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

meerk40t/lihuiyu/driver.py

@@ -1,1372 +1,1466 @@
-"""
-Lihuiyu Driver
-
-Governs the generic commands issued by laserjob and spooler and converts that into regular LHYMicro-GL output.
-
-This generated data is then sent to the controller, which could be a network connection, usb, or mock depending on the
-selected output.
-"""
-
-import math
-import time
-
-from meerk40t.tools.zinglplotter import ZinglPlotter
-
-from ..core.cutcode.dwellcut import DwellCut
-from ..core.cutcode.gotocut import GotoCut
-from ..core.cutcode.homecut import HomeCut
-from ..core.cutcode.inputcut import InputCut
-from ..core.cutcode.outputcut import OutputCut
-from ..core.cutcode.plotcut import PlotCut
-from ..core.cutcode.waitcut import WaitCut
-from ..core.parameters import Parameters
-from ..core.plotplanner import PlotPlanner, grouped
-from ..device.basedevice import (
-    DRIVER_STATE_FINISH,
-    DRIVER_STATE_MODECHANGE,
-    DRIVER_STATE_PROGRAM,
-    DRIVER_STATE_RAPID,
-    DRIVER_STATE_RASTER,
-    PLOT_AXIS,
-    PLOT_DIRECTION,
-    PLOT_FINISH,
-    PLOT_JOG,
-    PLOT_RAPID,
-    PLOT_SETTING,
-)
-from .laserspeed import LaserSpeed
-
-distance_lookup = [
-    b"",
-    b"a",
-    b"b",
-    b"c",
-    b"d",
-    b"e",
-    b"f",
-    b"g",
-    b"h",
-    b"i",
-    b"j",
-    b"k",
-    b"l",
-    b"m",
-    b"n",
-    b"o",
-    b"p",
-    b"q",
-    b"r",
-    b"s",
-    b"t",
-    b"u",
-    b"v",
-    b"w",
-    b"x",
-    b"y",
-    b"|a",
-    b"|b",
-    b"|c",
-    b"|d",
-    b"|e",
-    b"|f",
-    b"|g",
-    b"|h",
-    b"|i",
-    b"|j",
-    b"|k",
-    b"|l",
-    b"|m",
-    b"|n",
-    b"|o",
-    b"|p",
-    b"|q",
-    b"|r",
-    b"|s",
-    b"|t",
-    b"|u",
-    b"|v",
-    b"|w",
-    b"|x",
-    b"|y",
-    b"|z",
-]
-
-
-def lhymicro_distance(v):
-    if v < 0:
-        raise ValueError("Cannot permit negative values.")
-    dist = b""
-    if v >= 255:
-        zs = int(v / 255)
-        v %= 255
-        dist += b"z" * zs
-    if v >= 52:
-        return dist + b"%03d" % v
-    return dist + distance_lookup[v]
-
-
-class LihuiyuDriver(Parameters):
-    """
-    LihuiyuDriver provides Lihuiyu specific coding for elements and sends it to the backend
-    to write to the usb.
-    """
-
-    def __init__(self, service, *args, **kwargs):
-        super().__init__()
-        self.service = service
-        self.name = str(self.service)
-        self._topward = False
-        self._leftward = False
-        self._x_engaged = False
-        self._y_engaged = False
-        self._horizontal_major = False
-
-        self._request_leftward = None
-        self._request_topward = None
-        self._request_horizontal_major = None
-
-        self.out_pipe = None
-
-        self.process_item = None
-        self.spooled_item = None
-        self.holds = []
-        self.temp_holds = []
-
-        self.native_x = 0
-        self.native_y = 0
-
-        self.plot_planner = PlotPlanner(self.settings)
-        self.plot_attribute_update()
-
-        self.plot_data = None
-
-        self.state = DRIVER_STATE_RAPID
-        self.properties = 0
-        self.is_relative = False
-        self.laser = False
-        self._thread = None
-        self._shutdown = False
-        self.last_fetch = None
-
-        self.CODE_RIGHT = b"B"
-        self.CODE_LEFT = b"T"
-        self.CODE_TOP = b"L"
-        self.CODE_BOTTOM = b"R"
-        self.CODE_ANGLE = b"M"
-        self.CODE_LASER_ON = b"D"
-        self.CODE_LASER_OFF = b"U"
-
-        self.paused = False
-
-        def primary_hold():
-            if self.out_pipe is None:
-                return True
-            if hasattr(self.out_pipe, "is_shutdown") and self.out_pipe.is_shutdown:
-                raise ConnectionAbortedError("Cannot hold for a shutdown pipe.")
-            try:
-                buffer = len(self.out_pipe)
-            except TypeError:
-                buffer = 0
-            return self.service.buffer_limit and buffer > self.service.buffer_max
-
-        self.holds.append(primary_hold)
-
-        # Step amount expected of the current operation
-        self._raster_step_float = 0
-
-        # Step amount is the current correctly set step amount in the controller.
-        self._raster_step_g_value = 0
-
-        # Step index of the current step taken for unidirectional
-        self._raster_step_swing_index = 0
-
-        # Step total the count for fractional step amounts
-        self._raster_step_fractional_remainder = 0.0
-
-    def __repr__(self):
-        return f"LihuiyuDriver({self.name})"
-
-    def __call__(self, e):
-        self.out_pipe.write(e)
-
-    def plot_attribute_update(self):
-        self.plot_planner.force_shift = self.service.plot_shift
-        self.plot_planner.phase_type = self.service.plot_phase_type
-        self.plot_planner.phase_value = self.service.plot_phase_value
-
-    def hold_work(self, priority):
-        """
-        Holds are criteria to use to pause the data interpretation. These halt the production of new data until the
-        criteria is met. A hold is constant and will always halt the data while true. A temp_hold will be removed
-        as soon as it does not hold the data.
-
-        @return: Whether data interpretation should hold.
-        """
-        if priority > 0:
-            # Don't hold realtime work.
-            return False
-
-        temp_hold = False
-        fail_hold = False
-        for i, hold in enumerate(self.temp_holds):
-            if not hold():
-                self.temp_holds[i] = None
-                fail_hold = True
-            else:
-                temp_hold = True
-        if fail_hold:
-            self.temp_holds = [hold for hold in self.temp_holds if hold is not None]
-        if temp_hold:
-            return True
-        for hold in self.holds:
-            if hold():
-                return True
-        return False
-
-    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._set_power(value)
-        elif key == "ppi":
-            self._set_power(value)
-        elif key == "pwm":
-            self._set_power(value)
-        elif key == "overscan":
-            self._set_overscan(value)
-        elif key == "acceleration":
-            self._set_acceleration(value)
-        elif key == "relative":
-            self.is_relative = value
-        elif key == "d_ratio":
-            self._set_d_ratio(value)
-        elif key == "step":
-            self._set_step(*value)
-        else:
-            self.settings[key] = value
-
-    def status(self):
-        """
-        Wants a status report of what the driver is doing.
-        @return:
-        """
-        state_major = "idle"
-        state_minor = "idle"
-        if self.state == DRIVER_STATE_RAPID:
-            state_major = "idle"
-            state_minor = "idle"
-        elif self.state == DRIVER_STATE_FINISH:
-            state_major = "idle"
-            state_minor = "finished"
-        elif self.state == DRIVER_STATE_PROGRAM:
-            state_major = "busy"
-            state_minor = "program"
-        elif self.state == DRIVER_STATE_RASTER:
-            state_major = "busy"
-            state_minor = "raster"
-        elif self.state == DRIVER_STATE_MODECHANGE:
-            state_major = "busy"
-            state_minor = "changing"
-        return (self.native_x, self.native_y), state_major, state_minor
-
-    def pause(self, *values):
-        """
-        Asks that the laser be paused.
-
-        @return:
-        """
-        self(b"~PN!\n~")
-        self.paused = True
-        self.service.signal("pause")
-
-    def resume(self, *values):
-        """
-        Asks that the laser be resumed.
