meerk40t 0.9.3001__py2.py3-none-any.whl → 0.9.7010__py2.py3-none-any.whl

meerk40t/grbl/driver.py

@@ -1,771 +1,989 @@
-"""
-GRBL Driver
-
-Governs the generic commands issued by laserjob and spooler and converts that into regular GRBL Gcode output.
-"""
-
-import time
-
-from meerk40t.core.cutcode.cubiccut import CubicCut
-from meerk40t.core.cutcode.dwellcut import DwellCut
-from meerk40t.core.cutcode.gotocut import GotoCut
-from meerk40t.core.cutcode.homecut import HomeCut
-from meerk40t.core.cutcode.inputcut import InputCut
-from meerk40t.core.cutcode.linecut import LineCut
-from meerk40t.core.cutcode.outputcut import OutputCut
-from meerk40t.core.cutcode.plotcut import PlotCut
-from meerk40t.core.cutcode.quadcut import QuadCut
-from meerk40t.core.cutcode.waitcut import WaitCut
-
-from ..core.parameters import Parameters
-from ..core.plotplanner import PlotPlanner
-from ..core.units import UNITS_PER_INCH, UNITS_PER_MIL, UNITS_PER_MM
-from ..device.basedevice import PLOT_FINISH, PLOT_JOG, PLOT_RAPID, PLOT_SETTING
-from ..kernel import signal_listener
-
-
-class GRBLDriver(Parameters):
-    def __init__(self, service, **kwargs):
-        super().__init__(**kwargs)
-        self.service = service
-        self.name = str(service)
-        self.line_end = None
-        self._set_line_end()
-        self.paused = False
-        self.native_x = 0
-        self.native_y = 0
-
-        self.mpos_x = 0
-        self.mpos_y = 0
-        self.mpos_z = 0
-
-        self.wpos_x = 0
-        self.wpos_y = 0
-        self.wpos_z = 0
-
-        self.stepper_step_size = UNITS_PER_MIL
-
-        self.plot_planner = PlotPlanner(
-            self.settings, single=True, ppi=False, shift=False, group=True
-        )
-        self.queue = []
-        self.plot_data = None
-
-        self.on_value = 0
-        self.power_dirty = True
-        self.speed_dirty = True
-        self.absolute_dirty = True
-        self.feedrate_dirty = True
-        self.units_dirty = True
-        self.move_mode = 0
-
-        self._absolute = True
-        self.feed_mode = None
-        self.feed_convert = None
-        self._g94_feedrate()  # G94 DEFAULT, mm mode
-
-        self.unit_scale = None
-        self.units = None
-        self._g21_units_mm()
-        self._g90_absolute()
-
-        self.out_pipe = None
-        self.out_real = None
-
-        self.reply = None
-        self.elements = None
-        self.power_scale = 1.0
-        self.speed_scale = 1.0
-
-    def __repr__(self):
-        return f"GRBLDriver({self.name})"
-
-    def __call__(self, e, real=False):
-        if real:
-            self.out_real(e)
-        else:
-            self.out_pipe(e)
-
-    @signal_listener("line_end")
-    def _set_line_end(self, origin=None, *args):
-        line_end = self.service.setting(str, "line_end", "CR")
-        line_end = line_end.replace(" ", "")
-        line_end = line_end.replace("CR", "\r")
-        line_end = line_end.replace("LF", "\n")
-        self.line_end = line_end
-
-    def hold_work(self, priority):
-        """
-        Required.
-
-        Spooler check. to see if the work cycle should be held.
-
-        @return: hold?
-        """
-        if priority > 0:
-            # Don't hold realtime work.
-            return False
-        if (
-            self.service.limit_buffer
-            and len(self.service.controller) > self.service.max_buffer
-        ):
-            return True
-        return self.paused
-
-    def get(self, key, default=None):
-        """
-        Required.
-
-        @param key: Key to get.
-        @param default: Default value to use.
-        @return:
-        """
-        return self.settings.get(key, default=default)
-
-    def set(self, key, value):
-        """
-        Required.
-
-        Sets a laser parameter this could be speed, power, wobble, number_of_unicorns, or any unknown parameters for
-        yet to be written drivers.
-
-        @param key:
-        @param value:
-        @return:
-        """
-        if key == "power":
-            self.power_dirty = True
-        if key == "speed":
-            self.speed_dirty = True
-        self.settings[key] = value
-
-    def status(self):
-        """
-        Wants a status report of what the driver is doing.
-        @return:
-        """
-        # TODO: To calculate status correctly we need to actually have access to the response
-        self.out_real("?")
-        return (self.native_x, self.native_y), "idle", "unknown"
-
-    def move_abs(self, x, y):
-        """
-        Requests laser move to absolute position x, y in physical units
-
-        @param x:
-        @param y:
-        @return:
-        """
-        self._g90_absolute()
-        self._clean()
-        old_current = self.service.current
-        x, y = self.service.view.position(x, y)
-        self._move(x, y)
-        new_current = self.service.current
-        self.service.signal(
-            "driver;position",
-            (old_current[0], old_current[1], new_current[0], new_current[1]),
-        )
-
-    def move_rel(self, dx, dy):
-        """
-        Requests laser move relative position dx, dy in physical units
-
-        @param dx:
-        @param dy:
-        @return:
-        """
-        self._g91_relative()
-        self._clean()
-        old_current = self.service.current
-
-        unit_dx, unit_dy = self.service.view.position(dx, dy, vector=True)
-        self._move(unit_dx, unit_dy)
-
-        new_current = self.service.current
-        self.service.signal(
-            "driver;position",
-            (old_current[0], old_current[1], new_current[0], new_current[1]),
-        )
-
-    def dwell(self, time_in_ms):
-        """
-        Requests that the laser fire in place for the given time period. This could be done in a series of commands,
-        move to a location, turn laser on, wait, turn laser off. However, some drivers have specific laser-in-place
-        commands so calling dwell is preferred.
-
-        @param time_in_ms:
-        @return:
-        """
-        self.laser_on()  # This can't be sent early since these are timed operations.
-        self.wait(time_in_ms)
-        self.laser_off()
-
-    def laser_off(self, power=0, *values):
-        """
-        Turn laser off in place.
-
-        @param power: Power after laser turn off (0=default).
-        @param values:
-        @return:
-        """
-        if power is not None:
-            spower = f" S{power:.1f}"
-            self.power = power
-            self.power_dirty = False
-            self(f"G1 {spower}{self.line_end}")
-        self(f"M5{self.line_end}")
-
-    def laser_on(self, power=None, speed=None, *values):
-        """
-        Turn laser on in place. This is done specifically with an M3 command so that the laser is on while stationary
-
-        @param speed: Speed for laser turn on.
