FreeCAD / src /Mod /CAM /Path /Post /scripts /KineticNCBeamicon2_post.py

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# SPDX-License-Identifier: LGPL-2.1-or-later

# ***************************************************************************
# *   Copyright (c) 2014 sliptonic <shopinthewoods@gmail.com>               *
# *                                                                         *
# *   This file is part of the FreeCAD CAx development system.              *
# *                                                                         *
# *   This program is free software; you can redistribute it and/or modify  *
# *   it under the terms of the GNU Lesser General Public License (LGPL)    *
# *   as published by the Free Software Foundation; either version 2 of     *
# *   the License, or (at your option) any later version.                   *
# *   for detail see the LICENCE text file.                                 *
# *                                                                         *
# *   FreeCAD 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 Lesser General Public License for more details.                   *
# *                                                                         *
# *   You should have received a copy of the GNU Library General Public     *
# *   License along with FreeCAD; if not, write to the Free Software        *
# *   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  *
# *   USA                                                                   *
# *                                                                         *
# ***************************************************************************/

# ****************************************************************************
# *   Modifications by Samuel Mayer (samuel.mayer@posteo.de)                 *
# *   2021                                                                   *
# *                                                                          *
# *   This postprocessor is based on the linuxcnc_post coming with FreeCAD   *
# *   0.19 and modified to work with Kinetic-NC (cnc-step.com) and Beamicon2 *
# *   (benezan-electronics.de) (up to 4 Axis)                                *
# *                                                                          *
# ***************************************************************************/

import FreeCAD
from FreeCAD import Units
import Path
import Path.Base.Util as PathUtil
import Path.Post.Utils as PostUtils
import argparse
import datetime
import shlex
from PathScripts import PathUtils
import PathScripts.PathUtils as PathUtils
from builtins import open as pyopen

TOOLTIP = """
This is a postprocessor file for the Path workbench. It is used to
take a pseudo-G-code fragment outputted by a Path object, and output
real G-code suitable for the KineticNC/Beamicon2 Control Software for up to 4 Axis (3 plus rotary).
The CORNER_MAX Values are set for a mill with max travel of 1000mm in X, 600mm in Y and 300mm in Z direction.
This postprocessor, once placed in the appropriate PathScripts folder, can be used directly from inside
FreeCAD, via the GUI importer or via python scripts with:
import KineticNCBeamicon2_post
KineticNCBeamicon2_post.export(object,"/path/to/file.ncc","")
"""

now = datetime.datetime.now()

parser = argparse.ArgumentParser(
    prog="linuxcnc",
    add_help=False,
)
parser.add_argument("--no-header", action="store_true", help="suppress header output")
parser.add_argument("--no-comments", action="store_true", help="suppress comment output")
parser.add_argument("--line-numbers", action="store_true", help="prefix with line numbers")
parser.add_argument(
    "--no-show-editor",
    action="store_true",
    help="don't pop up editor before writing output",
)
parser.add_argument("--precision", default="3", help="number of digits of precision, default=3")
parser.add_argument(
    "--preamble",
    help=r'set commands to be issued before the first command, default="%%\nG17 G21 G40 G49 G80 G90\nM08\n"',
)
parser.add_argument(
    "--postamble",
    help=r'set commands to be issued after the last command, default="M05 M09\nG17 G90 G80 G40\nM30\n"',
)
parser.add_argument(
    "--inches", action="store_true", help="Convert output for US imperial mode (G20)"
)
parser.add_argument(
    "--modal",
    action="store_true",
    help="Output the Same G-command Name USE NonModal Mode",
)
parser.add_argument("--axis-modal", action="store_true", help="Output the Same Axis Value Mode")

TOOLTIP_ARGS = parser.format_help()

# These globals set common customization preferences
OUTPUT_COMMENTS = True
OUTPUT_HEADER = True
OUTPUT_LINE_NUMBERS = False
SHOW_EDITOR = True
MODAL = False  # if true commands are suppressed if the same as previous line.
OUTPUT_DOUBLES = True  # if false duplicate axis values are suppressed if the same as previous line.
COMMAND_SPACE = " "
LINENR = 100  # line number starting value