-
-        To work this command should usually be put into the realtime work queue for the laser, without that it will
-        be paused and unable to process the resume.
-
-        @param values:
-        @return:
-        """
-        self(b"~PN&\n~")
-        self.paused = False
-        self.service.signal("pause")
-
-    def reset(self):
-        """
-        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.
-
-        @return:
-        """
-        self.service.spooler.clear_queue()
-        self.plot_planner.clear()
-        self.spooled_item = None
-        self.temp_holds.clear()
-
-        self.service.signal("pipe;buffer", 0)
-        self(b"~I*\n~")
-        self._reset_modes()
-        self.state = DRIVER_STATE_RAPID
-        self.paused = False
-        self.service.signal("pause")
-
-    def abort(self):
-        self(b"I\n")
-
-    def blob(self, blob_type, data):
-        """
-        Blob sends a data blob. This is native code data of the give type. For example in a ruida device it might be a
-        bunch of .rd code, or Lihuiyu device it could be .egv code. It's a method of sending pre-chewed data to the
-        device.
-
-        @param blob_type:
-        @param data:
-        @return:
-        """
-        if blob_type == "egv":
-            self(data)
-
-    def move_abs(self, x, y):
-        """
-        Requests laser move to absolute position x, y in physical units
-
-        @param x:
-        @param y:
-        @return:
-        """
-        x, y = self.service.view.position(x, y)
-        self.rapid_mode()
-        self._move_absolute(int(round(x)), int(round(y)))
-
-    def move_rel(self, dx, dy):
-        """
-        Requests laser move relative position dx, dy in physical units
-
-        @param dx:
-        @param dy:
-        @return:
-        """
-        unit_dx, unit_dy = self.service.view.position(dx, dy, vector=True)
-        self.rapid_mode()
-        self._move_relative(unit_dx, unit_dy)
-
-    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.rapid_mode()
-        self.wait_finish()
-        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):
-        """
-        Turn laser off in place.
-
-        @return:
-        """
-        if not self.laser:
-            return False
-        if self.state == DRIVER_STATE_RAPID:
-            self(b"I")
-            self(self.CODE_LASER_OFF)
-            self(b"S1P\n")
-            if not self.service.autolock:
-                self(b"IS2P\n")
-        elif self.state in (DRIVER_STATE_PROGRAM, DRIVER_STATE_RASTER):
-            self(self.CODE_LASER_OFF)
-        elif self.state == DRIVER_STATE_FINISH:
-            self(self.CODE_LASER_OFF)
-            self(b"N")
-        self.laser = False
-        return True
-
-    def laser_on(self):
-        """
-        Turn laser on in place.
-
-        @return:
-        """
-        if self.laser:
-            return False
-        if self.state == DRIVER_STATE_RAPID:
-            self(b"I")
-            self(self.CODE_LASER_ON)
-            self(b"S1P\n")
-            if not self.service.autolock:
-                self(b"IS2P\n")
-        elif self.state in (DRIVER_STATE_PROGRAM, DRIVER_STATE_RASTER):
-            self(self.CODE_LASER_ON)
-        elif self.state == DRIVER_STATE_FINISH:
-            self(self.CODE_LASER_ON)
-            self(b"N")
-        self.laser = True
-        return True
-
-    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:
-        """
-        if self.state == DRIVER_STATE_RAPID:
-            return
-        if self.state == DRIVER_STATE_FINISH:
-            self(b"S1P\n")
-            if not self.service.autolock:
-                self(b"IS2P\n")
-        elif self.state in (
-            DRIVER_STATE_PROGRAM,
-            DRIVER_STATE_RASTER,
-            DRIVER_STATE_MODECHANGE,
-        ):
-            self(b"FNSE-\n")
-            self.laser = False
-        self.state = DRIVER_STATE_RAPID
-
-    def finished_mode(self, *values):
-        """
-        Finished mode is after a large batch of jobs is done. A transition to finished may require the laser process
-        all the data in the buffer.
-
-        @param values:
-        @return:
-        """
-        if self.state == DRIVER_STATE_FINISH:
-            return
-        if self.state in (
-            DRIVER_STATE_PROGRAM,
-            DRIVER_STATE_RASTER,
-            DRIVER_STATE_MODECHANGE,
-        ):
-            self(b"@NSE")
-            self.laser = False
-        elif self.state == DRIVER_STATE_RAPID:
-            self(b"I")
-        self.state = DRIVER_STATE_FINISH
-
-    def raster_mode(self, *values, dx=0, dy=0):
-        """
-        Raster mode runs in either `G0xx` stepping mode. It  is only intended to move horizontal or
-        vertical rastering, usually at a high speed. Accel twitches are required for this mode.
-
-        @param values:
-        @param dx: movement during raster mode switch
-        @param dy: movement during raster mode switch
-        @return:
-        """
-        if self.raster_step_y == 0 and self.raster_step_x == 0:
-            # This is not properly set raster mode.
-            self.program_mode(*values, dx=dx, dy=dy)
-            return
-        if self.state == DRIVER_STATE_RASTER:
-            return
-        self.finished_mode()
-
-        horizontal = self.raster_step_y != 0
-        self._request_horizontal_major = horizontal
-
-        self._raster_step_swing_index = 0
-        self._raster_step_float = (
-            self.raster_step_y if horizontal else self.raster_step_x
-        )
-        if self._raster_step_float is None:
-            self._raster_step_float = 1
-        self._raster_step_g_value = int(math.floor(self._raster_step_float))
-
-        if self._request_leftward is not None:
-            self._leftward = self._request_leftward
-            self._request_leftward = None
-        if self._request_topward is not None:
-            self._topward = self._request_topward
-            self._request_topward = None
-        if self._request_horizontal_major is not None:
-            self._horizontal_major = self._request_horizontal_major
-            self._request_horizontal_major = None
-
-        if self.service.strict:
-            # Override requested or current values only use core initial values.
-            self._leftward = False
-            self._topward = False
-            self._horizontal_major = False
-        if self.bidirectional:
-            # Bidirectional (step on forward/back swing - rasters both directions)
-            raster_step_value = self._raster_step_g_value
-        else:
-            # Unidirectional (step on forward swing - rasters only going forward)
-            raster_step_value = self._raster_step_g_value, 0
-        speed_code = LaserSpeed(
-            self.service.board,
-            self.speed,
-            raster_step=raster_step_value,
-            d_ratio=self.implicit_d_ratio,
-            acceleration=self.implicit_accel,
-            fix_limit=True,
-            fix_lows=True,
-            suffix_c=False,
-            fix_speeds=self.service.fix_speeds,
-            raster_horizontal=horizontal,
-        ).speedcode
-        speed_code = bytes(speed_code, "utf8")
-        self(speed_code)
-        self._goto_xy(dx, dy)
-        self(b"N")
-        self(self._code_declare_directions())
-        self(b"S1E")
-        self.state = DRIVER_STATE_RASTER
-
-    def program_mode(self, *values, dx=0, dy=0):
-        """
-        Vector Mode implies but doesn't discount rastering. Twitches are used if twitches is set to True.
-
-        @param values: passed information from the driver command
-        @param dx: change in dx that should be made while switching to program mode.
-        @param dy: change in dy that should be made while switching to program mode.
-        @return:
-        """
-        if self.state == DRIVER_STATE_PROGRAM:
-            return
-        self.finished_mode()
-
-        self._raster_step_swing_index = 0
-        self._raster_step_float = 0
-        self._raster_step_g_value = 0
-
-        suffix_c = None
-        if (
-            not self.service.twitches or self.settings.get("_force_twitchless", False)
-        ) and not self._raster_step_float:
-            suffix_c = True
-        if self._request_leftward is not None:
-            self._leftward = self._request_leftward
-            self._request_leftward = None
-        if self._request_topward is not None:
-            self._topward = self._request_topward
-            self._request_topward = None
-        if self._request_horizontal_major is not None:
-            self._horizontal_major = self._request_horizontal_major
-            self._request_horizontal_major = None
-        if self.service.strict:
-            # Override requested or current values only use core initial values.
