
def line_number()

Define property line_number.

state.line_number¶

@line_number.setter
def line_number(nmbr)

Set line number.

Arguments:

nmbr - (int) line number

state.next_state¶

@property
def next_state()

Define property next_state.

state.next_state¶

@next_state.setter
def next_state(state: "state")

Set next state.

Arguments:

state - (state) next state

p_settings Objects¶

class p_settings()

Store Printing Settings.

p_settings.init¶

def __init__(p_acc, jerk, vX, vY, vZ, vE, speed, units="SI (mm)")

Initialize printing settings.

Arguments:

p_acc - (float) printing acceleration
jerk - (float) jerk or similar
vX - (float) max x velocity
vY - (float) max y velocity
vZ - (float) max z velocity
vE - (float) max e velocity
speed - (float) default target velocity
units - (string, default = "SI (mm)") unit settings

p_settings.repr¶

def __repr__() -> str

Define representation.

p_settings.str¶

def __str__() -> str

Create summary string for p_settings.

state.prev_state¶

@property
def prev_state()

Define property prev_state.

state.prev_state¶

@prev_state.setter
def prev_state(state: "state")

Set previous state.

Arguments:

state - (state) previous state

state.state_p_settings¶

@property
def state_p_settings()

Define property state_p_settings.

state.state_position¶

@property
def state_position()

Define property state_position.

pyGCodeDecode.state_generator¶

State generator module.

generate_states¶

def generate_states(filepath: pathlib.Path,
                    initial_machine_setup: dict) -> List[state]

Generate state list from GCode file.

Arguments:

filepath - (Path) filepath to GCode
initial_machine_setup - (dict) dictionary with machine setup

Returns:

states - (list[states]) all states in a list

pyGCodeDecode.tools¶

Tools for pyGCD.

save_layer_metrics¶

def save_layer_metrics(
        simulation: simulation,
        filepath: Optional[pathlib.Path] = pathlib.Path("./layer_metrics.csv"),
        locale: str = None,
        delimiter: str = ";") -> Optional[tuple[list, list, list, list]]

Print out print times, distance traveled and the average travel speed to a csv-file.

Arguments:

simulation - (simulation) simulation instance
filepath - (Path , default = "./layer_metrics.csv") file name
locale - (string, default = None) select locale settings, e.g. "en_US.utf8", None = use system locale
delimiter - (string, default = ";") select delimiter

Layers are detected using the given layer cue.

write_submodel_times¶

def write_submodel_times(simulation: simulation,
                         sub_orig: list,
                         sub_side_x_len: float,
                         sub_side_y_len: float,
                         sub_side_z_len: float,
                         filename: Optional[pathlib.Path] = pathlib.Path(
                             "submodel_times.yaml"),
                         **kwargs) -> dict

Write the submodel entry and exit times to a yaml file.

Arguments:

simulation - (simulation) the simulation instance to analyze
sub_orig - (list with [xcoord, ycoord, zcoord]) the origin of the submodel control volume
sub_side_len - (float) the side length of the submodel control volume
filename - (string) yaml filename
**kwargs - (any) provide additional info to write into the yaml file

pyGCodeDecode.utils¶

Utilities.

Utils for the GCode Reader contains: - vector 4D - velocity - position

acceleration Objects¶

class acceleration(vector_4D)

4D - Acceleration object for (Cartesian) 3D printer.

acceleration.mul¶

def __mul__(other)

Multiply acceleration by a time to get velocity, or by scalar.

acceleration.str¶

def __str__() -> str

Print out acceleration.

acceleration.truediv¶

def __truediv__(other)

Divide acceleration by scalar.

position Objects¶

class position(vector_4D)

4D - Position object for (Cartesian) 3D printer.

position.str¶

def __str__() -> str

Print out position.

position.truediv¶

def __truediv__(other)

Divide position by seconds to get velocity.

position.get_t_distance¶

def get_t_distance(other=None, withExtrusion: bool = False) -> float

Calculate the travel distance between self and other position. If none is provided, zero will be used.