-        @param power: Power at the laser turn on.
-        @param values:
-        @return:
-        """
-        spower = ""
-        sspeed = ""
-        if power is not None:
-            spower = f" S{power:.1f}"
-            # We already established power, so no need for power_dirty
-            self.power = power
-            self.power_dirty = False
-        if speed is not None:
-            sspeed = f"G1 F{speed}{self.line_end}"
-            self.speed = speed
-            self.speed_dirty = False
-        self(f"M3{spower}{self.line_end}{sspeed}")
-
-    def plot(self, plot):
-        """
-        Gives the driver a bit of cutcode that should be plotted.
-        @param plot:
-        @return:
-        """
-        self.queue.append(plot)
-
-    def plot_start(self):
-        """
-        Called at the end of plot commands to ensure the driver can deal with them all as a group.
-
-        @return:
-        """
-        self.signal("grbl_red_dot", False)  # We are not using red-dot if we're cutting.
-        self.clear_states()
-        self._g90_absolute()
-        self._g94_feedrate()
-        self._clean()
-        if self.service.use_m3:
-            self(f"M3{self.line_end}")
-        else:
-            self(f"M4{self.line_end}")
-        for q in self.queue:
-            while self.hold_work(0):
-                if self.service.kernel.is_shutdown:
-                    return
-                time.sleep(0.05)
-            x = self.native_x
-            y = self.native_y
-            start_x, start_y = q.start
-            if x != start_x or y != start_y:
-                self.on_value = 0
-                self.power_dirty = True
-                self.move_mode = 0
-                self._move(start_x, start_y)
-            if self.on_value != 1.0:
-                self.power_dirty = True
-            self.on_value = 1.0
-            # Default-Values?!
-            qpower = q.settings.get("power", self.power)
-            qspeed = q.settings.get("speed", self.speed)
-            qraster_step_x = q.settings.get("raster_step_x")
-            qraster_step_y = q.settings.get("raster_step_y")
-            if qpower != self.power:
-                self.set("power", qpower)
-            if (
-                qspeed != self.speed
-                or qraster_step_x != self.raster_step_x
-                or qraster_step_y != self.raster_step_y
-            ):
-                self.set("speed", qspeed)
-            self.settings.update(q.settings)
-            if isinstance(q, LineCut):
-                self.move_mode = 1
-                self._move(*q.end)
-            elif isinstance(q, (QuadCut, CubicCut)):
-                self.move_mode = 1
-                interp = self.service.interpolate
-                step_size = 1.0 / float(interp)
-                t = step_size
-                for p in range(int(interp)):
-                    while self.paused:
-                        time.sleep(0.05)
-                    self._move(*q.point(t))
-                    t += step_size
-                last_x, last_y = q.end
-                self._move(last_x, last_y)
-            elif isinstance(q, WaitCut):
-                self.wait(q.dwell_time)
-            elif isinstance(q, HomeCut):
-                self.home()
-            elif isinstance(q, GotoCut):
-                start = q.start
-                self._move(start[0], start[1])
-            elif isinstance(q, DwellCut):
-                self.dwell(q.dwell_time)
-            elif isinstance(q, (InputCut, OutputCut)):
-                # GRBL has no core GPIO functionality
-                pass
-            elif isinstance(q, PlotCut):
-                self.move_mode = 1
-                self.set("power", 1000)
-                for ox, oy, on, x, y in q.plot:
-                    while self.hold_work(0):
-                        time.sleep(0.05)
-                    # q.plot can have different on values, these are parsed
-                    if self.on_value != on:
-                        self.power_dirty = True
-                    self.on_value = on
-                    self._move(x, y)
-            else:
-                #  Rastercut
-                self.plot_planner.push(q)
-                self.move_mode = 1
-                for x, y, on in self.plot_planner.gen():
-                    while self.hold_work(0):
-                        time.sleep(0.05)
-                    if on > 1:
-                        # Special Command.
-                        if isinstance(on, float):
-                            on = int(on)
-                        if on & PLOT_FINISH:  # Plot planner is ending.
-                            break
-                        elif on & PLOT_SETTING:  # Plot planner settings have changed.
-                            p_set = Parameters(self.plot_planner.settings)
-                            if p_set.power != self.power:
-                                self.set("power", p_set.power)
-                            if (
-                                p_set.speed != self.speed
-                                or p_set.raster_step_x != self.raster_step_x
-                                or p_set.raster_step_y != self.raster_step_y
-                            ):
-                                self.set("speed", p_set.speed)
-                            self.settings.update(p_set.settings)
-                        elif on & (
-                            PLOT_RAPID | PLOT_JOG
-                        ):  # Plot planner requests position change.
-                            # self.move_mode = 0
-                            self._move(x, y)
-                        continue
-                    # if on == 0:
-                    #     self.move_mode = 0
-                    # else:
-                    #     self.move_mode = 1
-                    if self.on_value != on:
-                        self.power_dirty = True
-                    self.on_value = on
-                    self._move(x, y)
-        self.queue.clear()
-
-        self(f"G1 S0{self.line_end}")
-        self(f"M5{self.line_end}")
-        self.clear_states()
-        self.wait_finish()
-        return False
-
-    def blob(self, data_type, data):
-        """
-        This is intended to send a blob of gcode to be processed and executed.
-
-        @param data_type:
-        @param data:
-        @return:
-        """
-        if data_type != "grbl":
-            return
-        grbl = bytes.decode(data, "latin-1")
-        for split in grbl.split("\r"):
-            g = split.strip()
-            if g:
-                self(f"{g}{self.line_end}")
-
-    def physical_home(self):
-        """
-        Home the laser physically (ie run into endstops).
-
-        @return:
-        """
-        old_current = self.service.current
-        self.native_x = 0
-        self.native_y = 0
-        if self.service.has_endstops:
-            self(f"$H{self.line_end}")
-        else:
-            self(f"G28{self.line_end}")
-        new_current = self.service.current
-        self.service.signal(
-            "driver;position",
-            (old_current[0], old_current[1], new_current[0], new_current[1]),
-        )
-
-    def home(self):
-        """
-        Home the laser (ie goto defined origin)
-
-        @return:
-        """
-        self.native_x = 0
-        self.native_y = 0
-        if self.service.rotary_active and self.service.rotary_supress_home:
-            return
-        self(f"G28{self.line_end}")
-
-    def rapid_mode(self, *values):
-        """
-        Rapid mode sets the laser to rapid state. This is usually moving the laser around without it executing a large
-        batch of commands.
-
-        @param values:
-        @return:
-        """
-
-    def finished_mode(self, *values):
-        """
-        Finished mode is after a large batch of jobs is done.