# These globals will be reflected in the Machine configuration of the project
UNITS = "G21"  # G21 for metric, G20 for us standard
UNIT_SPEED_FORMAT = "mm/min"
UNIT_FORMAT = "mm"

MACHINE_NAME = "not set"
CORNER_MIN = {"x": 0, "y": 0, "z": 0}
CORNER_MAX = {"x": 1000, "y": 600, "z": 300}
PRECISION = 3

# Preamble text will appear at the beginning of the GCODE output file.
PREAMBLE = """%
G17 G21 G40 G49 G80 G90
"""

# Postamble text will appear following the last operation.
POSTAMBLE = """M05
M09
G17 G90 G80 G40
M30
"""

# Pre operation text will be inserted before every operation
PRE_OPERATION = """"""

# Post operation text will be inserted after every operation
POST_OPERATION = """"""

# Tool Change commands will be inserted before a tool change
TOOL_CHANGE = """M05
M09
"""


def processArguments(argstring):
    global OUTPUT_HEADER
    global OUTPUT_COMMENTS
    global OUTPUT_LINE_NUMBERS
    global SHOW_EDITOR
    global PRECISION
    global PREAMBLE
    global POSTAMBLE
    global UNITS
    global UNIT_SPEED_FORMAT
    global UNIT_FORMAT
    global MODAL
    global OUTPUT_DOUBLES

    try:
        args = parser.parse_args(shlex.split(argstring))
        if args.no_header:
            OUTPUT_HEADER = False
        if args.no_comments:
            OUTPUT_COMMENTS = False
        if args.line_numbers:
            OUTPUT_LINE_NUMBERS = True
        if args.no_show_editor:
            SHOW_EDITOR = False
        print("Show editor = %d" % SHOW_EDITOR)
        PRECISION = args.precision
        if args.preamble is not None:
            PREAMBLE = args.preamble.replace("\\n", "\n")
        if args.postamble is not None:
            POSTAMBLE = args.postamble.replace("\\n", "\n")
        if args.inches:
            UNITS = "G20"
            UNIT_SPEED_FORMAT = "in/min"
            UNIT_FORMAT = "in"
            PRECISION = 4
        if args.modal:
            MODAL = True
        if args.axis_modal:
            print("here")
            OUTPUT_DOUBLES = False

    except:
        return False

    return True


def export(objectslist, filename, argstring):
    if not processArguments(argstring):
        return None
    global UNITS
    global UNIT_FORMAT
    global UNIT_SPEED_FORMAT

    for obj in objectslist:
        if not hasattr(obj, "Path"):
            print(
                "the object " + obj.Name + " is not a path. Please select only path and Compounds."
            )
            return None

    print("postprocessing...")
    gcode = ""

    # write header
    if OUTPUT_HEADER:
        gcode += linenumber() + "(Exported by FreeCAD)\n"
        gcode += linenumber() + "(Post Processor: " + __name__ + ")\n"
        gcode += linenumber() + "(Output Time:" + str(now) + ")\n"

    # Write the preamble
    if OUTPUT_COMMENTS:
        gcode += linenumber() + "(begin preamble)\n"
    for line in PREAMBLE.splitlines():
        gcode += linenumber() + line + "\n"
    gcode += linenumber() + UNITS + "\n"

    for obj in objectslist:
        # Skip inactive operations
        if not PathUtil.activeForOp(obj):
            continue

        # fetch machine details
        job = PathUtils.findParentJob(obj)

        myMachine = "not set"

        if hasattr(job, "MachineName"):
            myMachine = job.MachineName

        if hasattr(job, "MachineUnits"):
            if job.MachineUnits == "Metric":
                UNITS = "G21"
                UNIT_FORMAT = "mm"
                UNIT_SPEED_FORMAT = "mm/min"
            else:
                UNITS = "G20"
                UNIT_FORMAT = "in"
                UNIT_SPEED_FORMAT = "in/min"

        # do the pre_op
        if OUTPUT_COMMENTS:
            gcode += linenumber() + "(begin operation: %s)\n" % obj.Label
            gcode += linenumber() + "(machine: %s, %s)\n" % (
                myMachine,
                UNIT_SPEED_FORMAT,
            )
        for line in PRE_OPERATION.splitlines(True):
            gcode += linenumber() + line