Arguments:

other - (4D vector, 1x4 'list', 1x4 'tuple' or 1x4 'numpy.ndarray', default = None)
withExtrusion - (bool, default = False) use or ignore extrusion

Returns:

travel - (float) travel or extrusion and travel distance

position.is_extruding¶

def is_extruding(other: "position", ignore_retract: bool = True) -> bool

Return True if there is extrusion between self and other position.

Arguments:

other - (4D vector, 1x4 'list', 1x4 'tuple' or 1x4 'numpy.ndarray')
ignore_retract - (bool, default = True) if true ignore retract movements else retract is also extrusion

Returns:

is_extruding - (bool) true if between self and other is extrusion

position.is_travel¶

def is_travel(other) -> bool

Return True if there is travel between self and other position.

Arguments:

other - (4D vector, 1x4 'list', 1x4 'tuple' or 1x4 'numpy.ndarray')

Returns:

is_travel - (bool) true if between self and other is distance

seconds Objects¶

class seconds(float)

A float subclass representing a time duration in seconds.

Arguments:

value float or int - The time duration in seconds.

Examples:

>>> from pyGCodeDecode.utils import seconds
>>> t = seconds(5)
>>> str(t)
'5.0 s'
>>> t.seconds
5.0

seconds.add¶

def __add__(other) -> "seconds"

Add seconds or float and return a new seconds instance.

seconds.new¶

def __new__(cls, value)

Create a new instance of seconds.

seconds.repr¶

def __repr__() -> str

Return a string representation of the seconds object.

seconds.str¶

def __str__() -> str

Return string representation of the time in seconds.

seconds.sub¶

def __sub__(other) -> "seconds"

Subtract seconds or float and return a new seconds instance.

seconds.seconds¶

@property
def seconds() -> float

Return the float value of the seconds instance.

segment Objects¶

class segment()

Store Segment data for linear 4D Velocity function segment.

contains: time, position, velocity Supports - str

Additional methods - move_segment_time: moves Segment in time by a specified interval - get_velocity: returns the calculated Velocity for all axis at a given point in time - get_position: returns the calculated Position for all axis at a given point in time - get_segm_len: returns the length of the segment.

Class method - create_initial: returns the artificial initial segment where everything is at standstill, intervall length = 0 - self_check: returns True if all self checks have been successfull

segment.init¶

def __init__(t_begin: Union[float, seconds],
             t_end: Union[float, seconds],
             pos_begin: position,
             vel_begin: velocity,
             pos_end: position = None,
             vel_end: velocity = None)

Initialize a segment.

Arguments:

t_begin - (float) begin of segment
t_end - (float) end of segment
pos_begin - (position) beginning position of segment
vel_begin - (velocity) beginning velocity of segment
pos_end - (position, default = None) ending position of segment
vel_end - (velocity, default = None) ending velocity of segment

segment.repr¶

def __repr__()

Segment representation.

segment.str¶

def __str__() -> str

Create string from segment.

segment.create_initial¶

@classmethod
def create_initial(cls,
                   initial_position: Optional[position] = None) -> "segment"

Create initial static segment with (optionally) initial position else start from Zero.

Arguments:

initial_position - (postion, default = None) position to begin segment series

Returns:

segment - (segment) initial beginning segment

segment.get_position¶

def get_position(t: Union[float, seconds]) -> position

Get current position of segment at a certain time.

Arguments:

t - (float) time

Returns:

pos - (position) position at time t

segment.get_result¶

def get_result(key: str)

Return the requested result.

Arguments:

key - (str) choose result

Returns:

result - (list)

segment.get_segm_duration¶

def get_segm_duration() -> seconds

Return the duration of the segment.

segment.get_segm_len¶

def get_segm_len() -> float

Return the length of the segment.

segment.get_velocity¶

def get_velocity(t: Union[float, seconds]) -> velocity

Get current velocity of segment at a certain time.

