Ast.py

####################################################################################################
#
# PythonicGcodeMachine - A Python G-code Toolkit
# Copyright (C) 2018 Fabrice Salvaire
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program.  If not, see <http://www.gnu.org/licenses/>.
#
####################################################################################################

"""Module to implement an AST for RS-274 G-code.

All classes are clonable.
"""

####################################################################################################

__all__ = [
    'Program',
    # 'LineItem',
    'Line',
    'Comment',
    'Word',
    # 'RealValue',
    'ParameterMixin',
    'ParameterSetting',
    'Parameter',

    # 'UnaryOperation',
    'AbsoluteValue',
    'ArcCosine',
    'ArcSine',
    'ArcTangent',
    'Cosine',
    'ERaisedTo',
    'FixDown',
    'FixUp',
    'NaturalLogOf',
    'Round',
    'Sine',
    'SquareRoot',
    'Tangent',

    # 'BinaryOperation',
    'Power',
    'DividedBy',
    'Modulo',
    'Multiply',
    'And',
    'ExclusiveOr',
    'Subtraction',
    'Or',
    'Addition',
]

####################################################################################################

import math
import re

import colors

####################################################################################################

class MachineMixin:

    """Mixin to define the target machine for the AST node"""

    ##############################################

    def __init__(self, machine=None):
        self._machine = machine

    ##############################################

    @property
    def machine(self):
        return self._machine

    @machine.setter
    def machine(self, value):
        self._machine = value

####################################################################################################

class Program(MachineMixin):

    """Class to implement a G-code program

    Usage::

        program = Program()
        program += line

        # Array interface
        for line in programs:
            print(line)

        str(program)

        program2 = program.clone()

    """

    ##############################################

    def __init__(self, machine=None):
        super().__init__(machine)
        self._lines = []

    ##############################################

    def clone(self):

        program = self.__class__(machine=self._machine)
        for line in self:
            program += line.clone()

        return program

    ##############################################

    def push(self, line):
        self._lines.append(line)

    def __iadd__(self, item):
        self.push(item)
        return self

    ##############################################

    def __len__(self):
        return len(self._lines)

    def __iter__(self):
        return iter(self._lines)

    def __getitem__(self, _slice):
        return self._lines[_slice]

    def iter_on_not_deleted(self):
        for line in self._lines:
            if line:
                yield line

    ##############################################

    def __repr__(self):

        text = 'Program(\n'
        for line in self:
            text += repr(line) + '\n'
        text += ')\n'

        return text

    ##############################################

    def __str__(self):
        return '\n'.join(map(str, self))

####################################################################################################

class CloneMixin:

    """Mixin to provide a method to clone value"""

    @staticmethod
    def _clone_value(value):
        if hasattr(value, 'clone'):
            return value.clone()
        else:
            return value

####################################################################################################

class LineItem(MachineMixin, CloneMixin):

    """Base class for line item"""

    ##############################################

    def _check_value(self, value):

        if (isinstance(value, (int, float)) or
            isinstance(value, RealValue)):
            return value
        else:
            try:
                str_value = str(value)
            except:
                raise ValueError("Invalid value {}".format(value))
            # Fixme:
            from .Parser import GcodeParser, GcodeParserError
            parser = GcodeParser()
            try:
                # Fixme: parser hack
                ast = parser.parse('X' + value)
                return ast[0].value
            except GcodeParserError:
                raise ValueError("Invalid G-code value {}".format(value))

    ##############################################

    def ansi_str(self):
        return str(self)

####################################################################################################

class Line(MachineMixin):

    """Class to implement a G-code line

    Usage::

        line = Line(deleted=False, line_number=1, comment='a comment')

        line.deleted = True
        print(line.deleted)
        # same apply for line_number and comment

        # Is line not deleted ?
        bool(line)

        # Push some items
        # Note: order doesn't matter, see RS-274 for details
        line += Word('G', 0)
        line += Comment('move')
        line += Word('X', 10)
        line += Comment('Y value')
        line += Word('Y', 20.)
        line += ParameterSetting('1', 1.2)

        # using expression, AST way
        line += Word('Z', Addition(30, Multiply(Parameter(100), Cosine(30))))
        # string way
        line += Word('Z', '[30 + [#100 * cos[30]]]')

        # Array interface
        for item in line:
            print(item)

        str(line)
        print(line.ansi_str()) # use ANSI colors, see Line.ANSI_... attributes

        a_line = line.clone()

    Values can be passed as:

    * int or float,
    * AST for expression,
    * any object that "str" evaluate to a valid G-code expression.

    As a shortcut, a G/M-code operation can be passed as string::

        line += 'G0'

    Expression can be evaluated using :code:`float(obj.value)`, excepted when we must access a parameter
    value.