-            self._leftward = False
-            self._topward = False
-            self._horizontal_major = False
-
-        speed_code = LaserSpeed(
-            self.service.board,
-            self.speed,
-            raster_step=0,
-            d_ratio=self.implicit_d_ratio,
-            acceleration=self.implicit_accel,
-            fix_limit=True,
-            fix_lows=True,
-            suffix_c=suffix_c,
-            fix_speeds=self.service.fix_speeds,
-            raster_horizontal=self._horizontal_major,
-        ).speedcode
-        speed_code = bytes(speed_code, "utf8")
-        self(speed_code)
-        self._goto_xy(dx, dy)
-        self(b"N")
-        self(self._code_declare_directions())
-        self(b"S1E")
-        if self._raster_step_float:
-            self.state = DRIVER_STATE_RASTER
-        else:
-            self.state = DRIVER_STATE_PROGRAM
-
-    def home(self, *values):
-        """
-        Home the laser.
-
-        @param values:
-        @return:
-        """
-        if self.service.rotary_active and self.service.rotary_supress_home:
-            return
-        self.rapid_mode()
-        self(b"IPP\n")
-        old_current = self.service.current
-        self.native_x = 0
-        self.native_y = 0
-        self._reset_modes()
-        self.state = DRIVER_STATE_RAPID
-
-        new_current = self.service.current
-        self.service.signal(
-            "driver;position",
-            (old_current[0], old_current[1], new_current[0], new_current[1]),
-        )
-
-    def physical_home(self):
-        """ "
-        This would be the command to go to a real physical home position (ie hitting endstops)
-        """
-        self.home()
-
-    def lock_rail(self):
-        """
-        For plotter-style lasers this should prevent the laser bar from moving.
-
-        @return:
-        """
-        self.rapid_mode()
-        self(b"IS1P\n")
-
-    def unlock_rail(self, abort=False):
-        """
-        For plotter-style jobs this should free the laser head to be movable by the user.
-
-        @return:
-        """
-        self.rapid_mode()
-        self(b"IS2P\n")
-
-    def laser_disable(self, *values):
-        self.laser_enabled = False
-
-    def laser_enable(self, *values):
-        self.laser_enabled = True
-
-    def plot(self, plot):
-        """
-        Gives the driver cutcode that should be plotted/performed.
-
-        @param plot:
-        @return:
-        """
-        if isinstance(plot, InputCut):
-            self.plot_start()
-            self.wait_finish()
-            # We do not have any GPIO-output abilities
-        elif isinstance(plot, OutputCut):
-            self.plot_start()
-            self.wait_finish()
-            # We do not have any GPIO-input abilities
-        elif isinstance(plot, DwellCut):
-            self.plot_start()
-            self.rapid_mode()
-            start = plot.start
-            self.move_abs(start[0], start[1])
-            self.wait_finish()
-            self.dwell(plot.dwell_time)
-        elif isinstance(plot, WaitCut):
-            self.plot_start()
-            self.wait_finish()
-            self.wait(plot.dwell_time)
-        elif isinstance(plot, HomeCut):
-            self.plot_start()
-            self.wait_finish()
-            self.home()
-        elif isinstance(plot, GotoCut):
-            self.plot_start()
-            start = plot.start
-            self.wait_finish()
-            self._move_absolute(start[0], start[1])
-        else:
-            # LineCut, QuadCut, CubicCut, PlotCut, RasterCut
-            if isinstance(plot, PlotCut):
-                plot.check_if_rasterable()
-            self.plot_planner.push(plot)
-
-    def plot_start(self):
-        """
-        Called at the end of plot commands to ensure the driver can deal with them all cutcode as a group, if this
-        is needed by the driver.
-
-        @return:
-        """
-        if self.plot_data is None:
-            self.plot_data = self.plot_planner.gen()
-        self._plotplanner_process()
-
-    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:
-        """
-        time.sleep(time_in_ms / 1000.0)
-
-    def wait_finish(self, *values):
-        """
-        Wait finish should ensure that no additional commands be processed until the current buffer is completed. This
-        does not necessarily imply a change in mode as "finished_mode" would require. Just that the buffer be completed
-        before moving on.
-
-        @param values:
-        @return:
-        """
-
-        def temp_hold():
-            try:
-                return len(self.out_pipe) != 0
-            except TypeError:
-                return False
-
-        self.temp_holds.append(temp_hold)
-
-    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):
-        """
-        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.
-
-        @param signal:
-        @param args:
-        @return:
-        """
-        self.service.signal(signal, *args)
-
-    ######################
-    # Property IO
-    ######################
-
-    @property
-    def is_left(self):
-        return self._x_engaged and not self._y_engaged and self._leftward
-
-    @property
-    def is_right(self):
-        return self._x_engaged and not self._y_engaged and not self._leftward
-
-    @property
-    def is_top(self):
-        return not self._x_engaged and self._y_engaged and self._topward
-
-    @property
-    def is_bottom(self):
-        return not self._x_engaged and self._y_engaged and not self._topward
-
-    @property
-    def is_angle(self):
-        return self._y_engaged and self._x_engaged
-
-    def set_prop(self, mask):
-        self.properties |= mask
-
-    def unset_prop(self, mask):
-        self.properties &= ~mask
-
-    def is_prop(self, mask):
-        return bool(self.properties & mask)
-
-    def toggle_prop(self, mask):
-        if self.is_prop(mask):
-            self.unset_prop(mask)
-        else:
-            self.set_prop(mask)
-
-    ######################
-    # PROTECTED DRIVER CODE
-    ######################
-
-    def _plotplanner_process(self):
-        """
-        Processes any data in the plot planner. Getting all relevant (x,y,on) plot values and performing the cardinal
-        movements. Or updating the laser state based on the settings of the cutcode.
-
-        @return:
-        """
-        if self.plot_data is None:
-            return False
-        for x, y, on in self.plot_data:
-            while self.hold_work(0):
-                time.sleep(0.05)
-            sx = self.native_x
-            sy = self.native_y
-            # print("x: %s, y: %s -- c: %s, %s" % (str(x), str(y), str(sx), str(sy)))
-            on = int(on)
-            if on > 1:
-                # Special Command.
-                if on & PLOT_FINISH:  # Plot planner is ending.
-                    self.rapid_mode()
-                    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.raster_step_x != self.raster_step_x
-                        or p_set.raster_step_y != self.raster_step_y
-                        or p_set.speed != self.speed
-                        or self.implicit_d_ratio != p_set.implicit_d_ratio
-                        or self.implicit_accel != p_set.implicit_accel
-                    ):
-                        self._set_speed(p_set.speed)
-                        self._set_step(p_set.raster_step_x, p_set.raster_step_y)
-                        self._set_acceleration(p_set.implicit_accel)
-                        self._set_d_ratio(p_set.implicit_d_ratio)
-                    self.settings.update(p_set.settings)
-                elif on & PLOT_AXIS:  # Major Axis.
-                    # 0 means X Major / Horizontal.
-                    # 1 means Y Major / Vertical
-                    self._request_horizontal_major = bool(x == 0)
-                elif on & PLOT_DIRECTION:
-                    # -1: Moving Left -x
-                    # 1: Moving Right. +x
-                    self._request_leftward = bool(x != 1)
-                    # -1: Moving Bottom +y
-                    # 1: Moving Top. -y
-                    self._request_topward = bool(y != 1)
-                elif on & (
-                    PLOT_RAPID | PLOT_JOG
-                ):  # Plot planner requests position change.
-                    if (
-                        on & PLOT_RAPID
-                        or self.state != DRIVER_STATE_PROGRAM
-                        or self.service.rapid_override
-                    ):
-                        # Perform a rapid position change. Always perform this for raster moves.
-                        # DRIVER_STATE_RASTER should call this code as well.
-                        self.rapid_mode()
-                        self._move_absolute(x, y)
-                    else:
-                        # Jog is performable and requested. # We have not flagged our direction or state.