-
-        @param values:
-        @return:
-        """
-        self(f"M5{self.line_end}")
-
-    def program_mode(self, *values):
-        """
-        Program mode is the state lasers often use to send a large batch of commands.
-        @param values:
-        @return:
-        """
-        self(f"M3{self.line_end}")
-
-    def raster_mode(self, *values):
-        """
-        Raster mode is a special form of program mode that suggests the batch of commands will be a raster operation
-        many lasers have specialty values
-        @param values:
-        @return:
-        """
-
-    def wait(self, time_in_ms):
-        """
-        Wait asks that the work be stalled or current process held for the time time_in_ms in ms. If wait_finished is
-        called first this will attempt to stall the machine while performing no work. If the driver in question permits
-        waits to be placed within code this should insert waits into the current job. Returning instantly rather than
-        holding the processes.
-
-        @param time_in_ms:
-        @return:
-        """
-        self(f"G04 S{time_in_ms / 1000.0}{self.line_end}")
-
-    def wait_finish(self, *values):
-        """
-        Wait finish should hold the calling thread until the current work has completed. Or otherwise prevent any data
-        from being sent with returning True for the until that criteria is met.
-
-        @param values:
-        @return:
-        """
-        while True:
-            if self.queue or len(self.service.controller):
-                time.sleep(0.05)
-                continue
-            break
-
-    def function(self, function):
-        """
-        This command asks that this function be executed at the appropriate time within the spooled cycle.
-
-        @param function:
-        @return:
-        """
-        function()
-
-    def beep(self):
-        """
-        Wants a system beep to be issued.
-        This command asks that a beep be executed at the appropriate time within the spooled cycle.
-
-        @return:
-        """
-        self.service("beep\n")
-
-    def console(self, value):
-        """
-        This asks that the console command be executed at the appropriate time within the spooled cycle.
-
-        @param value: console command
-        @return:
-        """
-        self.service(value)
-
-    def signal(self, signal, *args):
-        """
-        This asks that this signal be broadcast at the appropriate time within the spooling cycle.
-
-        @param signal:
-        @param args:
-        @return:
-        """
-        self.service.signal(signal, *args)
-
-    def pause(self, *args):
-        """
-        Asks that the laser be paused.
-
-        @param args:
-        @return:
-        """
-        self.paused = True
-        self(f"!{self.line_end}", real=True)
-        self.service.signal("pause")
-
-    def resume(self, *args):
-        """
-        Asks that the laser be resumed.
-
-        To work this command should usually be put into the realtime work queue for the laser.
-
-        @param args:
-        @return:
-        """
-        self.paused = False
-        self(f"~{self.line_end}", real=True)
-        self.service.signal("pause")
-
-    def clear_states(self):
-        self.power_dirty = True
-        self.speed_dirty = True
-        self.absolute_dirty = True
-        self.feedrate_dirty = True
-        self.units_dirty = True
-        self.move_mode = 0
-
-    def reset(self, *args):
-        """
-        This command asks that this device be emergency stopped and reset. Usually that queue data from the spooler be
-        deleted.
-        Asks that the device resets, and clears all current work.
-
-        @param args:
-        @return:
-        """
-        self.service.spooler.clear_queue()
-        self.queue.clear()
-        self.plot_planner.clear()
-        self(f"\x18{self.line_end}", real=True)
-        self._g94_feedrate()
-        self._g21_units_mm()
-        self._g90_absolute()
-
-        self.power_dirty = True
-        self.speed_dirty = True
-        self.absolute_dirty = True
-        self.feedrate_dirty = True
-        self.units_dirty = True
-
-        self.paused = False
-        self.service.signal("pause")
-
-    def clear_alarm(self):
-        """
-        GRBL clear alarm signal.
-
-        @return:
-        """
-        self(f"$X{self.line_end}", real=True)
-
-    def declare_modals(self, modals):
-        self.move_mode = 0 if "G0" in modals else 1
-        if "G90" in modals:
-            self._g90_absolute()
-            self.absolute_dirty = False
-        if "G91" in modals:
-            self._g91_relative()
-            self.absolute_dirty = False
-        if "G94" in modals:
-            self._g94_feedrate()
-            self.feedrate_dirty = False
-        if "G93" in modals:
-            self._g93_feedrate()
-            self.feedrate_dirty = False
-        if "G20" in modals:
-            self._g20_units_inch()
-            self.units_dirty = False
-        if "G21" in modals:
-            self._g21_units_mm()
-            self.units_dirty = False
-
-    def declare_position(self, x, y):
-        self.native_x = x * self.unit_scale
-        self.native_y = y * self.unit_scale
-
-    ####################
-    # PROTECTED DRIVER CODE
-    ####################
-
-    def _move(self, x, y, absolute=False):
-        old_current = self.service.current
-        if self._absolute:
-            self.native_x = x
-            self.native_y = y
-        else:
-            self.native_x += x
-            self.native_y += y
-        line = []
-        if self.move_mode == 0:
-            line.append("G0")
-        else:
-            line.append("G1")
-        x /= self.unit_scale
-        y /= self.unit_scale
-        line.append(f"X{x:.3f}")
-        line.append(f"Y{y:.3f}")
-        if self.power_dirty:
-            if self.power is not None:
-                line.append(f"S{self.power * self.on_value:.1f}")
-            self.power_dirty = False
-        if self.speed_dirty:
-            line.append(f"F{self.feed_convert(self.speed):.1f}")
-            self.speed_dirty = False
-        self(" ".join(line) + self.line_end)
-        new_current = self.service.current
-        self.service.signal(
-            "driver;position",
-            (old_current[0], old_current[1], new_current[0], new_current[1]),
-        )
-
-    def _clean_motion(self):
-        if self.absolute_dirty:
-            if self._absolute:
-                self(f"G90{self.line_end}")
-            else:
-                self(f"G91{self.line_end}")
-        self.absolute_dirty = False
-
-    def _clean_feed_mode(self):
-        if self.feedrate_dirty:
-            if self.feed_mode == 94:
-                self(f"G94{self.line_end}")
-            else:
-                self(f"G93{self.line_end}")
-        self.feedrate_dirty = False
-
-    def _clean_units(self):
-        if self.units_dirty:
-            if self.units == 20:
-                self(f"G20{self.line_end}")
-            else:
-                self(f"G21{self.line_end}")
-        self.units_dirty = False
-
-    def _clean(self):
-        self._clean_motion()
-        self._clean_feed_mode()
-        self._clean_units()
-
-    def _g91_relative(self):
-        if not self._absolute:
-            return
-        self._absolute = False
-        self.absolute_dirty = True
-
-    def _g90_absolute(self):
-        if self._absolute:
-            return
-        self._absolute = True
-        self.absolute_dirty = True
-
-    def _g93_mms_to_minutes_per_gunits(self, mms):
-        millimeters_per_minute = 60.0 * mms
-        distance = UNITS_PER_MIL / self.stepper_step_size
-        return distance / millimeters_per_minute
-
-    def _g93_feedrate(self):
-        if self.feed_mode == 93:
-            return
-        self.feed_mode = 93
-        # Feed Rate in Minutes / Unit
-        self.feed_convert = self._g93_mms_to_minutes_per_gunits
-        self.feedrate_dirty = True
-
-    def _g94_mms_to_gunits_per_minute(self, mms):
-        millimeters_per_minute = 60.0 * mms
-        distance = UNITS_PER_MIL / self.stepper_step_size
-        return millimeters_per_minute / distance
-
-    def _g94_feedrate(self):
-        if self.feed_mode == 94:
-            return
-        self.feed_mode = 94
-        # Feed Rate in Units / Minute
-        self.feed_convert = self._g94_mms_to_gunits_per_minute
-        # units to mm, seconds to minutes.