        # get coolant mode
        coolantMode = PathUtil.coolantModeForOp(obj)

        # turn coolant on if required
        if OUTPUT_COMMENTS:
            if not coolantMode == "None":
                gcode += linenumber() + "(Coolant On:" + coolantMode + ")\n"
        if coolantMode == "Flood":
            gcode += linenumber() + "M8" + "\n"
        if coolantMode == "Mist":
            gcode += linenumber() + "M7" + "\n"

        # process the operation gcode
        gcode += parse(obj)

        # do the post_op
        if OUTPUT_COMMENTS:
            gcode += linenumber() + "(finish operation: %s)\n" % obj.Label
        for line in POST_OPERATION.splitlines(True):
            gcode += linenumber() + line

        # turn coolant off if required
        if not coolantMode == "None":
            if OUTPUT_COMMENTS:
                gcode += linenumber() + "(Coolant Off:" + coolantMode + ")\n"
            gcode += linenumber() + "M9" + "\n"

    # do the post_amble
    if OUTPUT_COMMENTS:
        gcode += "(begin postamble)\n"
    for line in POSTAMBLE.splitlines():
        gcode += linenumber() + line + "\n"

    if FreeCAD.GuiUp and SHOW_EDITOR:
        dia = PostUtils.GCodeEditorDialog()
        dia.editor.setPlainText(gcode)
        result = dia.exec_()
        if result:
            final = dia.editor.toPlainText()
        else:
            final = gcode
    else:
        final = gcode

    print("done postprocessing.")

    if not filename == "-":
        gfile = pyopen(filename, "w")
        gfile.write(final)
        gfile.close()

    return final


def linenumber():
    global LINENR
    if OUTPUT_LINE_NUMBERS is True:
        LINENR += 10
        return "N" + str(LINENR) + " "
    return ""


def parse(pathobj):
    global PRECISION
    global MODAL
    global OUTPUT_DOUBLES
    global UNIT_FORMAT
    global UNIT_SPEED_FORMAT

    out = ""
    lastcommand = None
    precision_string = "." + str(PRECISION) + "f"
    currLocation = {}  # keep track for no doubles

    # the order of parameters
    # linuxcnc doesn't want K properties on XY plane  Arcs need work.
    params = [
        "X",
        "Y",
        "Z",
        "A",
        "B",
        "C",
        "I",
        "J",
        "F",
        "S",
        "T",
        "Q",
        "R",
        "L",
        "H",
        "D",
        "P",
    ]
    firstmove = Path.Command("G0", {"X": -1, "Y": -1, "Z": -1, "F": 0.0})
    currLocation.update(firstmove.Parameters)  # set First location Parameters

    if hasattr(pathobj, "Group"):  # We have a compound or project.
        # if OUTPUT_COMMENTS:
        #     out += linenumber() + "(compound: " + pathobj.Label + ")\n"
        for p in pathobj.Group:
            out += parse(p)
        return out
    else:  # parsing simple path

        # groups might contain non-path things like stock.
        if not hasattr(pathobj, "Path"):
            return out

        # if OUTPUT_COMMENTS:
        #     out += linenumber() + "(" + pathobj.Label + ")\n"

        for c in PathUtils.getPathWithPlacement(pathobj).Commands:

            outstring = []
            command = c.Name

            if pathobj.Label == "Drilling" and command in ["G98", "G99"]:
                out += linenumber() + "(" + command + " removed as KineticNC do not support it)\n"
                continue

            if command in ["G85"]:
                out += linenumber() + "(" + command + " removed as KineticNC do not support it)\n"
                continue

            outstring.append(command)

            # if modal: suppress the command if it is the same as the last one
            if MODAL is True:
                if command == lastcommand:
                    outstring.pop(0)

            if c.Name.startswith("(") and not OUTPUT_COMMENTS:  # command is a comment
                continue

