GCodeParser.py

def initialize_motion_controller():
    """
    Initialize the motion control system, including stepper motor drivers, 
    encoder feedback, and necessary peripherals.

    This function sets up the RTOS core to interface with the hardware 
    and configures the control parameters like acceleration, velocity, and jerk limits.
    
    Returns:
        bool: True if initialization succeeds, False otherwise.
    """
    pass

def main():
    while (1):  
        pass
pass

def check_safety_conditions():
    """
    Continuously monitor safety conditions like limits, tool collisions, 
    or excessive loads.

    Returns:
        bool: True if all conditions are safe, False otherwise.
    """
    pass

def stop_motion_on_error():
    """
    Immediately stop all motion if a safety condition is violated or 
    an error occurs.

    This function ensures that the machine is brought to a halt safely 
    without causing damage or losing position.
    """
    pass

def handle_gcode_file(file_path):
    """
    Process an entire G-code file, line by line, and execute the commands.

    Args:
        file_path (str): Path to the G-code file.
    
    Returns:
        bool: True if the entire file was successfully processed, False otherwise.
    """
    pass

def parse_gcode_line(line):
    """
    Parse a single line of G-code and extract commands and parameters.

    Args:
        line (str): A single line of G-code (e.g., "G1 X10.0 Y15.0 Z-1.0 F1000").
    
    Returns:
        dict: A dictionary containing parsed elements, e.g., 
              {"command": "G1", "X": 10.0, "Y": 15.0, "Z": -1.0, "F": 1000}.
    """
    
    # Remove comments and strip whitespace
    line = line.split(';')[0].strip()
    if not line:
        return {}  # Return an empty dictionary for empty lines
    
    # Split the line into tokens (command and arguments)
    tokens = line.split()
    
    # Initialize the result dictionary
    parsed = {}
    
    # The first token is the command (e.g., "G1", "M3")
    if tokens:
        parsed['command'] = tokens[0]
    
    # Remaining tokens are parameters with their values
    for token in tokens[1:]:
        # Each parameter is a letter followed by a number (e.g., "X10.0")
        if len(token) > 1 and token[1:].replace('.', '', 1).replace('-', '', 1).isdigit():
            key = token[0]  # Parameter name (e.g., "X")
            value = float(token[1:]) if '.' in token or 'e' in token.lower() else int(token[1:])  # Parameter value
            parsed[key] = value
    
    return parsed

def update_position_feedback():
    """
    Update the machine's actual position based on encoder or linear scale feedback.

    This function runs continuously to ensure the machine's position is 
    synchronized with the motion plan.

    Returns:
        tuple: A tuple containing the updated (X, Y, Z) positions in millimeters.
    """
    pass

def plan_motion(parsed_command):
    """
    Generate a motion plan based on the parsed G-code command.

    This includes trajectory planning with velocity, acceleration, 
    and feed rate considerations. 

    Args:
        parsed_command (dict): The dictionary output from `parse_gcode_line`.

    Returns:
        dict: A motion plan including intermediate points, timing, and target positions.
    """

    # MOTION COMMANDS

    def G0(args):
        """
        Rapid positioning.

        Moves the machine as quickly as possible to the specified position without 
        considering feed rate. This command is typically used for non-cutting moves.

        Arguments:
            X (float): Target position on the X-axis.
            Y (float): Target position on the Y-axis.
            Z (float): Target position on the Z-axis.
            A (float): Target position on the A-axis (rotational).
            B (float): Target position on the B-axis (rotational).
            C (float): Target position on the C-axis (rotational).

        Notes:
            - Movement is typically performed in a straight line for Cartesian systems.
            - In systems with jointed arms, the move may follow a direct path in joint space.
        """

        for axis, position in args.items():
            steps, direction = calculate_steps_and_direction(axis, position)
            move_axis(axis, steps, direction, speed=MAX_RAPID_SPEED)

        pass


    def G1(args):
        """
        Linear interpolation.

        Moves the machine to the specified position in a straight line at a controlled 
        feed rate.

        Arguments:
            X (float): Target position on the X-axis.
            Y (float): Target position on the Y-axis.
            Z (float): Target position on the Z-axis.
            F (float): Feed rate in units per minute (optional).