-        self.feedrate_dirty = True
-
-    def _g20_units_inch(self):
-        self.units = 20
-        self.unit_scale = UNITS_PER_INCH / self.stepper_step_size  # g20 is inch mode.
-        self.units_dirty = True
-
-    def _g21_units_mm(self):
-        self.units = 21
-        self.unit_scale = UNITS_PER_MM / self.stepper_step_size  # g21 is mm mode.
-        self.units_dirty = True
-
-    def set_power_scale(self, factor):
-        # Grbl can only deal with factors between 10% and 200%
-        if factor <= 0 or factor > 2.0:
-            factor = 1.0
-        if self.power_scale == factor:
-            return
-        self.power_scale = factor
-
-        # Grbl can only deal with factors between 10% and 200%
-        self("\x99\r", real=True)
-        # Upward loop
-        start = 1.0
-        while start < 2.0 and start < factor:
-            self("\x9B\r", real=True)
-            start += 0.1
-        # Downward loop
-        start = 1.0
-        while start > 0.0 and start > factor:
-            self("\x9A\r", real=True)
-            start -= 0.1
-
-    def set_speed_scale(self, factor):
-        # Grbl can only deal with factors between 10% and 200%
-        if factor <= 0 or factor > 2.0:
-            factor = 1.0
-        if self.speed_scale == factor:
-            return
-        self.speed_scale = factor
-        self("\x90\r", real=True)
-        start = 1.0
-        while start < 2.0 and start < factor:
-            self("\x91\r", real=True)
-            start += 0.1
-        # Downward loop
-        start = 1.0
-        while start > 0.0 and start > factor:
-            self("\x92\r", real=True)
-            start -= 0.1
-
-    @staticmethod
-    def has_adjustable_power():
-        return True
-
-    @staticmethod
-    def has_adjustable_speed():
-        return True
+"""
+GRBL Driver
+
+Governs the generic commands issued by laserjob and spooler and converts that into regular GRBL Gcode output.
+"""
+
+import time
+
+from meerk40t.core.cutcode.cubiccut import CubicCut
+from meerk40t.core.cutcode.dwellcut import DwellCut
+from meerk40t.core.cutcode.gotocut import GotoCut
+from meerk40t.core.cutcode.homecut import HomeCut
+from meerk40t.core.cutcode.inputcut import InputCut
+from meerk40t.core.cutcode.linecut import LineCut
+from meerk40t.core.cutcode.outputcut import OutputCut
+from meerk40t.core.cutcode.plotcut import PlotCut
+from meerk40t.core.cutcode.quadcut import QuadCut
+from meerk40t.core.cutcode.waitcut import WaitCut
+
+from ..core.parameters import Parameters
+from ..core.plotplanner import PlotPlanner
+from ..core.units import UNITS_PER_INCH, UNITS_PER_MIL, UNITS_PER_MM, Length
+from ..device.basedevice import PLOT_FINISH, PLOT_JOG, PLOT_RAPID, PLOT_SETTING
+from ..kernel import signal_listener
+from ..tools.geomstr import Geomstr
+
+
+class GRBLDriver(Parameters):
+    def __init__(self, service, **kwargs):
+        super().__init__(**kwargs)
+        self.service = service
+        self.name = str(service)
+        self.line_end = None
+        self._set_line_end()
+        self.paused = False
+        self.native_x = 0
+        self.native_y = 0
+
+        self.mpos_x = 0
+        self.mpos_y = 0
+        self.mpos_z = 0
+
+        self.wpos_x = 0
+        self.wpos_y = 0
+        self.wpos_z = 0
+
+        self.stepper_step_size = UNITS_PER_MIL
+
+        self.plot_planner = PlotPlanner(
+            self.settings, single=True, ppi=False, shift=False, group=True, require_uniform_movement = False,
+        )
+        self.queue = []
+        self._queue_current = 0
+        self._queue_total = 0
+        self.plot_data = None
+
+        self.on_value = 0
+        self.power_dirty = True
+        self.speed_dirty = True
+        # Zaxis should not be used by default, so we set the dirty flag to False
+        self.zaxis_dirty = False
+        self.absolute_dirty = True
+        self.feedrate_dirty = True
+        self.units_dirty = True
+        self.move_mode = 0
+
+        self._absolute = True
+        self.feed_mode = None
+        self.feed_convert = None
+        self._g94_feedrate()  # G94 DEFAULT, mm mode
+
+        self.unit_scale = None
+        self.units = None
+        self._g21_units_mm()
+        self._g90_absolute()
+
+        self.out_pipe = None
+        self.out_real = None
+
+        self.reply = None
+        self.elements = None
+        self.power_scale = 1.0
+        self.speed_scale = 1.0
+        self._signal_updates = self.service.setting(bool, "signal_updates", True)
+
+    def __repr__(self):
+        return f"GRBLDriver({self.name})"
+
+    def __call__(self, e, real=False):
+        if real:
+            self.out_real(e)
+        else:
+            self.out_pipe(e)
+
+    def get_internal_queue_status(self):
+        return self._queue_current, self._queue_total
+
+    def _set_queue_status(self, current, total):
+        self._queue_current = current
+        self._queue_total = total
+
+    @signal_listener("line_end")
+    def _set_line_end(self, origin=None, *args):
+        line_end = self.service.setting(str, "line_end", "CR")
+        line_end = line_end.replace(" ", "")
+        line_end = line_end.replace("CR", "\r")
+        line_end = line_end.replace("LF", "\n")
+        self.line_end = line_end
+
+    def hold_work(self, priority):
+        """
+        Required.