            # Now add the remaining parameters in order
            for param in params:
                if param in c.Parameters:
                    if param == "F" and (
                        currLocation[param] != c.Parameters[param] or OUTPUT_DOUBLES
                    ):
                        if c.Name not in [
                            "G0",
                            "G00",
                        ]:  # linuxcnc doesn't use rapid speeds
                            speed = Units.Quantity(c.Parameters["F"], FreeCAD.Units.Velocity)
                            if speed.getValueAs(UNIT_SPEED_FORMAT) > 0.0:
                                outstring.append(
                                    param
                                    + format(
                                        float(speed.getValueAs(UNIT_SPEED_FORMAT)),
                                        precision_string,
                                    )
                                )
                        else:
                            continue
                    elif param == "T":
                        outstring.append(param + str(int(c.Parameters["T"])))
                    elif param == "H":
                        outstring.append(param + str(int(c.Parameters["H"])))
                    elif param == "D":
                        outstring.append(param + str(int(c.Parameters["D"])))
                    elif param == "S":
                        outstring.append(param + str(int(c.Parameters["S"])))
                    else:
                        if (
                            (not OUTPUT_DOUBLES)
                            and (param in currLocation)
                            and (currLocation[param] == c.Parameters[param])
                        ):
                            continue
                        else:
                            pos = Units.Quantity(c.Parameters[param], FreeCAD.Units.Length)
                            outstring.append(
                                param + format(float(pos.getValueAs(UNIT_FORMAT)), precision_string)
                            )

            if (
                command in ["G0"]
                and "Z" not in c.Parameters
                and pathobj.Label == "Drilling"
                and "R" in currLocation.keys()
            ):
                if not OUTPUT_DOUBLES:
                    continue
                else:
                    pos = Units.Quantity(currLocation["R"], FreeCAD.Units.Length)
                    outstring.append(
                        "Z" + format(float(pos.getValueAs(UNIT_FORMAT)), precision_string)
                    )

            # store the latest command
            lastcommand = command
            currLocation.update(c.Parameters)

            # Check for Tool Change:
            if command == "M6":
                # if OUTPUT_COMMENTS:
                #     out += linenumber() + "(begin toolchange)\n"
                for line in TOOL_CHANGE.splitlines(True):
                    out += linenumber() + line

            if command == "message":
                if OUTPUT_COMMENTS is False:
                    out = []
                else:
                    outstring.pop(0)  # remove the command

            # prepend a line number and append a newline
            if len(outstring) >= 1:
                if OUTPUT_LINE_NUMBERS:
                    outstring.insert(0, (linenumber()))

                # append the line to the final output
                for w in outstring:
                    out += w + COMMAND_SPACE
                out = out.strip() + "\n"

        return out

	# SPDX-License-Identifier: LGPL-2.1-or-later

	# ***************************************************************************
	# * Copyright (c) 2014 sliptonic <shopinthewoods@gmail.com> *
	# * *
	# * This file is part of the FreeCAD CAx development system. *
	# * *
	# * This program is free software; you can redistribute it and/or modify *
	# * it under the terms of the GNU Lesser General Public License (LGPL) *
	# * as published by the Free Software Foundation; either version 2 of *
	# * the License, or (at your option) any later version. *
	# * for detail see the LICENCE text file. *
	# * *
	# * FreeCAD 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 Lesser General Public License for more details. *
	# * *
	# * You should have received a copy of the GNU Library General Public *
	# * License along with FreeCAD; if not, write to the Free Software *
	# * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 *
	# * USA *
	# * *
	# ***************************************************************************/

	# ****************************************************************************
	# * Modifications by Samuel Mayer (samuel.mayer@posteo.de) *
	# * 2021 *
	# * *
	# * This postprocessor is based on the linuxcnc_post coming with FreeCAD *
	# * 0.19 and modified to work with Kinetic-NC (cnc-step.com) and Beamicon2 *
	# * (benezan-electronics.de) (up to 4 Axis) *
	# * *
	# ***************************************************************************/

	import FreeCAD
	from FreeCAD import Units
	import Path
	import Path.Base.Util as PathUtil
	import Path.Post.Utils as PostUtils
	import argparse
	import datetime
	import shlex
	from PathScripts import PathUtils
	import PathScripts.PathUtils as PathUtils
	from builtins import open as pyopen