Arguments:

t - (float) time

Returns:

current_vel - (velocity) velocity at time t

segment.get_velocity_by_dist¶

def get_velocity_by_dist(dist: float) -> float

Return the velocity magnitude at a certain local segment distance.

Arguments:

dist - (float) distance from segment start

segment.is_extruding¶

def is_extruding() -> bool

Return true if the segment is pos. extruding.

Returns:

is_extruding - (bool) true if positive extrusion

segment.move_segment_time¶

def move_segment_time(delta_t: Union[float, seconds]) -> None

Move segment in time.

Arguments:

delta_t - (float) time to be shifted

segment.self_check¶

def self_check(p_settings: "state.p_settings" = None) -> bool

Check the segment for self consistency.

Raises:

ValueError - if self check fails

Arguments:

p_settings - (p_settings, default = None) printing settings to verify

Returns:

True if all checks pass

vector_4D Objects¶

class vector_4D()

The vector_4D class stores 4D vector in x,y,z,e.

Supports: - str - add - sub - mul (scalar) - truediv (scalar) - eq

vector_4D.add¶

def __add__(other)

Add functionality for 4D vectors.

Arguments:

other - (4D vector, 1x4 'list', 1x4 'tuple' or 1x4 'numpy.ndarray')

Returns:

add - (self) component wise addition

vector_4D.eq¶

def __eq__(other) -> bool

Check for equality and return True if equal.

Arguments:

other - (4D vector, 1x4 'list', 1x4 'tuple' or 1x4 'numpy.ndarray')

Returns:

eq - (bool) true if equal

vector_4D.gt¶

def __gt__(other) -> bool

Check for greater than and return True if greater.

Arguments:

other - (4D vector, 1x4 'list', 1x4 'tuple' or 1x4 'numpy.ndarray')

Returns:

gt - (bool) true if greater

vector_4D.init¶

def __init__(*args)

Store 3D position + extrusion axis.

Arguments:

args - coordinates as arguments x,y,z,e or (tuple or list) [x,y,z,e]

vector_4D.mul¶

def __mul__(other)

Scalar multiplication functionality for 4D vectors.

Arguments:

other - (float or int)

Returns:

mul - (self) scalar multiplication, scaling

vector_4D.repr¶

def __repr__()

Return a string representation of the 4D vector.

vector_4D.str¶

def __str__() -> str

Return string representation.

vector_4D.sub¶

def __sub__(other)

Sub functionality for 4D vectors.

Arguments:

other - (4D vector, 1x4 'list', 1x4 'tuple' or 1x4 'numpy.ndarray')

Returns:

sub - (self) component wise subtraction

vector_4D.truediv¶

def __truediv__(other)

Scalar division functionality for 4D Vectors.

Arguments:

other - (float or int)

Returns:

div - (self) scalar division, scaling

vector_4D.get_norm¶

def get_norm(withExtrusion: bool = False) -> float

Return the 4D vector norm. Optional with extrusion.

Arguments:

withExtrusion - (bool, default = False) choose if norm contains extrusion

Returns:

norm - (float) length/norm of 3D or 4D vector

vector_4D.get_vec¶

def get_vec(withExtrusion: bool = False) -> List[float]

Return the 4D vector, optionally with extrusion.

Arguments:

withExtrusion - (bool, default = False) choose if vec repr contains extrusion

Returns:

vec - (list[3 or 4]) with (x,y,z,(optionally e))

velocity Objects¶

class velocity(vector_4D)

4D - Velocity object for (Cartesian) 3D printer.

velocity.mul¶

def __mul__(other)

Multiply velocity by a time to get position, or by scalar.

velocity.str¶

def __str__() -> str

Print out velocity.

velocity.truediv¶

def __truediv__(other)

Divide velocity by scalar.

velocity.get_norm_dir¶

def get_norm_dir(withExtrusion: bool = False) -> Optional[np.ndarray]

Get normalized direction vector as numpy array.