    """

    ANSI_DELETED = colors.red
    ANSI_LINE_NUMBER = colors.blue
    ANSI_COMMENT = colors.green
    ANSI_SETTING = colors.blue
    ANSI_G = colors.red
    ANSI_X = colors.blue
    ANSI_VALUE = colors.black

    ##############################################

    def __init__(self, deleted=False, line_number=None, comment=None, machine=None):

        super().__init__(machine)

        self.deleted = deleted
        self.line_number = line_number
        self.comment = comment

        self._items = []

    ##############################################

    def clone(self):

        line = self.__class__(self._deleted, self._line_number, self._comment, self._machine)
        for item in self:
            line += item.clone()

        return line

    ##############################################

    @property
    def deleted(self):
        return self._deleted

    @deleted.setter
    def deleted(self, value):
        self._deleted = bool(value)

    @property
    def line_number(self):
        return self._line_number

    @line_number.setter
    def line_number(self, value):
        if value is not None:
            value = float(value)
            if value.is_integer():
                value = int(value)
        self._line_number = value

    @property
    def comment(self):
        return self._comment

    @comment.setter
    def comment(self, value):
        if value is not None:
            self._comment = str(value)
        else:
            self._comment = None

    ##############################################

    def _push_item(self, item):
        if not isinstance(item, LineItem):
            item = Word.from_str(item)
            # Fixme: try to parse ???
        self._items.append(item)

    def push_items(self, iterable):
        """Method to push an iterable"""
        for item in iterable:
            self.push(item)

    def push(self, item):
        """Method to push a valid item, a 'G/Mxxx' shortcut string, a list or tuple"""
        if isinstance(item, (list, tuple, Line)):
            self.push_items(item)
        else:
            self._push_item(item)

    def __iadd__(self, item):
        """push shortcut"""
        self.push(item)
        return self

    ##############################################

    def __bool__(self):
        return not self._deleted

    ##############################################

    def __len__(self):
        return len(self._items)

    def __iter__(self):
        return iter(self._items)

    def __getitem__(self, _slice):
        return self._items[_slice]

    ##############################################

    def iter_on_word(self):
        for item in self:
            if isinstance(item, Word):
                yield item

    def iter_on_gm_word(self):
        for item in self:
            if isinstance(item, Word) and item.is_gm_gcode:
                yield item

    def iter_on_x_word(self):
        for item in self:
            if isinstance(item, Word) and not item.is_gm_gcode:
                yield item

    def iter_on_setting(self):
        for item in self:
            if isinstance(item, ParameterSetting):
                yield item

    def iter_in_order(self):
        words = [word for word in self.iter_on_gm_word()]
        words.sort(key=lambda word: word.execution_order.index)
        return words

    ##############################################

    def toggle(self):
        """Toggle deleted flag"""
        self._deleted = not self._deleted

    def remove_line_number(self):
        self._line_number = None

    ##############################################

    def remove_comment(self):
        self._comment = None
        for i, item in enumerate(self):
            if isinstance(item, Comment):
                # self._items.pop(i)
                del self._items[i]

    ##############################################

    def __repr__(self):

        items = []
        if not self:
            items.append('Deleted')
        items += list(map(repr, self))
        if self._comment:
            items.append(self._comment)

        return 'Line{}'.format(self, items)

    ##############################################

    def __str__(self):

        line = ''
        if not self:
            line += '/ '
        if self._line_number:
            line += 'N{} '.format(self._line_number)
        line += ' '.join(map(str, self))
        if self._comment:
            line += ' ; ' + self._comment

        return line

    ##############################################

    def ansi_str(self):

        line = ''
        if not self:
            # line += self.ANSI_DELETED('/ ')
            return self.ANSI_DELETED(str(self))
        if self._line_number:
            line += self.ANSI_LINE_NUMBER('N{} '.format(self._line_number))
        line += ' '.join([item.ansi_str() for item in self])
        if self._comment:
            line += ' ' + self.ANSI_COMMENT('; ' + self._comment)

        return line

####################################################################################################

class Comment(LineItem):

    """Class to implement comment"""

    ##############################################

    def __init__(self, text, machine=None):
        super().__init__(machine)
        self.set(text)

    ##############################################

    def clone(self):
        return self.__class__(self._text, self._machine)

    ##############################################

    def set(self, text):
        if '(' in text:
            raise ValueError('Comment cannot contains a "("')
        self._text = str(text)

    ##############################################

    @property
    def text(self):
        return self._text

    @text.setter
    def text(self, value):
        self.set(value)

    ##############################################

    def __repr__(self):
        return 'Comment({0._text})'.format(self)

    def __str__(self):
        return '({0._text})'.format(self)

    def ansi_str(self):
        return Line.ANSI_COMMENT(str(self))