+
+        Spooler check. to see if the work cycle should be held.
+
+        @return: hold?
+        """
+        if priority > 0:
+            # Don't hold realtime work.
+            return False
+        if (
+            self.service.limit_buffer
+            and len(self.service.controller) > self.service.max_buffer
+        ):
+            return True
+        return self.paused
+
+    def get(self, key, default=None):
+        """
+        Required.
+
+        @param key: Key to get.
+        @param default: Default value to use.
+        @return:
+        """
+        return self.settings.get(key, default=default)
+
+    def set(self, key, value):
+        """
+        Required.
+
+        Sets a laser parameter this could be speed, power, wobble, number_of_unicorns, or any unknown parameters for
+        yet to be written drivers.
+
+        @param key:
+        @param value:
+        @return:
+        """
+        if key == "power":
+            self.power_dirty = True
+        if key == "speed":
+            self.speed_dirty = True
+        self.settings[key] = value
+
+    def status(self):
+        """
+        Wants a status report of what the driver is doing.
+        @return:
+        """
+        # TODO: To calculate status correctly we need to actually have access to the response
+        self.out_real("?")
+        return (self.native_x, self.native_y), "idle", "unknown"
+
+    def move_abs(self, x, y):
+        """
+        Requests laser move to absolute position x, y in physical units
+
+        @param x:
+        @param y:
+        @return:
+        """
+        self._g90_absolute()
+        self._clean()
+        old_current = self.service.current
+        x, y = self.service.view.position(x, y)
+        self._move(x, y)
+        new_current = self.service.current
+        if self._signal_updates:
+            self.service.signal(
+                "driver;position",
+                (old_current[0], old_current[1], new_current[0], new_current[1]),
+            )
+
+    def move_rel(self, dx, dy):
+        """
+        Requests laser move relative position dx, dy in physical units
+
+        @param dx:
+        @param dy:
+        @return:
+        """
+        # self._g90_absolute()
+        # self._clean()
+        # old_current = self.service.current
+        # x, y = old_current
+        # x += dx
+        # y += dy
+        # x, y = self.service.view.position(x, y)
+        # self._move(x, y)
+
+        self._g91_relative()
+        self._clean()
+        old_current = self.service.current
+
+        unit_dx, unit_dy = self.service.view.position(dx, dy, vector=True)
+        self._move(unit_dx, unit_dy)
+
+        new_current = self.service.current
+        if self._signal_updates:
+            self.service.signal(
+                "driver;position",
+                (old_current[0], old_current[1], new_current[0], new_current[1]),
+            )
+
+    def dwell(self, time_in_ms):
+        """
+        Requests that the laser fire in place for the given time period. This could be done in a series of commands,
+        move to a location, turn laser on, wait, turn laser off. However, some drivers have specific laser-in-place
+        commands so calling dwell is preferred.
+
+        @param time_in_ms:
+        @return:
+        """
+        self.laser_on()  # This can't be sent early since these are timed operations.
+        self.wait(time_in_ms)
+        self.laser_off()
+
+    def laser_off(self, power=0, *values):
+        """
+        Turn laser off in place.
+
+        @param power: Power after laser turn off (0=default).
+        @param values:
+        @return:
+        """
+        if power is not None:
+            spower = f" S{power:.1f}"
+            self.power = power
+            self.power_dirty = False
+            self(f"G1 {spower}{self.line_end}")
+        self(f"M5{self.line_end}")
+
+    def laser_on(self, power=None, speed=None, *values):
+        """
+        Turn laser on in place. This is done specifically with an M3 command so that the laser is on while stationary
+
+        @param speed: Speed for laser turn on.
+        @param power: Power at the laser turn on.
+        @param values:
+        @return:
+        """
+        spower = ""
+        sspeed = ""
+        if power is not None:
+            spower = f" S{power:.1f}"
+            # We already established power, so no need for power_dirty
+            self.power = power
+            self.power_dirty = False
+        if speed is not None:
+            sspeed = f"G1 F{speed}{self.line_end}"
+            self.speed = speed
+            self.speed_dirty = False
+        self(f"M3{spower}{self.line_end}{sspeed}")
+
+    def geometry(self, geom):
+        """
+        Called at the end of plot commands to ensure the driver can deal with them all as a group.
+
+        @return:
+        """
+        # TODO: estop cannot clear the geom.
+        self.signal("grbl_red_dot", False)  # We are not using red-dot if we're cutting.
+        self.clear_states()
+        self._g90_absolute()
+        self._g94_feedrate()
+        self._clean()
+        if self.service.use_m3:
+            self(f"M3{self.line_end}")
+        else:
+            self(f"M4{self.line_end}")
+        first = True
+        g = Geomstr()
+        for segment_type, start, c1, c2, end, sets in geom.as_lines():
+            while self.hold_work(0):
+                if self.service.kernel.is_shutdown:
+                    return
+                time.sleep(0.05)
+            x = self.native_x
+            y = self.native_y
+            start_x, start_y = start.real, start.imag
+            if x != start_x or y != start_y or first:
+                self.on_value = 0
+                self.power_dirty = True
+                self.move_mode = 0
+                first = False
+                self._move(start_x, start_y)
+            if self.on_value != 1.0:
+                self.power_dirty = True
+            self.on_value = 1.0
+            # Default-Values?!
+            qpower = sets.get("power", self.power)
+            qspeed = sets.get("speed", self.speed)
+            qraster_step_x = sets.get("raster_step_x")
+            qraster_step_y = sets.get("raster_step_y")
+            if qpower != self.power:
+                self.set("power", qpower)
+            if (
+                qspeed != self.speed
+                or qraster_step_x != self.raster_step_x
+                or qraster_step_y != self.raster_step_y
+            ):
+                self.set("speed", qspeed)
+            self.settings.update(sets)
+            if segment_type == "line":
+                self.move_mode = 1
+                self._move(end.real, end.imag)
+            elif segment_type == "end":
+                self.on_value = 0
+                self.power_dirty = True
+                self.move_mode = 0
+                first = False
+            elif segment_type == "quad":
+                self.move_mode = 1
+                interp = self.service.interp
+                g.clear()
+                g.quad(complex(start), complex(c1), complex(end))
+                for p in list(g.as_equal_interpolated_points(distance=interp))[1:]:
+                    while self.paused:
+                        time.sleep(0.05)
+                    self._move(p.real, p.imag)
+            elif segment_type == "cubic":
+                self.move_mode = 1
+                interp = self.service.interp
+                g.clear()
+                g.cubic(
+                    complex(start),
+                    complex(c1),
+                    complex(c2),
+                    complex(end),
+                )
+                for p in list(g.as_equal_interpolated_points(distance=interp))[1:]:
+                    while self.paused:
+                        time.sleep(0.05)
+                    self._move(p.real, p.imag)
+            elif segment_type == "arc":
+                # TODO: Allow arcs to be directly executed by GRBL which can actually use them.