	TOOLTIP = """
	This is a postprocessor file for the Path workbench. It is used to
	take a pseudo-G-code fragment outputted by a Path object, and output
	real G-code suitable for the KineticNC/Beamicon2 Control Software for up to 4 Axis (3 plus rotary).
	The CORNER_MAX Values are set for a mill with max travel of 1000mm in X, 600mm in Y and 300mm in Z direction.
	This postprocessor, once placed in the appropriate PathScripts folder, can be used directly from inside
	FreeCAD, via the GUI importer or via python scripts with:

	import KineticNCBeamicon2_post
	KineticNCBeamicon2_post.export(object,"/path/to/file.ncc","")
	"""

	now = datetime.datetime.now()

	parser = argparse.ArgumentParser(
	prog="linuxcnc",
	add_help=False,
	)
	parser.add_argument("--no-header", action="store_true", help="suppress header output")
	parser.add_argument("--no-comments", action="store_true", help="suppress comment output")
	parser.add_argument("--line-numbers", action="store_true", help="prefix with line numbers")
	parser.add_argument(
	"--no-show-editor",
	action="store_true",
	help="don't pop up editor before writing output",
	)
	parser.add_argument("--precision", default="3", help="number of digits of precision, default=3")
	parser.add_argument(
	"--preamble",
	help=r'set commands to be issued before the first command, default="%%\nG17 G21 G40 G49 G80 G90\nM08\n"',
	)
	parser.add_argument(
	"--postamble",
	help=r'set commands to be issued after the last command, default="M05 M09\nG17 G90 G80 G40\nM30\n"',
	)
	parser.add_argument(
	"--inches", action="store_true", help="Convert output for US imperial mode (G20)"
	)
	parser.add_argument(
	"--modal",
	action="store_true",
	help="Output the Same G-command Name USE NonModal Mode",
	)
	parser.add_argument("--axis-modal", action="store_true", help="Output the Same Axis Value Mode")

	TOOLTIP_ARGS = parser.format_help()

	# These globals set common customization preferences
	OUTPUT_COMMENTS = True
	OUTPUT_HEADER = True
	OUTPUT_LINE_NUMBERS = False
	SHOW_EDITOR = True
	MODAL = False # if true commands are suppressed if the same as previous line.
	OUTPUT_DOUBLES = True # if false duplicate axis values are suppressed if the same as previous line.
	COMMAND_SPACE = " "
	LINENR = 100 # line number starting value

	# These globals will be reflected in the Machine configuration of the project
	UNITS = "G21" # G21 for metric, G20 for us standard
	UNIT_SPEED_FORMAT = "mm/min"
	UNIT_FORMAT = "mm"

	MACHINE_NAME = "not set"
	CORNER_MIN = {"x": 0, "y": 0, "z": 0}
	CORNER_MAX = {"x": 1000, "y": 600, "z": 300}
	PRECISION = 3

	# Preamble text will appear at the beginning of the GCODE output file.
	PREAMBLE = """%
	G17 G21 G40 G49 G80 G90
	"""

	# Postamble text will appear following the last operation.
	POSTAMBLE = """M05
	M09
	G17 G90 G80 G40
	M30
	"""

	# Pre operation text will be inserted before every operation
	PRE_OPERATION = """"""

	# Post operation text will be inserted after every operation
	POST_OPERATION = """"""

	# Tool Change commands will be inserted before a tool change
	TOOL_CHANGE = """M05
	M09
	"""


	def processArguments(argstring):
	global OUTPUT_HEADER
	global OUTPUT_COMMENTS
	global OUTPUT_LINE_NUMBERS
	global SHOW_EDITOR
	global PRECISION
	global PREAMBLE
	global POSTAMBLE
	global UNITS
	global UNIT_SPEED_FORMAT
	global UNIT_FORMAT
	global MODAL
	global OUTPUT_DOUBLES

	try:
	args = parser.parse_args(shlex.split(argstring))
	if args.no_header:
	OUTPUT_HEADER = False
	if args.no_comments:
	OUTPUT_COMMENTS = False
	if args.line_numbers:
	OUTPUT_LINE_NUMBERS = True
	if args.no_show_editor:
	SHOW_EDITOR = False
	print("Show editor = %d" % SHOW_EDITOR)
	PRECISION = args.precision
	if args.preamble is not None:
	PREAMBLE = args.preamble.replace("\\n", "\n")
	if args.postamble is not None:
	POSTAMBLE = args.postamble.replace("\\n", "\n")
	if args.inches:
	UNITS = "G20"
	UNIT_SPEED_FORMAT = "in/min"
	UNIT_FORMAT = "in"
	PRECISION = 4
	if args.modal:
	MODAL = True
	if args.axis_modal:
	print("here")
	OUTPUT_DOUBLES = False

	except:
	return False

	return True


	def export(objectslist, filename, argstring):
	if not processArguments(argstring):
	return None
	global UNITS
	global UNIT_FORMAT
	global UNIT_SPEED_FORMAT

	for obj in objectslist:
	if not hasattr(obj, "Path"):
	print(
	"the object " + obj.Name + " is not a path. Please select only path and Compounds."
	)
	return None

	print("postprocessing...")
	gcode = ""