####################################################################################################

class Word(LineItem):

    """Class to implement word"""

    LETTERS = (
        'A', 'B', 'C', 'D',
        'F', 'G', 'H', 'I', 'J', 'K', 'L', 'M', # 'N',
        'P', 'Q', 'R', 'S', 'T',
        'X', 'Y', 'Z',
    )

    WORD_RE = re.compile('(G|M)(\d+)')

    ##############################################

    @classmethod
    def from_str(cls, obj):

        str_obj = str(obj)
        match = cls.WORD_RE.match(str_obj)
        if match is not None:
            return cls(*match.groups())
        else:
            raise ValueError(obj)

    ##############################################

    def __init__(self, letter, value, machine=None):
        super().__init__(machine)
        self.letter = letter
        self.value = value

    ##############################################

    def clone(self):
        return self.__class__(self._letter, self._clone_value(self._value), self._machine)

    ##############################################

    @property
    def letter(self):
        return self._letter

    @letter.setter
    def letter(self, value):
        value = str(value).upper()
        if value not in self.LETTERS:
            raise ValueError
        self._letter = value

    @property
    def value(self):
        return self._value

    @value.setter
    def value(self, value):
        self._value = self._check_value(value)

    ##############################################

    def __repr__(self):
        return 'Word({0._letter}, {0._value})'.format(self)

    def __str__(self):
        return '{0._letter}{0._value}'.format(self)

    def ansi_str(self):

        if self._machine:
            gm = self._machine.GM_LETTERS
        else:
            gm = 'GM'

        if self._letter in gm:
            return Line.ANSI_G(str(self))
        else:
            return Line.ANSI_X(self._letter) + Line.ANSI_VALUE(str(self._value))

    ##############################################

    def _check_machine(self):
        if self._machine is None:
            raise NameError('Machine is not defined')

    ##############################################

    @property
    def is_gm_gcode(self):
        self._check_machine()
        return self._machine.is_gm_word(self)

    ##############################################

    @property
    def is_valid_gcode(self):
        if self.is_gm_gcode:
            return str(self) in self._machine.config.gcodes
        else:
            return True

    ##############################################

    @property
    def meaning(self):
        if self.is_gm_gcode:
            return self._machine.config.gcodes[str(self)].meaning
        else:
            return self._machine.config.letters[self.letter].meaning

    ##############################################

    @property
    def modal_group(self):
        if self.is_gm_gcode:
            return self._machine.config.modal_groups[str(self)]
        else:
            return None

    ##############################################

    @property
    def execution_order(self):
        if self.is_gm_gcode:
            return self._machine.config.execution_order[str(self)]
        else:
            return None

####################################################################################################

class RealValue(MachineMixin, CloneMixin):
    """Base class for real value"""
    pass

####################################################################################################

class ParameterMixin:

    """Mixin for parameter"""

    ##############################################

    def __init__(self, parameter):
        self.parameter = parameter

    ##############################################

    @property
    def parameter(self):
        return self._parameter

    @parameter.setter
    def parameter(self, value):
        try:
            value = int(value)
        except ValueError:
            value = str(value)
        self._parameter = value

####################################################################################################

class ParameterSetting(LineItem, ParameterMixin):

    """Class to implement parameter setting"""

    ##############################################

    def __init__(self, parameter, value, machine=None):
        super().__init__(machine)
        ParameterMixin.__init__(self, parameter)
        self.value = value

    ##############################################

    def clone(self):
        return self.__class__(self._parameter, self._clone_value(self._value), self._machine)

    ##############################################
    @property
    def value(self):
        return self._value

    @value.setter
    def value(self, value):
        self._value = self._check_value(value)

    ##############################################

    def __repr__(self):
        return 'ParameterSetting({0._parameter} = {0._value})'.format(self)

    def __str__(self):
        return '#{0._parameter}={0._value}'.format(self)

    def ansi_str(self):
        return Line.ANSI_SETTING('#{0._parameter}='.format(self)) + Line.ANSI_VALUE(str(self._value))

####################################################################################################

class Parameter(RealValue, ParameterMixin):

    """Class to implement parameter"""

    ##############################################

    def __init__(self, parameter, machine=None):
        super().__init__(machine)
        ParameterMixin.__init__(self, parameter)

    ##############################################

    def clone(self):
        return self.__class__(self._parameter, self._machine)

    ##############################################

    def __repr__(self):
        return 'Parameter({0._parameter})'.format(self)

    def __str__(self):
        return '#{0._parameter}'.format(self)

    ##############################################

    def __float__(self):
        raise NotImplementedError

####################################################################################################

class UnaryOperation(RealValue):

    """Base class for unary operation"""