+                self.move_mode = 1
+                interp = self.service.interp
+                g.clear()
+                g.arc(
+                    complex(start),
+                    complex(c1),
+                    complex(end),
+                )
+                for p in list(g.as_equal_interpolated_points(distance=interp))[1:]:
+                    while self.paused:
+                        time.sleep(0.05)
+                    self._move(p.real, p.imag)
+            elif segment_type == "point":
+                function = sets.get("function")
+                if function == "dwell":
+                    self.dwell(sets.get("dwell_time"))
+                elif function == "wait":
+                    self.wait(sets.get("dwell_time"))
+                elif function == "home":
+                    self.home()
+                elif function == "goto":
+                    self._move(start.real, start.imag)
+                elif function == "input":
+                    # GRBL has no core GPIO functionality
+                    pass
+                elif function == "output":
+                    # GRBL has no core GPIO functionality
+                    pass
+        self(f"G1 S0{self.line_end}")
+        self(f"M5{self.line_end}")
+        self.clear_states()
+        self.wait_finish()
+        return False
+
+    def plot(self, plot):
+        """
+        Gives the driver a bit of cutcode that should be plotted.
+        @param plot:
+        @return:
+        """
+        self.queue.append(plot)
+
+    def plot_start(self):
+        """
+        Called at the end of plot commands to ensure the driver can deal with them all as a group.
+
+        @return:
+        """
+        self.signal("grbl_red_dot", False)  # We are not using red-dot if we're cutting.
+        self.clear_states()
+        self._g90_absolute()
+        self._g94_feedrate()
+        self._clean()
+        if self.service.use_m3:
+            self(f"M3{self.line_end}")
+        else:
+            self(f"M4{self.line_end}")
+        first = True
+        total = len(self.queue)
+        current = 0
+        for q in self.queue:
+            # Are there any custom commands to be executed?
+            # Usecase (as described in issue https://github.com/meerk40t/meerk40t/issues/2764 ):
+            # Switch between M3 and M4 mode for cut / raster 
+            #   M3=used to cut as gantry acceleration doesn't matter on a cut.
+            #   M4=used for Raster/Engrave operations, as grblHAL will 
+            #   adjust power based on gantry speed including acceleration. 
+
+            cmd_string = q.settings.get("custom_commands", "")
+            if cmd_string:
+                for cmd in cmd_string.splitlines():
+                    self(f"{cmd}{self.line_end}")
+
+            current += 1
+            self._set_queue_status(current, total)
+            while self.hold_work(0):
+                if self.service.kernel.is_shutdown:
+                    return
+                time.sleep(0.05)
+            x = self.native_x
+            y = self.native_y
+            start_x, start_y = q.start
+            if x != start_x or y != start_y or first:
+                self.on_value = 0
+                self.power_dirty = True
+                self.move_mode = 0
+                first = False
+                self._move(start_x, start_y)
+            if self.on_value != 1.0:
+                self.power_dirty = True
+            self.on_value = 1.0
+            # Do we have a custom z-Value?
+            # NB: zaxis is not a property inside Parameters like power/or speed
+            # so we need to deal with it more directly 
+            # (e.g. self.power is the equivalent to self.settings.["power"]))
+            qzaxis = q.settings.get("zaxis", self.zaxis)
+            if qzaxis != self.zaxis:
+                self.zaxis = qzaxis
+                self.zaxis_dirty = True
+            # Default-Values?!
+            qpower = q.settings.get("power", self.power)
+            qspeed = q.settings.get("speed", self.speed)
+            qraster_step_x = q.settings.get("raster_step_x")
+            qraster_step_y = q.settings.get("raster_step_y")
+            if qpower != self.power:
+                self.set("power", qpower)
+            if (
+                qspeed != self.speed
+                or qraster_step_x != self.raster_step_x
+                or qraster_step_y != self.raster_step_y
+            ):
+                self.set("speed", qspeed)
+            self.settings.update(q.settings)
+            if isinstance(q, LineCut):
+                self.move_mode = 1
+                self._move(*q.end)
+            elif isinstance(q, QuadCut):
+                self.move_mode = 1
+                interp = self.service.interp
+                g = Geomstr()
+                g.quad(complex(*q.start), complex(*q.c()), complex(*q.end))
+                for p in list(g.as_equal_interpolated_points(distance=interp))[1:]:
+                    while self.paused:
+                        time.sleep(0.05)
+                    self._move(p.real, p.imag)
+            elif isinstance(q, CubicCut):
+                self.move_mode = 1
+                interp = self.service.interp
+                g = Geomstr()
+                g.cubic(
+                    complex(*q.start),
+                    complex(*q.c1()),
+                    complex(*q.c2()),
+                    complex(*q.end),
+                )
+                for p in list(g.as_equal_interpolated_points(distance=interp))[1:]:
+                    while self.paused:
+                        time.sleep(0.05)
+                    self._move(p.real, p.imag)
+            elif isinstance(q, WaitCut):
+                self.wait(q.dwell_time)
+            elif isinstance(q, HomeCut):
+                self.home()
+            elif isinstance(q, GotoCut):
+                start = q.start
+                self._move(start[0], start[1])
+            elif isinstance(q, DwellCut):
+                self.dwell(q.dwell_time)
+            elif isinstance(q, (InputCut, OutputCut)):
+                # GRBL has no core GPIO functionality
+                pass
+            elif isinstance(q, PlotCut):
+                self.move_mode = 1
+                self.set("power", 1000)
+                for ox, oy, on, x, y in q.plot:
+                    while self.hold_work(0):
+                        time.sleep(0.05)
+                    # q.plot can have different on values, these are parsed
+                    if self.on_value != on:
+                        self.power_dirty = True
+                    self.on_value = on
+                    self._move(x, y)
+            else:
+                #  Rastercut
+                self.plot_planner.push(q)
+                self.move_mode = 1
+                for x, y, on in self.plot_planner.gen():
+                    while self.hold_work(0):
+                        time.sleep(0.05)
+                    if on > 1:
+                        # Special Command.
+                        if isinstance(on, float):
+                            on = int(on)
+                        if on & PLOT_FINISH:  # Plot planner is ending.
+                            break
+                        elif on & PLOT_SETTING:  # Plot planner settings have changed.