-                        self._jog_absolute(x, y, mode=self.service.opt_jog_mode)
-                continue
-            dx = x - sx
-            dy = y - sy
-            step_x = self.raster_step_x
-            step_y = self.raster_step_y
-            if step_x == 0 and step_y == 0:
-                # vector mode
-                self.program_mode()
-            else:
-                self.raster_mode()
-                if self._horizontal_major:
-                    # Horizontal Rastering.
-                    if dy != 0:
-                        self._h_switch_g(dy)
-                else:
-                    # Vertical Rastering.
-                    if dx != 0:
-                        self._v_switch_g(dx)
-                # Update dx, dy (if changed by switches)
-                dx = x - self.native_x
-                dy = y - self.native_y
-            self._goto_octent(dx, dy, on & 1)
-        self.plot_data = None
-        return False
-
-    def _set_speed(self, speed=None):
-        if self.speed != speed:
-            self.speed = speed
-            if self.state in (DRIVER_STATE_PROGRAM, DRIVER_STATE_RASTER):
-                self.state = DRIVER_STATE_MODECHANGE
-
-    def _set_d_ratio(self, d_ratio=None):
-        if self.dratio != d_ratio:
-            self.dratio = d_ratio
-            if self.state in (DRIVER_STATE_PROGRAM, DRIVER_STATE_RASTER):
-                self.state = DRIVER_STATE_MODECHANGE
-
-    def _set_acceleration(self, accel=None):
-        if self.acceleration != accel:
-            self.acceleration = accel
-            if self.state in (DRIVER_STATE_PROGRAM, DRIVER_STATE_RASTER):
-                self.state = DRIVER_STATE_MODECHANGE
-
-    def _set_step(self, step_x=None, step_y=None):
-        if self.raster_step_x != step_x or self.raster_step_y != step_y:
-            self.raster_step_x = step_x
-            self.raster_step_y = step_y
-            if self.state in (DRIVER_STATE_PROGRAM, DRIVER_STATE_RASTER):
-                self.state = DRIVER_STATE_MODECHANGE
-
-    def _set_power(self, power=1000.0):
-        self.power = power
-        if self.power > 1000.0:
-            self.power = 1000.0
-        if self.power <= 0:
-            self.power = 0.0
-
-    def _set_ppi(self, power=1000.0):
-        self.power = power
-        if self.power > 1000.0:
-            self.power = 1000.0
-        if self.power <= 0:
-            self.power = 0.0
-
-    def _set_pwm(self, power=1000.0):
-        self.power = power
-        if self.power > 1000.0:
-            self.power = 1000.0
-        if self.power <= 0:
-            self.power = 0.0
-
-    def _set_overscan(self, overscan=None):
-        self.overscan = overscan
-
-    def _cut(self, x, y):
-        self._goto(x, y, True)
-
-    def _jog(self, x, y, **kwargs):
-        if self.is_relative:
-            self._jog_relative(x, y, **kwargs)
-        else:
-            self._jog_absolute(x, y, **kwargs)
-
-    def _jog_absolute(self, x, y, **kwargs):
-        self._jog_relative(x - self.native_x, y - self.native_y, **kwargs)
-
-    def _jog_relative(self, dx, dy, mode=0):
-        self.laser_off()
-        dx = int(round(dx))
-        dy = int(round(dy))
-        if mode == 0:
-            self._nse_jog_event(dx, dy)
-        elif mode == 1:
-            self._mode_shift_on_the_fly(dx, dy)
-        else:
-            # Finish-out Jog
-            self.rapid_mode()
-            self._move_relative(dx, dy)
-            self.program_mode()
-
-    def _nse_jog_event(self, dx=0, dy=0, speed=None):
-        """
-        NSE Jog events are performed from program or raster mode and skip out to rapid mode to perform
-        a single jog command. This jog effect varies based on the horizontal vertical major setting and
-        needs to counteract the jogged head according to those settings.
-
-        NSE jogs will not change the underlying mode even though they temporarily switch into
-        rapid mode. nse jogs are not done in raster mode.
-        """
-        dx = int(round(dx))
-        dy = int(round(dy))
-        original_state = self.state
-        self.state = DRIVER_STATE_RAPID
-        self.laser = False
-        if self._horizontal_major:
-            if not self.is_left and dx >= 0:
-                self(self.CODE_LEFT)
-            if not self.is_right and dx <= 0:
-                self(self.CODE_RIGHT)
-        else:
-            if not self.is_top and dy >= 0:
-                self(self.CODE_TOP)
-            if not self.is_bottom and dy <= 0:
-                self(self.CODE_BOTTOM)
-        self(b"N")
-        self._goto_xy(dx, dy)
-        self(b"SE")
-        self(self._code_declare_directions())
-        self.state = original_state
-
-    def _move(self, x, y):
-        self._goto(x, y, False)
-
-    def _move_absolute(self, x, y):
-        self._goto_absolute(x, y, False)
-
-    def _move_relative(self, x, y):
-        self._goto_relative(x, y, False)
-
-    def _goto(self, x, y, cut):
-        """
-        Goto a position within a cut.
-
-        This depends on whether is_relative is set.
-
-        @param x:
-        @param y:
-        @param cut:
-        @return:
-        """
-        if self.is_relative:
-            self._goto_relative(x, y, cut)
-        else:
-            self._goto_absolute(x, y, cut)
-
-    def _goto_absolute(self, x, y, cut):
-        """
-        Goto absolute x and y. With cut set or not set.
-
-        @param x:
-        @param y:
-        @param cut:
-        @return:
-        """
-        self._goto_relative(x - self.native_x, y - self.native_y, cut)
-
-    def _move_override_speed(self, dx, dy, x_speed, y_speed=None):
-        """
-        Rapid movement override. Should make programmed jogs.
-
-        @param dx: change in x
-        @param dy: change in y
-        @param x_speed: max allowed speed in x direction
-        @param y_speed: max allowed speed in y direction
-        @return:
-        """
-        if y_speed is None:
-            y_speed = x_speed
-        original_accel = self.acceleration
-        original_speed = self.speed
-        original_steps = self.raster_step_x, self.raster_step_y
-
-        # Do not allow custom accel codes, or raster steps.
-        self._set_acceleration(None)
-        self._set_step(0, 0)
-        # We know we will travel dx, dy. Set the initial direction requests.
-        self._request_leftward = dx < 0
-        self._request_topward = dy < 0
-        self._request_horizontal_major = abs(dx) > abs(dy)
-        if y_speed <= x_speed and abs(dy) >= abs(dx):
-            # y_speed is slowest and dy is larger than dx. The y-shift will take longer than x-shift. Combine.
-            self._set_speed(y_speed)
-            self.program_mode()
-            dy_m = int(
-                math.copysign(dx, dy)
-            )  # magnitude of shorter in the direction of longer.
-            self._goto_octent(dx, dy_m, on=False)
-            self._goto_octent(0, dy - dy_m, on=False)
-        elif x_speed <= y_speed and abs(dx) >= abs(dy):
-            # x_speed is slowest and dx is larger than dy. The x-shift will take longer than y-shift. Combine.
-            self._set_speed(x_speed)
-            self.program_mode()
-            dx_m = int(
-                math.copysign(dy, dx)
-            )  # magnitude of shorter in the direction of longer.
-            self._goto_octent(dx_m, dy, on=False)
-            self._goto_octent(dx - dx_m, 0, on=False)
-        else:
-            # The faster speed is going longer. The slower speed is going shorter. Full zig.
-            if dx != 0:
-                self._set_speed(x_speed)
-                self.program_mode()
-                self._goto_octent(dx, 0, on=False)
-            if dy != 0:
-                self._set_speed(y_speed)
-                self.program_mode()
-                self._goto_octent(0, dy, on=False)
-        self.rapid_mode()
-
-        # We always restore the original settings.