	# write header
	if OUTPUT_HEADER:
	gcode += linenumber() + "(Exported by FreeCAD)\n"
	gcode += linenumber() + "(Post Processor: " + __name__ + ")\n"
	gcode += linenumber() + "(Output Time:" + str(now) + ")\n"

	# Write the preamble
	if OUTPUT_COMMENTS:
	gcode += linenumber() + "(begin preamble)\n"
	for line in PREAMBLE.splitlines():
	gcode += linenumber() + line + "\n"
	gcode += linenumber() + UNITS + "\n"

	for obj in objectslist:
	# Skip inactive operations
	if not PathUtil.activeForOp(obj):
	continue

	# fetch machine details
	job = PathUtils.findParentJob(obj)

	myMachine = "not set"

	if hasattr(job, "MachineName"):
	myMachine = job.MachineName

	if hasattr(job, "MachineUnits"):
	if job.MachineUnits == "Metric":
	UNITS = "G21"
	UNIT_FORMAT = "mm"
	UNIT_SPEED_FORMAT = "mm/min"
	else:
	UNITS = "G20"
	UNIT_FORMAT = "in"
	UNIT_SPEED_FORMAT = "in/min"

	# do the pre_op
	if OUTPUT_COMMENTS:
	gcode += linenumber() + "(begin operation: %s)\n" % obj.Label
	gcode += linenumber() + "(machine: %s, %s)\n" % (
	myMachine,
	UNIT_SPEED_FORMAT,
	)
	for line in PRE_OPERATION.splitlines(True):
	gcode += linenumber() + line

	# get coolant mode
	coolantMode = PathUtil.coolantModeForOp(obj)

	# turn coolant on if required
	if OUTPUT_COMMENTS:
	if not coolantMode == "None":
	gcode += linenumber() + "(Coolant On:" + coolantMode + ")\n"
	if coolantMode == "Flood":
	gcode += linenumber() + "M8" + "\n"
	if coolantMode == "Mist":
	gcode += linenumber() + "M7" + "\n"

	# process the operation gcode
	gcode += parse(obj)

	# do the post_op
	if OUTPUT_COMMENTS:
	gcode += linenumber() + "(finish operation: %s)\n" % obj.Label
	for line in POST_OPERATION.splitlines(True):
	gcode += linenumber() + line

	# turn coolant off if required
	if not coolantMode == "None":
	if OUTPUT_COMMENTS:
	gcode += linenumber() + "(Coolant Off:" + coolantMode + ")\n"
	gcode += linenumber() + "M9" + "\n"

	# do the post_amble
	if OUTPUT_COMMENTS:
	gcode += "(begin postamble)\n"
	for line in POSTAMBLE.splitlines():
	gcode += linenumber() + line + "\n"

	if FreeCAD.GuiUp and SHOW_EDITOR:
	dia = PostUtils.GCodeEditorDialog()
	dia.editor.setPlainText(gcode)
	result = dia.exec_()
	if result:
	final = dia.editor.toPlainText()
	else:
	final = gcode
	else:
	final = gcode

	print("done postprocessing.")

	if not filename == "-":
	gfile = pyopen(filename, "w")
	gfile.write(final)
	gfile.close()

	return final


	def linenumber():
	global LINENR
	if OUTPUT_LINE_NUMBERS is True:
	LINENR += 10
	return "N" + str(LINENR) + " "
	return ""


	def parse(pathobj):
	global PRECISION
	global MODAL
	global OUTPUT_DOUBLES
	global UNIT_FORMAT
	global UNIT_SPEED_FORMAT

	out = ""
	lastcommand = None
	precision_string = "." + str(PRECISION) + "f"
	currLocation = {} # keep track for no doubles