+                            p_set = Parameters(self.plot_planner.settings)
+                            if p_set.power != self.power:
+                                self.set("power", p_set.power)
+                            if (
+                                p_set.speed != self.speed
+                                or p_set.raster_step_x != self.raster_step_x
+                                or p_set.raster_step_y != self.raster_step_y
+                            ):
+                                self.set("speed", p_set.speed)
+                            self.settings.update(p_set.settings)
+                        elif on & (
+                            PLOT_RAPID | PLOT_JOG
+                        ):  # Plot planner requests position change.
+                            # self.move_mode = 0
+                            self._move(x, y)
+                        continue
+                    # if on == 0:
+                    #     self.move_mode = 0
+                    # else:
+                    #     self.move_mode = 1
+                    if self.on_value != on:
+                        self.power_dirty = True
+                    self.on_value = on
+                    self._move(x, y)
+        self.queue.clear()
+        self._set_queue_status(0, 0)
+
+        self(f"G1 S0{self.line_end}")
+        self(f"M5{self.line_end}")
+        self.clear_states()
+        self.wait_finish()
+        return False
+
+    def blob(self, data_type, data):
+        """
+        This is intended to send a blob of gcode to be processed and executed.
+
+        @param data_type:
+        @param data:
+        @return:
+        """
+        if data_type != "grbl":
+            return
+        grbl = bytes.decode(data, "latin-1")
+        for split in grbl.split("\r"):
+            g = split.strip()
+            if g:
+                self(f"{g}{self.line_end}")
+
+    def physical_home(self):
+        """
+        Home the laser physically (i.e. run into endstops).
+
+        @return:
+        """
+        old_current = self.service.current
+        self.native_x = 0
+        self.native_y = 0
+        if self.service.has_endstops:
+            self(f"$H{self.line_end}")
+        else:
+            self(f"G28{self.line_end}")
+        new_current = self.service.current
+        if self._signal_updates:
+            self.service.signal(
+                "driver;position",
+                (old_current[0], old_current[1], new_current[0], new_current[1]),
+            )
+
+    def home(self):
+        """
+        Home the laser (i.e. goto defined origin)
+
+        @return:
+        """
+        self.native_x = 0
+        self.native_y = 0
+        if self.service.rotary.active and self.service.rotary.suppress_home:
+            return
+        self(f"G28{self.line_end}")
+
+    def rapid_mode(self, *values):
+        """
+        Rapid mode sets the laser to rapid state. This is usually moving the laser around without it executing a large
+        batch of commands.
+
+        @param values:
+        @return:
+        """
+
+    def finished_mode(self, *values):
+        """
+        Finished mode is after a large batch of jobs is done.
+
+        @param values:
+        @return:
+        """
+        self(f"M5{self.line_end}")
+
+    def program_mode(self, *values):
+        """
+        Program mode is the state lasers often use to send a large batch of commands.
+        @param values:
+        @return:
+        """
+        self(f"M3{self.line_end}")
+
+    def raster_mode(self, *values):
+        """
+        Raster mode is a special form of program mode that suggests the batch of commands will be a raster operation
+        many lasers have specialty values
+        @param values:
+        @return:
+        """
+
+    def wait(self, time_in_ms):
+        """
+        Wait asks that the work be stalled or current process held for the time time_in_ms in ms. If wait_finished is
+        called first this will attempt to stall the machine while performing no work. If the driver in question permits
+        waits to be placed within code this should insert waits into the current job. Returning instantly rather than
+        holding the processes.
+
+        @param time_in_ms:
+        @return:
+        """
+        self(f"G04 S{time_in_ms / 1000.0}{self.line_end}")
+
+    def wait_finish(self, *values):
+        """
+        Wait finish should hold the calling thread until the current work has completed. Or otherwise prevent any data
+        from being sent with returning True for the until that criteria is met.
+
+        @param values:
+        @return:
+        """
+        while True:
+            if self.queue or len(self.service.controller):
+                time.sleep(0.05)
+                continue
+            break
+
+    def function(self, function):
+        """
+        This command asks that this function be executed at the appropriate time within the spooled cycle.
+
+        @param function:
+        @return:
+        """
+        function()
+
+    def beep(self):
+        """
+        Wants a system beep to be issued.
+        This command asks that a beep be executed at the appropriate time within the spooled cycle.
+
+        @return:
+        """
+        self.service("beep\n")
+
+    def console(self, value):
+        """
+        This asks that the console command be executed at the appropriate time within the spooled cycle.
+
+        @param value: console command
+        @return:
+        """
+        self.service(value)
+
+    def signal(self, signal, *args):
+        """
+        This asks that this signal be broadcast at the appropriate time within the spooling cycle.
+
+        @param signal:
+        @param args:
+        @return:
+        """
+        if signal == "coolant":
+            onoff = args[0]
+            coolid = None
+            if hasattr(self.service, "coolant"):
+                coolid = self.service.device_coolant
+            if not coolid:
+                return
+            routine = None
+            try:
+                cool = self.service.context.kernel.root.coolant
+                routine = cool.claim_coolant(self.service, coolid)
+            except AttributeError:
+                routine = None
+            if routine:
+                try:
+                    routine(self.service, onoff)
+                except RuntimeError:
+                    pass
+
+        else:
+            self.service.signal(signal, *args)
+
+    def pause(self, *args):
+        """
+        Asks that the laser be paused.
+
+        @param args:
+        @return:
+        """
+        self.paused = True
+        # self(f"!{self.line_end}", real=True)
+        self(chr(0x21), real=True)  # Hex 21 = !
+        # Let's make sure we reestablish power...
+        self.power_dirty = True
+        self.service.signal("pause")
+
+    def resume(self, *args):
+        """
+        Asks that the laser be resumed.
+
+        To work this command should usually be put into the realtime work queue for the laser.
+
+        @param args:
+        @return:
+        """
+        self.paused = False
+        # self(f"~{self.line_end}", real=True)
+        self(chr(0x7E), real=True)  # hex 7e = ~
+        self.service.signal("pause")
+
+    def clear_states(self):
+        self.power_dirty = True
+        self.speed_dirty = True
+        self.zaxis_dirty = True
+        self.absolute_dirty = True
+        self.feedrate_dirty = True
+        self.units_dirty = True
+        self.move_mode = 0
+
+    def reset(self, *args):
+        """
+        This command asks that this device be emergency stopped and reset. Usually that queue data from the spooler be
+        deleted.
+        Asks that the device resets, and clears all current work.