-        self._set_acceleration(original_accel)
-        self._set_speed(original_speed)
-        self._set_step(*original_steps)
-
-    def _move_in_rapid_mode(self, dx, dy, cut):
-        if self.service.rapid_override and (dx != 0 or dy != 0):
-            y_speed = self.service.rapid_override_speed_y
-            x_speed = self.service.rapid_override_speed_x
-            self._move_override_speed(dx, dy, x_speed, y_speed)
-            return
-        self(b"I")
-        self._goto_xy(dx, dy)
-        self(b"S1P\n")
-        if not self.service.autolock:
-            self(b"IS2P\n")
-
-    def _goto_relative(self, dx, dy, cut):
-        """
-        Goto relative dx, dy. With cut set or not set.
-
-        @param dx:
-        @param dy:
-        @param cut:
-        @return:
-        """
-        if abs(dx) == 0 and abs(dy) == 0:
-            return
-        dx = int(round(dx))
-        dy = int(round(dy))
-        old_current = self.service.current
-        if self.state == DRIVER_STATE_RAPID:
-            self._move_in_rapid_mode(dx, dy, cut)
-        elif self.state == DRIVER_STATE_RASTER:
-            # goto in raster, switches to program to recall this function.
-            self.program_mode()
-            self._goto_relative(dx, dy, cut)
-            return
-        elif self.state == DRIVER_STATE_PROGRAM:
-            mx = 0
-            my = 0
-            line = list(grouped(ZinglPlotter.plot_line(0, 0, dx, dy)))
-            for x, y in line:
-                self._goto_octent(x - mx, y - my, cut)
-                mx = x
-                my = y
-        elif self.state == DRIVER_STATE_FINISH:
-            self._goto_xy(dx, dy)
-            self(b"N")
-        elif self.state == DRIVER_STATE_MODECHANGE:
-            self._mode_shift_on_the_fly(dx, dy)
-
-        new_current = self.service.current
-        self.service.signal(
-            "driver;position",
-            (old_current[0], old_current[1], new_current[0], new_current[1]),
-        )
-
-    def _mode_shift_on_the_fly(self, dx=0, dy=0):
-        """
-        Mode-shift on the fly changes the current modes while in programmed or raster mode
-        this exits with a @ command that resets the modes. A movement operation can be added after
-        the speed code and before the return to into programmed or raster mode.
-
-        This switch is often avoided because testing revealed some chance of a runaway during reset
-        switching.
-
-        If the raster step has been changed from zero this can result in shifting from program to raster mode
-        """
-        dx = int(round(dx))
-        dy = int(round(dy))
-        self(b"@NSE")
-        self.laser = False
-        self.state = DRIVER_STATE_RAPID
-        self.program_mode(dx, dy)
-
-    def _h_switch_g(self, dy: float):
-        """
-        Horizontal switch with a Gvalue set. The board will automatically step according to the step_value_set.
-
-        @return:
-        """
-        set_step = self._raster_step_g_value
-        if isinstance(set_step, tuple):
-            set_step = set_step[self._raster_step_swing_index % len(set_step)]
-
-        # correct for fractional stepping
-        self._raster_step_fractional_remainder += dy
-        delta = math.trunc(self._raster_step_fractional_remainder)
-        self._raster_step_fractional_remainder -= delta
-
-        step_amount = -abs(set_step) if self._topward else abs(set_step)
-        remaining = delta - step_amount
-        if (
-            remaining > 0
-            and self._topward
-            or remaining < 0
-            and not self._topward
-            or abs(remaining) > 15
-        ):
-            # Remaining value is in the wrong direction, abort and move.
-            self.finished_mode()
-            self._move_relative(0, remaining)
-            self.raster_mode()
-            remaining = 0
-        if remaining:
-            self._goto_octent(
-                -abs(remaining) if self._leftward else abs(remaining), remaining, False
-            )
-        self._x_engaged = True
-        self._y_engaged = False
-        # We reverse direction and step.
-        if self._leftward:
-            self(self.CODE_RIGHT)
-            self._leftward = False
-        else:
-            self(self.CODE_LEFT)
-            self._leftward = True
-        self.native_y += step_amount
-        self.laser = False
-        self._raster_step_swing_index += 1
-
-    def _v_switch_g(self, dx: float):
-        """
-        Vertical switch with a Gvalue set. The board will automatically step according to the step_value_set.
-
-        @return:
-        """
-        set_step = self._raster_step_g_value
-        if isinstance(set_step, tuple):
-            set_step = set_step[self._raster_step_swing_index % len(set_step)]
-
-        # correct for fractional stepping
-        self._raster_step_fractional_remainder += dx
-        delta = math.trunc(self._raster_step_fractional_remainder)
-        self._raster_step_fractional_remainder -= delta
-
-        step_amount = -set_step if self._leftward else set_step
-        remaining = delta - step_amount
-        if (
-            remaining > 0
-            and self._leftward
-            or remaining < 0
-            and not self._leftward
-            or abs(remaining) > 15
-        ):
-            # Remaining value is in the wrong direction, abort and move.
-            self.finished_mode()
-            self._move_relative(remaining, 0)
-            self.raster_mode()
-            remaining = 0
-        if remaining:
-            self._goto_octent(
-                remaining, -abs(remaining) if self._topward else abs(remaining), False
-            )
-        self._y_engaged = True
-        self._x_engaged = False
-        # We reverse direction and step.
-        if self._topward:
-            self(self.CODE_BOTTOM)
-            self._topward = False
-        else:
-            self(self.CODE_TOP)
-            self._topward = True
-        self.native_x += step_amount
-        self.laser = False
-        self._raster_step_swing_index += 1
-
-    def _reset_modes(self):
-        self.laser = False
-        self._request_leftward = None
-        self._request_topward = None
-        self._request_horizontal_major = None
-        self._topward = False
-        self._leftward = False
-        self._x_engaged = False
-        self._y_engaged = False
-        self._horizontal_major = False
-
-    def _goto_xy(self, dx, dy, on=None):
-        rapid = self.state not in (DRIVER_STATE_PROGRAM, DRIVER_STATE_RASTER)
-        if dx != 0:
-            self.native_x += dx
-            if dx > 0:  # Moving right
-                if not self.is_right or rapid:
-                    self(self.CODE_RIGHT)
-                    self._leftward = False
-            else:  # Moving left
-                if not self.is_left or rapid:
-                    self(self.CODE_LEFT)
-                    self._leftward = True
-            self._x_engaged = True
-            self._y_engaged = False
-            if on is not None:
-                if on:
-                    self.laser_on()
-                else:
-                    self.laser_off()
-            self(lhymicro_distance(abs(dx)))
-        if dy != 0:
-            self.native_y += dy
-            if dy > 0:  # Moving bottom
-                if not self.is_bottom or rapid:
-                    self(self.CODE_BOTTOM)
-                    self._topward = False
-            else:  # Moving top
-                if not self.is_top or rapid:
-                    self(self.CODE_TOP)
-                    self._topward = True
-            self._x_engaged = False
-            self._y_engaged = True
-            if on is not None:
-                if on:
-                    self.laser_on()
-                else:
-                    self.laser_off()
-            self(lhymicro_distance(abs(dy)))
-
-    def _goto_octent(self, dx, dy, on):
-        old_current = self.service.current
-        if dx == 0 and dy == 0:
-            return
-        if abs(dx) == abs(dy):
-            self._x_engaged = True  # Set both on
-            self._y_engaged = True
-            if dx > 0:  # Moving right
-                if self._leftward:
-                    self(self.CODE_RIGHT)
-                    self._leftward = False
-            else:  # Moving left
-                if not self._leftward:
-                    self(self.CODE_LEFT)
-                    self._leftward = True
-            if dy > 0:  # Moving bottom
-                if self._topward:
-                    self(self.CODE_BOTTOM)
-                    self._topward = False
-            else:  # Moving top
-                if not self._topward:
-                    self(self.CODE_TOP)
-                    self._topward = True
-            self.native_x += dx
-            self.native_y += dy
-            self(self.CODE_ANGLE)
-            if on:
-                self.laser_on()
-            else:
-                self.laser_off()
-            self(lhymicro_distance(abs(dy)))
-        else:
-            self._goto_xy(dx, dy, on=on)
-
-        new_current = self.service.current
-        self.service.signal(
-            "driver;position",
-            (old_current[0], old_current[1], new_current[0], new_current[1]),
-        )
-
-    def _code_declare_directions(self):
-        x_dir = self.CODE_LEFT if self._leftward else self.CODE_RIGHT
-        y_dir = self.CODE_TOP if self._topward else self.CODE_BOTTOM
-        if self._horizontal_major:
-            self._x_engaged = True
-            self._y_engaged = False
-            return y_dir + x_dir
-        else:
-            self._x_engaged = False
-            self._y_engaged = True
-            return x_dir + y_dir
+"""
+Lihuiyu Driver
+
+Governs the generic commands issued by laserjob and spooler and converts that into regular LHYMicro-GL output.