    __function__ = None
    __gcode__ = None

    ##############################################

    def __init__(self, arg, machine=None):
        super().__init__(machine)
        self.arg = arg

    ##############################################

    def clone(self):
        return self.__class__(self._clone_value(self._arg), self._machine)

    ##############################################

    @property
    def arg(self):
        return self._arg

    @arg.setter
    def arg(self, value):
        self._arg = value

    ##############################################

    def __float__(self):
        return self.__function__(float(self._arg))

    ##############################################

    def __repr__(self):
        return '{}({})'.format(self.__class__.__name__, repr(self._arg))

    ##############################################

    def __str__(self):
        return '{0.__gcode__}[{0._arg}]'.format(self)

####################################################################################################

class AbsoluteValue(UnaryOperation):
    __function__ = staticmethod(abs)
    __gcode__ = 'abs'

class ArcCosine(UnaryOperation):
    __function__ = staticmethod(lambda x: math.acos(math.radians(x)))
    __gcode__ = 'acos'

class ArcSine(UnaryOperation):
    __function__ = staticmethod(lambda x: math.degrees(math.asin(x)))
    __gcode__ = 'asin'

class ArcTangent(UnaryOperation):
    __function__ = staticmethod(lambda x: math.degrees(math.atan(x)))
    __gcode__ = 'atan'

class Cosine(UnaryOperation):
    __function__ = staticmethod(lambda x: math.cos(math.radians(x)))
    __gcode__ =  'cos'

class ERaisedTo(UnaryOperation):
    __function__ = staticmethod(math.exp)
    __gcode__ = 'exp'

class FixDown(UnaryOperation):
    __function__ = staticmethod(math.ceil)
    __gcode__ = 'fix'

class FixUp(UnaryOperation):
    __function__ = staticmethod(math.floor)
    __gcode__ = 'fup'

class NaturalLogOf(UnaryOperation):
    __function__ = staticmethod(math.log)
    __gcode__ = 'ln'

class Round(UnaryOperation):
    __function__ = staticmethod(round)
    __gcode__ =  'round'

class Sine(UnaryOperation):
    __function__ = staticmethod(lambda x: math.sin(math.radians(x)))
    __gcode__ = 'sin'

class SquareRoot(UnaryOperation):
    __function__ = staticmethod(math.sqrt)
    __gcode__ = 'sqrt'

class Tangent(UnaryOperation):
    __function__ = staticmethod(lambda x: ath.tan(math.radians(x)))
    __gcode__ = 'tan'

####################################################################################################

class BinaryOperation(RealValue):

    """Base class for binary operation"""

    __function__ = None
    __gcode__ = None

    ##############################################

    def __init__(self, arg1, arg2, machine=None):
        super().__init__(machine)
        self.arg1 = arg1
        self.arg2 = arg2

    ##############################################

    def clone(self):
        return self.__class__(self._clone_value(self._arg1), self._clone_value(self.arg2), self._machine)

    ##############################################

    @property
    def arg1(self):
        return self._arg1

    @arg1.setter
    def arg1(self, value):
        self._arg1 = value

    @property
    def arg2(self):
        return self._arg2

    @arg2.setter
    def arg2(self, value):
        self._arg2 = value

    ##############################################

    def __float__(self):
        return self.__function__(float(self._arg1), float(self._arg2))

    ##############################################

    def __repr__(self):
        return '{}({})'.format(self.__class__.__name__, repr(self._arg))

    ##############################################

    def __str__(self):
        return '[{0._arg1} {0.__gcode__} {0._arg2}]'.format(self)

####################################################################################################

class Power(BinaryOperation):
    __function__ = staticmethod(lambda a, b: a**b)
    __gcode__ = '**'

class DividedBy(BinaryOperation):
    __function__ = staticmethod(lambda a, b: a / b)
    __gcode__ = '/'

class Modulo(BinaryOperation):
    __function__ = staticmethod(lambda a, b: a % b)
    __gcode__ = 'mod'

class Multiply(BinaryOperation):
    __function__ = staticmethod(lambda a, b: a * b)
    __gcode__ =  '*'

class And(BinaryOperation):
    __function__ = staticmethod(lambda a, b: a & b)
    __gcode__ = 'and'

class ExclusiveOr(BinaryOperation):
    __function__ = staticmethod(lambda a, b: a ^ b)
    __gcode__ = 'xor'

class Subtraction(BinaryOperation):
    __function__ = staticmethod(lambda a, b: a - b)
    __gcode__ = '-'

class Or(BinaryOperation):
    __function__ = staticmethod(lambda a, b: a | b)
    __gcode__ = 'or'

class Addition(BinaryOperation):
    __function__ = staticmethod(lambda a, b: a + b)
    __gcode__ = '+'