+
+        @param args:
+        @return:
+        """
+        self.service.spooler.clear_queue()
+        self.queue.clear()
+        self.plot_planner.clear()
+        self(f"\x18{self.line_end}", real=True)
+        self._g94_feedrate()
+        self._g21_units_mm()
+        self._g90_absolute()
+
+        self.power_dirty = True
+        self.speed_dirty = True
+        self.zaxis_dirty = True
+        self.absolute_dirty = True
+        self.feedrate_dirty = True
+        self.units_dirty = True
+
+        self.paused = False
+        self.service.signal("pause")
+
+    def clear_alarm(self):
+        """
+        GRBL clear alarm signal.
+
+        @return:
+        """
+        self(f"$X{self.line_end}", real=True)
+        if self.service.extended_alarm_clear:
+            self.reset()
+
+    def declare_modals(self, modals):
+        self.move_mode = 0 if "G0" in modals else 1
+        if "G90" in modals:
+            self._g90_absolute()
+            self.absolute_dirty = False
+        if "G91" in modals:
+            self._g91_relative()
+            self.absolute_dirty = False
+        if "G94" in modals:
+            self._g94_feedrate()
+            self.feedrate_dirty = False
+        if "G93" in modals:
+            self._g93_feedrate()
+            self.feedrate_dirty = False
+        if "G20" in modals:
+            self._g20_units_inch()
+            self.units_dirty = False
+        if "G21" in modals:
+            self._g21_units_mm()
+            self.units_dirty = False
+
+    def declare_position(self, x, y):
+        self.native_x = x * self.unit_scale
+        self.native_y = y * self.unit_scale
+
+    ####################
+    # PROTECTED DRIVER CODE
+    ####################
+
+    def _move(self, x, y, absolute=False):
+        old_current = self.service.current
+        if self._absolute:
+            self.native_x = x
+            self.native_y = y
+        else:
+            self.native_x += x
+            self.native_y += y
+        line = []
+        if self.move_mode == 0:
+            line.append("G0")
+        else:
+            line.append("G1")
+        x /= self.unit_scale
+        y /= self.unit_scale
+        line.append(f"X{x:.3f}")
+        line.append(f"Y{y:.3f}")
+        if self.zaxis_dirty:
+            self.zaxis_dirty = False
+            if self.zaxis is not None:
+                try:
+                    z = float(Length(self.zaxis) / self.service.view.native_scale_x)
+                    z /= self.unit_scale
+                    line.append(f"Z{z:.3f}")
+                except ValueError:
+                    pass
+
+        if self.power_dirty:
+            if self.power is not None:
+                line.append(f"S{self.power * self.on_value:.1f}")
+            self.power_dirty = False
+        if self.speed_dirty:
+            line.append(f"F{self.feed_convert(self.speed):.1f}")
+            self.speed_dirty = False
+        self(" ".join(line) + self.line_end)
+        new_current = self.service.current
+        if self._signal_updates:
+            self.service.signal(
+                "driver;position",
+                (old_current[0], old_current[1], new_current[0], new_current[1]),
+            )
+
+    def _clean_motion(self):
+        if self.absolute_dirty:
+            if self._absolute:
+                self(f"G90{self.line_end}")
+            else:
+                self(f"G91{self.line_end}")
+        self.absolute_dirty = False
+
+    def _clean_feed_mode(self):
+        if self.feedrate_dirty:
+            if self.feed_mode == 94:
+                self(f"G94{self.line_end}")
+            else:
+                self(f"G93{self.line_end}")
+        self.feedrate_dirty = False
+
+    def _clean_units(self):
+        if self.units_dirty:
+            if self.units == 20:
+                self(f"G20{self.line_end}")
+            else:
+                self(f"G21{self.line_end}")
+        self.units_dirty = False
+
+    def _clean(self):
+        self._clean_motion()
+        self._clean_feed_mode()
+        self._clean_units()
+
+    def _g91_relative(self):
+        if not self._absolute:
+            return
+        self._absolute = False
+        self.absolute_dirty = True
+
+    def _g90_absolute(self):
+        if self._absolute:
+            return
+        self._absolute = True
+        self.absolute_dirty = True
+
+    def _g93_mms_to_minutes_per_gunits(self, mms):
+        millimeters_per_minute = 60.0 * mms
+        distance = UNITS_PER_MIL / self.stepper_step_size
+        return distance / millimeters_per_minute
+
+    def _g93_feedrate(self):
+        if self.feed_mode == 93:
+            return
+        self.feed_mode = 93
+        # Feed Rate in Minutes / Unit
+        self.feed_convert = self._g93_mms_to_minutes_per_gunits
+        self.feedrate_dirty = True
+
+    def _g94_mms_to_gunits_per_minute(self, mms):
+        millimeters_per_minute = 60.0 * mms
+        distance = UNITS_PER_MIL / self.stepper_step_size
+        return millimeters_per_minute / distance
+
+    def _g94_feedrate(self):
+        if self.feed_mode == 94:
+            return
+        self.feed_mode = 94
+        # Feed Rate in Units / Minute
+        self.feed_convert = self._g94_mms_to_gunits_per_minute
+        # units to mm, seconds to minutes.
+        self.feedrate_dirty = True
+
+    def _g20_units_inch(self):
+        self.units = 20
+        self.unit_scale = UNITS_PER_INCH / self.stepper_step_size  # g20 is inch mode.
+        self.units_dirty = True
+
+    def _g21_units_mm(self):
+        self.units = 21
+        self.unit_scale = UNITS_PER_MM / self.stepper_step_size  # g21 is mm mode.
+        self.units_dirty = True
+
+    def set_power_scale(self, factor):
+        # Grbl can only deal with factors between 10% and 200%
+        if factor <= 0 or factor > 2.0:
+            factor = 1.0
+        if self.power_scale == factor:
+            return
+        self.power_scale = factor
+
+        # Grbl can only deal with factors between 10% and 200%
+        self("\x99\r", real=True)
+        # Upward loop
+        start = 1.0
+        while start < 2.0 and start < factor:
+            self("\x9B\r", real=True)
+            start += 0.1
+        # Downward loop
+        start = 1.0
+        while start > 0.0 and start > factor:
+            self("\x9A\r", real=True)
+            start -= 0.1
+
+    def set_speed_scale(self, factor):
+        # Grbl can only deal with factors between 10% and 200%
+        if factor <= 0 or factor > 2.0:
+            factor = 1.0
+        if self.speed_scale == factor:
+            return
+        self.speed_scale = factor
+        self("\x90\r", real=True)
+        start = 1.0
+        while start < 2.0 and start < factor:
+            self("\x91\r", real=True)
+            start += 0.1
+        # Downward loop
+        start = 1.0
+        while start > 0.0 and start > factor:
+            self("\x92\r", real=True)
+            start -= 0.1
+
+    @staticmethod
+    def has_adjustable_power():
+        return True
+
+    @staticmethod
+    def has_adjustable_speed():
+        return True