+
+This generated data is then sent to the controller, which could be a network connection, usb, or mock depending on the
+selected output.
+"""
+
+import math
+import time
+
+from meerk40t.tools.zinglplotter import ZinglPlotter
+
+from ..core.cutcode.dwellcut import DwellCut
+from ..core.cutcode.gotocut import GotoCut
+from ..core.cutcode.homecut import HomeCut
+from ..core.cutcode.inputcut import InputCut
+from ..core.cutcode.outputcut import OutputCut
+from ..core.cutcode.plotcut import PlotCut
+from ..core.cutcode.waitcut import WaitCut
+from ..core.parameters import Parameters
+from ..core.plotplanner import PlotPlanner, grouped
+from ..device.basedevice import (
+    DRIVER_STATE_FINISH,
+    DRIVER_STATE_MODECHANGE,
+    DRIVER_STATE_PROGRAM,
+    DRIVER_STATE_RAPID,
+    DRIVER_STATE_RASTER,
+    PLOT_AXIS,
+    PLOT_DIRECTION,
+    PLOT_FINISH,
+    PLOT_JOG,
+    PLOT_RAPID,
+    PLOT_SETTING,
+)
+from ..tools.geomstr import Geomstr
+from .laserspeed import LaserSpeed
+
+distance_lookup = [
+    b"",
+    b"a",
+    b"b",
+    b"c",
+    b"d",
+    b"e",
+    b"f",
+    b"g",
+    b"h",
+    b"i",
+    b"j",
+    b"k",
+    b"l",
+    b"m",
+    b"n",
+    b"o",
+    b"p",
+    b"q",
+    b"r",
+    b"s",
+    b"t",
+    b"u",
+    b"v",
+    b"w",
+    b"x",
+    b"y",
+    b"|a",
+    b"|b",
+    b"|c",
+    b"|d",
+    b"|e",
+    b"|f",
+    b"|g",
+    b"|h",
+    b"|i",
+    b"|j",
+    b"|k",
+    b"|l",
+    b"|m",
+    b"|n",
+    b"|o",
+    b"|p",
+    b"|q",
+    b"|r",
+    b"|s",
+    b"|t",
+    b"|u",
+    b"|v",
+    b"|w",
+    b"|x",
+    b"|y",
+    b"|z",
+]
+
+
+def lhymicro_distance(v):
+    if v < 0:
+        raise ValueError("Cannot permit negative values.")
+    dist = b""
+    if v >= 255:
+        zs = int(v / 255)
+        v %= 255
+        dist += b"z" * zs
+    if v >= 52:
+        return dist + b"%03d" % v
+    return dist + distance_lookup[v]
+
+
+class LihuiyuDriver(Parameters):
+    """
+    LihuiyuDriver provides Lihuiyu specific coding for elements and sends it to the backend
+    to write to the usb.
+    """
+
+    def __init__(self, service, *args, **kwargs):
+        super().__init__()
+        self.service = service
+        self.name = str(self.service)
+        self._topward = False
+        self._leftward = False
+        self._x_engaged = False
+        self._y_engaged = False
+        self._horizontal_major = False
+
+        self._request_leftward = None
+        self._request_topward = None
+        self._request_horizontal_major = None
+
+        self.out_pipe = None
+
+        self.process_item = None
+        self.spooled_item = None
+        self.holds = []
+        self.temp_holds = []
+
+        self.native_x = 0
+        self.native_y = 0
+
+        self.plot_planner = PlotPlanner(self.settings)
+        self.plot_attribute_update()
+
+        self.plot_data = None
+        self._queue_current = 0
+        self._queue_total = 0
+
+        self.state = DRIVER_STATE_RAPID
+        self.properties = 0
+        self.is_relative = False
+        self.laser = False
+        self._thread = None
+        self._shutdown = False
+        self.last_fetch = None
+
+        self.CODE_RIGHT = b"B"
+        self.CODE_LEFT = b"T"
+        self.CODE_TOP = b"L"
+        self.CODE_BOTTOM = b"R"
+        self.CODE_ANGLE = b"M"
+        self.CODE_LASER_ON = b"D"
+        self.CODE_LASER_OFF = b"U"
+
+        self._signal_updates = self.service.setting(bool, "signal_updates", True)
+
+        self.paused = False
+
+        def primary_hold():
+            if self.out_pipe is None:
+                return True
+            if hasattr(self.out_pipe, "is_shutdown") and self.out_pipe.is_shutdown:
+                raise ConnectionAbortedError("Cannot hold for a shutdown pipe.")
+            try:
+                buffer = len(self.out_pipe)
+            except TypeError:
+                buffer = 0
+            return self.service.buffer_limit and buffer > self.service.buffer_max
+
+        self.holds.append(primary_hold)
+
+        # Step amount expected of the current operation
+        self._raster_step_float = 0
+
+        # Step amount is the current correctly set step amount in the controller.
+        self._raster_step_g_value = 0
+
+        # Step index of the current step taken for unidirectional
+        self._raster_step_swing_index = 0
+
+        # Step total the count for fractional step amounts
+        self._raster_step_fractional_remainder = 0.0
+
+    def __repr__(self):
+        return f"LihuiyuDriver({self.name})"
+
+    def __call__(self, e):
+        self.out_pipe.write(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
+
+    def plot_attribute_update(self):
+        self.plot_planner.force_shift = self.service.plot_shift
+        self.plot_planner.phase_type = self.service.plot_phase_type
+        self.plot_planner.phase_value = self.service.plot_phase_value
+
+    def hold_work(self, priority):
+        """
+        Holds are criteria to use to pause the data interpretation. These halt the production of new data until the
+        criteria is met. A hold is constant and will always halt the data while true. A temp_hold will be removed
+        as soon as it does not hold the data.
+
+        @return: Whether data interpretation should hold.
+        """
+        if priority > 0:
+            # Don't hold realtime work.
+            return False
+
+        temp_hold = False
+        fail_hold = False
+        for i, hold in enumerate(self.temp_holds):
+            if not hold():
+                self.temp_holds[i] = None
+                fail_hold = True
+            else:
+                temp_hold = True
+        if fail_hold:
+            self.temp_holds = [hold for hold in self.temp_holds if hold is not None]
+        if temp_hold:
+            return True
+        for hold in self.holds:
+            if hold():
+                return True
+        return False
+
+    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._set_power(value)
+        elif key == "ppi":
+            self._set_power(value)
+        elif key == "pwm":
+            self._set_power(value)
+        elif key == "overscan":
+            self._set_overscan(value)
+        elif key == "acceleration":
+            self._set_acceleration(value)
+        elif key == "relative":
+            self.is_relative = value
+        elif key == "d_ratio":
+            self._set_d_ratio(value)
+        elif key == "step":
+            self._set_step(*value)
+        else:
+            self.settings[key] = value
+
+    def status(self):
+        """
+        Wants a status report of what the driver is doing.