If only extrusion occurs and withExtrusion=True, normalize to the extrusion length.

Returns None if both travel and extrusion are zero.

velocity.is_extruding¶

def is_extruding() -> bool

Return True if extrusion velocity is greater than zero.

Returns:

is_extruding - (bool) true if positive extrusion velocity

velocity.not_zero¶

def not_zero() -> bool

Return True if velocity is not zero.

Returns:

not_zero - (bool) true if velocity is not zero

pyGCodeDecode API Reference¶

pyGCodeDecode.abaqus_file_generator¶

generate_abaqus_event_series¶

pyGCodeDecode.cli¶

pyGCodeDecode.gcode_interpreter¶

find_current_segment¶

generate_planner_blocks¶

setup Objects¶

setup.__getattr__¶

setup.__init__¶

setup.__setattr__¶

setup.check_initial_setup¶

setup.get_dict¶

setup.get_scaling_factor¶

setup.load_setup¶

setup.set_initial_position¶

setup.set_property¶

simulation Objects¶

simulation.__getattr__¶

simulation.__init__¶

simulation.calc_results¶

simulation.calculate_averages¶

simulation.extrusion_extent¶

simulation.extrusion_max_vel¶

simulation.get_scaling_factor¶

simulation.get_values¶

simulation.get_width¶

simulation.print_summary¶

simulation.refresh¶

simulation.save_summary¶

simulation.trajectory_self_correct¶

unpack_blocklist¶

pyGCodeDecode.helpers¶

custom_print¶

get_verbosity_level¶

ProgressBar Objects¶

ProgressBar.__init__¶

ProgressBar.update¶

set_verbosity_level¶

pyGCodeDecode.helpers.VERBOSITY_LEVEL¶

pyGCodeDecode.junction_handling¶

get_handler¶

junction_deviation Objects¶

junction_deviation.__init__¶

junction_deviation.calc_JD¶

junction_deviation.get_junction_vel¶

junction_handling Objects¶

junction_handling.__init__¶

junction_handling.connect_state¶

junction_handling.get_junction_vel¶

junction_handling.get_target_vel¶

marlin Objects¶

marlin.__init__¶

marlin.calc_j_vel¶

marlin.get_junction_vel¶

mka Objects¶

prusa Objects¶

prusa.__init__¶

prusa.calc_j_vel¶

prusa.get_junction_vel¶

ultimaker Objects¶

ultimaker.__init__¶

ultimaker.calc_j_vel¶

ultimaker.get_junction_vel¶

pyGCodeDecode.planner_block¶

planner_block Objects¶

planner_block.__init__¶

planner_block.__repr__¶

planner_block.__str__¶

planner_block.calc_results¶

planner_block.extrusion_block_max_vel¶

planner_block.get_block_travel¶

planner_block.get_segments¶

planner_block.inverse_time_at_pos¶

planner_block.move_maker¶

planner_block.next_block¶

planner_block.prev_block¶

planner_block.self_correction¶

planner_block.timeshift¶

pyGCodeDecode.plotter¶

setup.getattr¶

setup.init¶

setup.setattr¶

simulation.getattr¶

simulation.init¶

ProgressBar.init¶

junction_deviation.init¶

junction_handling.init¶

marlin.init¶

prusa.init¶

ultimaker.init¶

planner_block.init¶

planner_block.repr¶

planner_block.str¶

state.init¶

state.repr¶

state.str¶

p_settings.init¶

p_settings.repr¶

p_settings.str¶

acceleration.mul¶

acceleration.str¶

acceleration.truediv¶

position.str¶

position.truediv¶

seconds.add¶

seconds.new¶

seconds.repr¶

seconds.str¶

seconds.sub¶

segment.init¶

segment.repr¶

segment.str¶