	# the order of parameters
	# linuxcnc doesn't want K properties on XY plane Arcs need work.
	params = [
	"X",
	"Y",
	"Z",
	"A",
	"B",
	"C",
	"I",
	"J",
	"F",
	"S",
	"T",
	"Q",
	"R",
	"L",
	"H",
	"D",
	"P",
	]
	firstmove = Path.Command("G0", {"X": -1, "Y": -1, "Z": -1, "F": 0.0})
	currLocation.update(firstmove.Parameters) # set First location Parameters

	if hasattr(pathobj, "Group"): # We have a compound or project.
	# if OUTPUT_COMMENTS:
	# out += linenumber() + "(compound: " + pathobj.Label + ")\n"
	for p in pathobj.Group:
	out += parse(p)
	return out
	else: # parsing simple path

	# groups might contain non-path things like stock.
	if not hasattr(pathobj, "Path"):
	return out

	# if OUTPUT_COMMENTS:
	# out += linenumber() + "(" + pathobj.Label + ")\n"

	for c in PathUtils.getPathWithPlacement(pathobj).Commands:

	outstring = []
	command = c.Name

	if pathobj.Label == "Drilling" and command in ["G98", "G99"]:
	out += linenumber() + "(" + command + " removed as KineticNC do not support it)\n"
	continue

	if command in ["G85"]:
	out += linenumber() + "(" + command + " removed as KineticNC do not support it)\n"
	continue

	outstring.append(command)

	# if modal: suppress the command if it is the same as the last one
	if MODAL is True:
	if command == lastcommand:
	outstring.pop(0)

	if c.Name.startswith("(") and not OUTPUT_COMMENTS: # command is a comment
	continue

	# Now add the remaining parameters in order
	for param in params:
	if param in c.Parameters:
	if param == "F" and (
	currLocation[param] != c.Parameters[param] or OUTPUT_DOUBLES
	):
	if c.Name not in [
	"G0",
	"G00",
	]: # linuxcnc doesn't use rapid speeds
	speed = Units.Quantity(c.Parameters["F"], FreeCAD.Units.Velocity)
	if speed.getValueAs(UNIT_SPEED_FORMAT) > 0.0:
	outstring.append(
	param
	+ format(
	float(speed.getValueAs(UNIT_SPEED_FORMAT)),
	precision_string,
	)
	)
	else:
	continue
	elif param == "T":
	outstring.append(param + str(int(c.Parameters["T"])))
	elif param == "H":
	outstring.append(param + str(int(c.Parameters["H"])))
	elif param == "D":
	outstring.append(param + str(int(c.Parameters["D"])))
	elif param == "S":
	outstring.append(param + str(int(c.Parameters["S"])))
	else:
	if (
	(not OUTPUT_DOUBLES)
	and (param in currLocation)
	and (currLocation[param] == c.Parameters[param])
	):
	continue
	else:
	pos = Units.Quantity(c.Parameters[param], FreeCAD.Units.Length)
	outstring.append(
	param + format(float(pos.getValueAs(UNIT_FORMAT)), precision_string)
	)

	if (
	command in ["G0"]
	and "Z" not in c.Parameters
	and pathobj.Label == "Drilling"
	and "R" in currLocation.keys()
	):
	if not OUTPUT_DOUBLES:
	continue
	else:
	pos = Units.Quantity(currLocation["R"], FreeCAD.Units.Length)
	outstring.append(
	"Z" + format(float(pos.getValueAs(UNIT_FORMAT)), precision_string)
	)

	# store the latest command
	lastcommand = command
	currLocation.update(c.Parameters)

	# Check for Tool Change:
	if command == "M6":
	# if OUTPUT_COMMENTS:
	# out += linenumber() + "(begin toolchange)\n"
	for line in TOOL_CHANGE.splitlines(True):
	out += linenumber() + line

	if command == "message":
	if OUTPUT_COMMENTS is False:
	out = []
	else:
	outstring.pop(0) # remove the command

	# prepend a line number and append a newline
	if len(outstring) >= 1:
	if OUTPUT_LINE_NUMBERS:
	outstring.insert(0, (linenumber()))

	# append the line to the final output
	for w in outstring:
	out += w + COMMAND_SPACE
	out = out.strip() + "\n"

	return out