+        @return:
+        """
+        state_major = "idle"
+        state_minor = "idle"
+        if self.state == DRIVER_STATE_RAPID:
+            state_major = "idle"
+            state_minor = "idle"
+        elif self.state == DRIVER_STATE_FINISH:
+            state_major = "idle"
+            state_minor = "finished"
+        elif self.state == DRIVER_STATE_PROGRAM:
+            state_major = "busy"
+            state_minor = "program"
+        elif self.state == DRIVER_STATE_RASTER:
+            state_major = "busy"
+            state_minor = "raster"
+        elif self.state == DRIVER_STATE_MODECHANGE:
+            state_major = "busy"
+            state_minor = "changing"
+        return (self.native_x, self.native_y), state_major, state_minor
+
+    def pause(self, *values):
+        """
+        Asks that the laser be paused.
+
+        @return:
+        """
+        self(b"~PN!\n~")
+        self.paused = True
+        self.service.signal("pause")
+
+    def resume(self, *values):
+        """
+        Asks that the laser be resumed.
+
+        To work this command should usually be put into the realtime work queue for the laser, without that it will
+        be paused and unable to process the resume.
+
+        @param values:
+        @return:
+        """
+        self(b"~PN&\n~")
+        self.paused = False
+        self.service.signal("pause")
+
+    def reset(self):
+        """
+        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.
+
+        @return:
+        """
+        self.service.spooler.clear_queue()
+        self.plot_planner.clear()
+        self.spooled_item = None
+        self.temp_holds.clear()
+
+        self.service.signal("pipe;buffer", 0)
+        self(b"~I*\n~")
+        self._reset_modes()
+        self.state = DRIVER_STATE_RAPID
+        self.paused = False
+        self.service.signal("pause")
+
+    def abort(self):
+        self(b"I\n")
+
+    def blob(self, blob_type, data):
+        """
+        Blob sends a data blob. This is native code data of the give type. For example in a ruida device it might be a
+        bunch of .rd code, or Lihuiyu device it could be .egv code. It's a method of sending pre-chewed data to the
+        device.
+
+        @param blob_type:
+        @param data:
+        @return:
+        """
+        if blob_type == "egv":
+            self(data)
+
+    def move_abs(self, x, y):
+        """
+        Requests laser move to absolute position x, y in physical units
+
+        @param x:
+        @param y:
+        @return:
+        """
+        x, y = self.service.view.position(x, y)
+        self.rapid_mode()
+        self._move_absolute(int(round(x)), int(round(y)))
+
+    def move_rel(self, dx, dy):
+        """
+        Requests laser move relative position dx, dy in physical units
+
+        @param dx:
+        @param dy:
+        @return:
+        """
+        unit_dx, unit_dy = self.service.view.position(dx, dy, vector=True)
+        self.rapid_mode()
+        self._move_relative(unit_dx, unit_dy)
+
+    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.rapid_mode()
+        self.wait_finish()
+        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):
+        """
+        Turn laser off in place.
+
+        @return:
+        """
+        if not self.laser:
+            return False
+        if self.state == DRIVER_STATE_RAPID:
+            self(b"I")
+            self(self.CODE_LASER_OFF)
+            self(b"S1P\n")
+            if not self.service.autolock:
+                self(b"IS2P\n")
+        elif self.state in (DRIVER_STATE_PROGRAM, DRIVER_STATE_RASTER):
+            self(self.CODE_LASER_OFF)
+        elif self.state == DRIVER_STATE_FINISH:
+            self(self.CODE_LASER_OFF)
+            self(b"N")
+        self.laser = False
+        return True
+
+    def laser_on(self):
+        """
+        Turn laser on in place.
+
+        @return:
+        """
+        if self.laser:
+            return False
+        if self.state == DRIVER_STATE_RAPID:
+            self(b"I")
+            self(self.CODE_LASER_ON)
+            self(b"S1P\n")
+            if not self.service.autolock:
+                self(b"IS2P\n")
+        elif self.state in (DRIVER_STATE_PROGRAM, DRIVER_STATE_RASTER):
+            self(self.CODE_LASER_ON)
+        elif self.state == DRIVER_STATE_FINISH:
+            self(self.CODE_LASER_ON)
+            self(b"N")
+        self.laser = True
+        return True
+
+    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:
+        """
+        if self.state == DRIVER_STATE_RAPID:
+            return
+        if self.state == DRIVER_STATE_FINISH:
+            self(b"S1P\n")
+            if not self.service.autolock:
+                self(b"IS2P\n")
+        elif self.state in (
+            DRIVER_STATE_PROGRAM,
+            DRIVER_STATE_RASTER,
+            DRIVER_STATE_MODECHANGE,
+        ):
+            self(b"FNSE-\n")
+            self.laser = False
+        self.state = DRIVER_STATE_RAPID
+
+    def finished_mode(self, *values):
+        """
+        Finished mode is after a large batch of jobs is done. A transition to finished may require the laser process
+        all the data in the buffer.
+
+        @param values:
+        @return:
+        """
+        if self.state == DRIVER_STATE_FINISH:
+            return
+        if self.state in (
+            DRIVER_STATE_PROGRAM,
+            DRIVER_STATE_RASTER,
+            DRIVER_STATE_MODECHANGE,
+        ):
+            self(b"@NSE")
+            self.laser = False
+        elif self.state == DRIVER_STATE_RAPID:
+            self(b"I")
+        self.state = DRIVER_STATE_FINISH
+
+    def raster_mode(self, *values, dx=0, dy=0):
+        """
+        Raster mode runs in either `G0xx` stepping mode. It  is only intended to move horizontal or
+        vertical rastering, usually at a high speed. Accel twitches are required for this mode.
+
+        @param values:
+        @param dx: movement during raster mode switch
+        @param dy: movement during raster mode switch
+        @return:
+        """
+        if self.raster_step_y == 0 and self.raster_step_x == 0:
+            # This is not properly set raster mode.
+            self.program_mode(*values, dx=dx, dy=dy)
+            return
+        if self.state == DRIVER_STATE_RASTER:
+            return
+        self.finished_mode()
+
+        horizontal = self.raster_step_y != 0
+        self._request_horizontal_major = horizontal
+
+        self._raster_step_swing_index = 0
+        self._raster_step_float = (
+            self.raster_step_y if horizontal else self.raster_step_x
+        )
+        if self._raster_step_float is None:
+            self._raster_step_float = 1
+        self._raster_step_g_value = int(math.floor(self._raster_step_float))
+
+        if self._request_leftward is not None:
+            self._leftward = self._request_leftward
+            self._request_leftward = None
+        if self._request_topward is not None:
+            self._topward = self._request_topward
+            self._request_topward = None
+        if self._request_horizontal_major is not None:
+            self._horizontal_major = self._request_horizontal_major
+            self._request_horizontal_major = None
+
+        if self.service.strict:
+            # Override requested or current values only use core initial values.
+            self._leftward = False
+            self._topward = False
+            self._horizontal_major = False
+        if self.bidirectional:
+            # Bidirectional (step on forward/back swing - rasters both directions)
+            raster_step_value = self._raster_step_g_value
+        else:
+            # Unidirectional (step on forward swing - rasters only going forward)
+            raster_step_value = self._raster_step_g_value, 0
+        speed_code = LaserSpeed(
+            self.service.board,
+            self.speed,
+            raster_step=raster_step_value,
+            d_ratio=self.implicit_d_ratio,
+            acceleration=self.implicit_accel,
+            fix_limit=True,
+            fix_lows=True,
+            suffix_c=False,
+            fix_speeds=self.service.fix_speeds,
+            raster_horizontal=horizontal,
+        ).speedcode
+        speed_code = bytes(speed_code, "utf8")
+        self(speed_code)
+        self._goto_xy(dx, dy)
+        self(b"N")
+        self(self._code_declare_directions())
+        self(b"S1E")
+        self.state = DRIVER_STATE_RASTER
+
+    def program_mode(self, *values, dx=0, dy=0):
+        """
+        Vector Mode implies but doesn't discount rastering. Twitches are used if twitches is set to True.
+
+        @param values: passed information from the driver command
+        @param dx: change in dx that should be made while switching to program mode.