        Notes:
            - Used for cutting or controlled material deposition moves.
        """

        feed_rate = args.get('F', DEFAULT_FEED_RATE)
        trajectory = calculate_trajectory(args)  # Use Bresenham or other interpolation algorithm
        for step in trajectory:
            for axis, delta in step.items():
                move_axis(axis, delta['steps'], delta['direction'], feed_rate)

        pass


    def G2(args):
        """
        Clockwise circular interpolation.

        Moves the machine in a clockwise arc from the current position to the specified 
        endpoint, considering the specified radius or center.

        Arguments:
            X (float): Target position on the X-axis.
            Y (float): Target position on the Y-axis.
            Z (float): Target position on the Z-axis (optional for helical motion).
            I (float): Incremental distance to arc center on the X-axis.
            J (float): Incremental distance to arc center on the Y-axis.
            R (float): Radius of the arc (optional, can replace I/J).

        Notes:
            - Helical moves are possible by adding a Z component.
        """

        


    def G3(args):
        """
        Counterclockwise circular interpolation.

        Same as G2 but moves counterclockwise.

        Arguments:
            X, Y, Z, I, J, R: Same as G2.
        """



        pass


    # PLANE SELECTION

    def G17(args):
        """
        Select XY plane for circular interpolation (default plane).

        Notes:
            - Affects G2 and G3 arcs.
            - No additional arguments.
        """
        pass


    def G18(args):
        """
        Select XZ plane for circular interpolation.

        Notes:
            - Affects G2 and G3 arcs.
        """
        pass


    def G19(args):
        """
        Select YZ plane for circular interpolation.

        Notes:
            - Affects G2 and G3 arcs.
        """
        pass


    # UNITS AND POSITIONING

    def G20(args):
        """
        Set units to inches.

        Notes:
            - No additional arguments.
        """
        pass


    def G21(args):
        """
        Set units to millimeters (default for most systems).

        Notes:
            - No additional arguments.
        """
        pass


    def G90(args):
        """
        Set absolute positioning.

        All coordinates are interpreted as absolute positions relative to the origin.
        """
        pass


    def G91(args):
        """
        Set relative (incremental) positioning.

        All coordinates are interpreted as offsets from the current position.
        """
        pass


    # SPINDLE CONTROL

    def M3(args):
        """
        Start spindle clockwise.

        Arguments:
            S (float): Spindle speed in RPM (optional, if not already set).
        """

        speed = args.get('S', DEFAULT_SPINDLE_SPEED)
        set_spindle_speed(speed, clockwise=True)

        pass


    def M4(args):
        """
        Start spindle counterclockwise.

        Arguments:
            S (float): Spindle speed in RPM (optional).
        """

        speed = args.get('S', DEFAULT_SPINDLE_SPEED)
        set_spindle_speed(speed, clockwise=False)

        pass


    def M5(args):
        """
        Stop spindle.

        Notes:
            - No additional arguments.
        """

        disable_spindle()

        pass


    # FEED RATE CONTROL

    def G93(args):
        """
        Inverse time feed rate mode.

        Specifies the feed rate in terms of the time required to move between points.
        """
        pass


    def G94(args):
        """
        Units per minute feed rate mode.

        Specifies the feed rate in units per minute (default mode).
        """
        pass


    
    # COOLANT CONTROL

    def M7(args):
        """
        Turn on mist coolant.

        Notes:
            - No additional arguments.
        """
        pass


    def M8(args):
        """
        Turn on flood coolant.

        Notes:
            - No additional arguments.
        """
        pass


    def M9(args):
        """
        Turn off all coolants.

        Notes:
            - No additional arguments.
        """
        pass



    # TOOL CHANGE

    def M6(args):
        """
        Perform tool change.

        Arguments:
            T (int): Tool number to change to.
        """
        pass


    # STOP COMMANDS

    def M0(args):
        """
        Program pause (optional stop).

        Notes:
            - Operator must resume manually.
        """
        pass


    def M1(args):
        """
        Program pause (optional stop, same as M0 but operator-dependent).
        """
        pass


    def M30(args):
        """
        End of program.

        Stops the machine and optionally rewinds to the start of the program.
        """
        pass


    # MISCELLANEOUS

    def G4(args):
        """
        Dwell.
    
        Pauses the machine for a specified duration.
    
        Arguments:
            P (float): Time to dwell in milliseconds.
        """
        pass
    
    
    def G28(args):
        """
        Return to home position.
    
