onefinity-firmware/src/py/bbctrl/AuxPreprocessor.py

################################################################################
#
# AuxPreprocessor - rewrite ATC M-codes into hook calls
#
# History
# -------
# v1: rewrote W tokens into (MSG,HOOK:aux:N) lines because the bbctrl
#     planner only understood XYZABC and the W axis was driven via a
#     side-channel.
# v2: W is now exposed to gplan as a virtual A axis (see ExternalAxis),
#     so gplan handles W motion natively. The preprocessor no longer
#     touches W tokens. ATC pneumatics still go through the hook
#     channel because they're events, not motion.
#
# What this still does
# --------------------
# Maps four user-defined M-codes onto pneumatic-tool-changer events:
#
#   M100  DROPTOOL  -> (MSG,HOOK:droptool:)
#   M101  GRABTOOL  -> (MSG,HOOK:grabtool:)
#   M102  RELEASE   -> (MSG,HOOK:release:)
#   M103  CLAMP     -> (MSG,HOOK:clamp:)
#
# M100-M103 are in LinuxCNC/Buildbotics' user-defined range, so the
# planner won't error if the codes leak through unrewritten - it just
# won't *do* anything. We strip them out and emit the matching hook
# line in their place.
#
# The preprocessor is intentionally conservative: anything it doesn't
# understand is left alone.
#
################################################################################

import os
import re
import shutil
import tempfile


# Strip line comments so we don't get fooled by "(M100 not really)".
_PAREN_COMMENT_RE = re.compile(r'\([^)]*\)')

# ATC pneumatics M-codes mapped onto hook events.
_ATC_M_CODES = {
    100: 'droptool',
    101: 'grabtool',
    102: 'release',
    103: 'clamp',
}
_ATC_M_RE = re.compile(
    r'(?<![A-Za-z_0-9])[Mm]\s*0*(' +
    '|'.join(str(n) for n in _ATC_M_CODES) +
    r')(?![\w.])'
)

# Detect a W axis token. We no longer rewrite W to A automatically;
# instead we warn so the user knows their old gcode needs migration.
# (The W support was removed when the axis was integrated as a real
# A axis through gplan.)
_W_TOKEN_RE = re.compile(r'(?<![A-Za-z_0-9])[Ww]\s*[-+]?\d*\.?\d+')


class AuxPreprocessorError(Exception):
    pass


class AuxPreprocessor(object):
    def __init__(self, log=None):
        self.log = log
        self._w_warned = False

    def _info(self, msg):
        if self.log: self.log.info(msg)

    def _warn(self, msg):
        if self.log: self.log.warning(msg)

    # ------------------------------------------------------------------ scan

    @staticmethod
    def file_uses_aux(path):
        """Quick check: does this file contain anything the preprocessor
        would rewrite (currently: just ATC M-codes)?"""
        try:
            with open(path, 'r', encoding='utf-8', errors='replace') as f:
                for line in f:
                    code = _PAREN_COMMENT_RE.sub('', line)
                    code = code.split(';', 1)[0]
                    if _ATC_M_RE.search(code):
                        return True
        except Exception:
            pass
        return False

    # Backwards-compat alias.
    file_uses_w = file_uses_aux

    # ------------------------------------------------------------------ run

    def process(self, src_path, dst_path):
        """Read src_path, write rewritten G-code to dst_path. Returns
        True if any rewrite happened."""
        rewrote_any = False

        with open(src_path, 'r', encoding='utf-8', errors='replace') as fin, \
                open(dst_path, 'w', encoding='utf-8') as fout:
            for raw in fin:
                line = raw.rstrip('\n')

                # Comment-only or blank lines pass through verbatim.
                code = _PAREN_COMMENT_RE.sub('', line)
                code = code.split(';', 1)[0]
                if not code.strip():
                    fout.write(raw)
                    continue

                # Warn (once) if the file still uses W tokens. The
                # standard way is now G1 A<value>; old files must be
                # migrated by hand.
                if (not self._w_warned) and _W_TOKEN_RE.search(code):
                    self._warn('Found W axis token in gcode; W is no '
                               'longer recognized by bbctrl. Use A '
                               'instead. (warning suppressed for '
                               'subsequent W tokens in this file)')
                    self._w_warned = True

                # ATC M-codes (M100-M103). Each ATC M-code on the line
                # is replaced with its (MSG,HOOK:<event>:) line and
                # stripped from the residual.
                atc_matches = list(_ATC_M_RE.finditer(line))
                if atc_matches:
                    rewrote_any = True
                    for m in atc_matches:
                        try: num = int(m.group(1))
                        except ValueError: continue
                        event = _ATC_M_CODES.get(num)
                        if event:
                            fout.write('(MSG,HOOK:%s:)\n' % event)
                    line = _ATC_M_RE.sub('', line)
                    code = _PAREN_COMMENT_RE.sub('', line)
                    code = code.split(';', 1)[0]
                    if not code.strip():
                        # Nothing meaningful left; preserve any trailing
                        # comment text but skip empty lines.
                        rest = line.rstrip()
                        if rest:
                            fout.write(rest + '\n')
                        continue
                    # Other gcode remains on the line - emit it.
                    fout.write(line + '\n')
                    continue

                # No rewrite needed.
                fout.write(raw)

        return rewrote_any


def preprocess_file(src_path, log=None, **_unused):
    """Convenience: rewrite src_path in place if it contains ATC
    M-codes. Returns True if the file was rewritten.

    Extra keyword args are accepted for backwards compat (the old
    w_first arg is no longer used)."""
    if not AuxPreprocessor.file_uses_aux(src_path):
        return False
    pre = AuxPreprocessor(log=log)
    fd, tmp = tempfile.mkstemp(prefix='auxpre_', suffix='.nc',
                               dir=os.path.dirname(src_path) or None)
    os.close(fd)
    try:
        rewrote = pre.process(src_path, tmp)
        if rewrote:
            shutil.move(tmp, src_path)
            return True
        os.unlink(tmp)
        return False
    except Exception:
        try:
            os.unlink(tmp)
        except OSError:
            pass
        raise