        Moves the machine axes to their predefined home positions.
    
        Arguments:
            X, Y, Z (optional): Axis to home (if specified, only that axis homes).
        """

        axes_to_home = args.keys() if args else ['X', 'Y', 'Z']
        for axis in axes_to_home:
            home_axis(axis)

        pass
    
    
    def G92(args):
        """
        Set current position.
    
        Defines the current position of the machine without actual movement.
    
        Arguments:
            X (float): New position for X-axis.
            Y (float): New position for Y-axis.
            Z (float): New position for Z-axis.
        """
        pass
    


    pass

def execute_motion_step(motion_step):
    """
    Send low-level commands to stepper motors or servo motors 
    to execute a single motion step.

    Args:
        motion_step (dict): A dictionary containing the next position, 
                            velocity, and timing for the step.
    
    Returns:
        bool: True if the motion step was successfully executed, False otherwise.
    """
    pass

def set_step_pin(motor_id, value):
    """
    Set the step pin of the specified motor.
    
    Args:
        motor_id (int): ID of the motor (e.g., 1 or 2).
        value (bool): True for high, False for low.
    """
    pass  # Implement GPIO control for the step pin here.

def set_direction_pin(motor_id, direction):
    """
    Set the direction pin of the specified motor.
    
    Args:
        motor_id (int): ID of the motor (e.g., 1 or 2).
        direction (bool): True for forward, False for reverse.
    """
    pass  # Implement GPIO control for the direction pin here.

def enable_motor(motor_id):
    """
    Enable the specified motor.
    
    Args:
        motor_id (int): ID of the motor (e.g., 1 or 2).
    """
    pass  # Implement GPIO control for the enable pin here.

def disable_motor(motor_id):
    """
    Disable the specified motor.
    
    Args:
        motor_id (int): ID of the motor (e.g., 1 or 2).
    """
    pass  # Implement GPIO control for the enable pin here.

def delay_microseconds(microseconds):
    """
    Delay execution for a specified number of microseconds.
    
    Args:
        microseconds (int): Number of microseconds to delay.
    """
    pass  # Implement precise delay functionality (e.g., with a hardware timer).

def set_motor_speed(motor_id, speed):
    """
    Set the speed of the specified motor (in steps per second).
    
    Args:
        motor_id (int): ID of the motor (e.g., 1 or 2).
        speed (float): Speed in steps per second.
    """
    pass  # Configure a timer or software function for step pulse generation.

def move_axis(axis, steps, direction, speed):
    """
    Move a specific axis using stepper motor control.

    Args:
        axis (str): Axis identifier ('X', 'Y', 'Z', etc.).
        steps (int): Number of steps to move.
        direction (bool): Direction of movement (True for positive, False for negative).
        speed (float): Speed in steps per second.
    """
    set_direction_pin(axis, direction)
    for _ in range(steps):
        set_step_pin(axis, True)
        delay_microseconds(1_000_000 / (2 * speed))  # Half period for high state
        set_step_pin(axis, False)
        delay_microseconds(1_000_000 / (2 * speed))  # Half period for low state


def set_spindle_speed(speed, clockwise=True):
    """
    Control spindle speed and direction.

    Args:
        speed (float): Spindle speed in RPM.
        clockwise (bool): True for clockwise, False for counterclockwise.
    """
    if clockwise:
        enable_spindle_clockwise()
    else:
        enable_spindle_counterclockwise()
    set_spindle_pwm(speed)


def home_axis(axis):
    """
    Home a specific axis until the endstop is triggered.

    Args:
        axis (str): Axis identifier ('X', 'Y', 'Z', etc.).
    """
    while not read_endstop(axis):
        move_axis(axis, steps=1, direction=False, speed=100)  # Slowly move towards endstop
    set_current_position(axis, 0)  # Set the axis position to home


def control_coolant(mist=False, flood=False):
    """
    Control the coolant system.

    Args:
        mist (bool): Turn on mist coolant if True.
        flood (bool): Turn on flood coolant if True.
    """
    set_coolant_mist(mist)
    set_coolant_flood(flood)


def dwell(milliseconds):
    """
    Pause execution for a specified time.

    Args:
        milliseconds (int): Duration of the pause in milliseconds.
    """
    delay_microseconds(milliseconds * 1_000)