+        @param dy: change in dy that should be made while switching to program mode.
+        @return:
+        """
+        if self.state == DRIVER_STATE_PROGRAM:
+            return
+        self.finished_mode()
+
+        self._raster_step_swing_index = 0
+        self._raster_step_float = 0
+        self._raster_step_g_value = 0
+
+        suffix_c = None
+        if (
+            not self.service.twitches or self.settings.get("_force_twitchless", False)
+        ) and not self._raster_step_float:
+            suffix_c = True
+        if self._request_leftward is not None:
+            self._leftward = self._request_leftward
+            self._request_leftward = None
+        if self._request_topward is not None:
+            self._topward = self._request_topward
+            self._request_topward = None
+        if self._request_horizontal_major is not None:
+            self._horizontal_major = self._request_horizontal_major
+            self._request_horizontal_major = None
+        if self.service.strict:
+            # Override requested or current values only use core initial values.
+            self._leftward = False
+            self._topward = False
+            self._horizontal_major = False
+
+        speed_code = LaserSpeed(
+            self.service.board,
+            self.speed,
+            raster_step=0,
+            d_ratio=self.implicit_d_ratio,
+            acceleration=self.implicit_accel,
+            fix_limit=True,
+            fix_lows=True,
+            suffix_c=suffix_c,
+            fix_speeds=self.service.fix_speeds,
+            raster_horizontal=self._horizontal_major,
+        ).speedcode
+        speed_code = bytes(speed_code, "utf8")
+        self(speed_code)
+        self._goto_xy(dx, dy)
+        self(b"N")
+        self(self._code_declare_directions())
+        self(b"S1E")
+        if self._raster_step_float:
+            self.state = DRIVER_STATE_RASTER
+        else:
+            self.state = DRIVER_STATE_PROGRAM
+
+    def home(self, *values):
+        """
+        Home the laser.
+
+        @param values:
+        @return:
+        """
+        if self.service.rotary.active and self.service.rotary.suppress_home:
+            return
+        self.rapid_mode()
+        self(b"IPP\n")
+        old_current = self.service.current
+        self.native_x = 0
+        self.native_y = 0
+        self._reset_modes()
+        self.state = DRIVER_STATE_RAPID
+
+        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 physical_home(self):
+        """ "
+        This would be the command to go to a real physical home position (i.e. hitting endstops)
+        """
+        self.home()
+
+    def lock_rail(self):
+        """
+        For plotter-style lasers this should prevent the laser bar from moving.
+
+        @return:
+        """
+        self.rapid_mode()
+        self(b"IS1P\n")
+
+    def unlock_rail(self, abort=False):
+        """
+        For plotter-style jobs this should free the laser head to be movable by the user.
+
+        @return:
+        """
+        self.rapid_mode()
+        self(b"IS2P\n")
+
+    def laser_disable(self, *values):
+        self.laser_enabled = False
+
+    def laser_enable(self, *values):
+        self.laser_enabled = True
+
+    def geometry(self, geom):
+        """
+        Driver command to deal with `geometry` driver call.
+
+        @return:
+        """
+        for segment_type, start, c1, c2, end, sets in geom.as_lines():
+            if segment_type == "line":
+                self.plot_planner.push(plot)
+            elif segment_type == "end":
+                pass
+            elif segment_type == "quad":
+                self.plot_planner.push(plot)
+            elif segment_type == "cubic":
+                self.plot_planner.push(plot)
+            elif segment_type == "arc":
+                interp = 50
+                g = Geomstr()
+                g.clear()
+                g.arc(start, c1, end)
+                last = start
+                for p in list(g.as_equal_interpolated_points(distance=interp))[1:]:
+                    self.plot_planner.push((last, p))
+                    last = p
+            elif segment_type == "point":
+                function = sets.get("function")
+                if function == "dwell":
+                    self.plot_start()
+                    self.rapid_mode()
+                    self._move_absolute(start.real, start.imag)
+                    self.wait_finish()
+                    self.dwell(sets.get("dwell_time"))
+                elif function == "wait":
+                    self.plot_start()
+                    self.wait_finish()
+                    self.wait(sets.get("dwell_time"))
+                elif function == "home":
+                    self.plot_start()
+                    self.wait_finish()
+                    self.home()
+                elif function == "goto":
+                    self.plot_start()
+                    self.wait_finish()
+                    self._move_absolute(start.real, start.imag)
+                elif function == "input":
+                    self.plot_start()
+                    self.wait_finish()
+                elif function == "output":
+                    self.plot_start()
+                    self.wait_finish()
+        if self.plot_data is None:
+            self.plot_data = self.plot_planner.gen()
+        self._plotplanner_process()
+
+    def plot(self, plot):
+        """
+        Gives the driver cutcode that should be plotted/performed.
+
+        @param plot:
+        @return:
+        """
+        if isinstance(plot, InputCut):
+            self.plot_start()
+            self.wait_finish()
+            # We do not have any GPIO-output abilities
+        elif isinstance(plot, OutputCut):
+            self.plot_start()
+            self.wait_finish()
+            # We do not have any GPIO-input abilities
+        elif isinstance(plot, DwellCut):
+            self.plot_start()
+            self.rapid_mode()
+            start = plot.start
+            self._move_absolute(start[0], start[1])
+            self.wait_finish()
+            self.dwell(plot.dwell_time)
+        elif isinstance(plot, WaitCut):
+            self.plot_start()
+            self.wait_finish()
+            self.wait(plot.dwell_time)
+        elif isinstance(plot, HomeCut):
+            self.plot_start()
+            self.wait_finish()
+            self.home()
+        elif isinstance(plot, GotoCut):
+            self.plot_start()
+            start = plot.start
+            self.wait_finish()
+            self._move_absolute(start[0], start[1])
+        else:
+            # LineCut, QuadCut, CubicCut, PlotCut, RasterCut
+            if isinstance(plot, PlotCut):
+                plot.check_if_rasterable()
+            self.plot_planner.push(plot)
+
+    def plot_start(self):
+        """
+        Called at the end of plot commands to ensure the driver can deal with them all cutcode as a group, if this
+        is needed by the driver.
+
+        @return:
+        """
+        if self.plot_data is None:
+            self.plot_data = self.plot_planner.gen()
+        self._plotplanner_process()
+
+    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.wait_finish()
+        while self.hold_work(0):
+            time.sleep(0.05)
+        time.sleep(time_in_ms / 1000.0)
+
+    def wait_finish(self, *values):
+        """
+        Wait finish should ensure that no additional commands be processed until the current buffer is completed. This
+        does not necessarily imply a change in mode as "finished_mode" would require. Just that the buffer be completed
+        before moving on.
+
+        @param values:
+        @return:
+        """
+
+        def temp_hold():
+            try:
+                return (
+                    len(self.out_pipe) != 0 or self.service.controller.state == "wait"
+                )
+            except TypeError:
+                return False
+
+        self.temp_holds.append(temp_hold)
+
+    def function(self, function):
+        """
+        This command asks that this function be executed at the appropriate time within the spooled cycle.
+
+        @param function:
+        @return:
+        """
+        self.wait_finish()
+        while self.hold_work(0):
+            time.sleep(0.05)
+        function()
+
+    def beep(self):
+        """
+        This command asks that a beep be executed at the appropriate time within the spooled cycle.
+
+        @return:
+        """
+        self.wait_finish()
+        while self.hold_work(0):
+            time.sleep(0.05)
+        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.wait_finish()
+        while self.hold_work(0):
+            time.sleep(0.05)
+        self.service(value)
+
+    def signal(self, signal, *args):
+        """
+        This asks that this signal be broadcast.
+
+        @param signal:
+        @param args:
+        @return:
+        """
+        self.wait_finish()
+        while self.hold_work(0):
+            time.sleep(0.05)
+        self.service.signal(signal, *args)
+
+    ######################
+    # Property IO
+    ######################
+
+    @property
+    def is_left(self):
+        return self._x_engaged and not self._y_engaged and self._leftward
+
+    @property
+    def is_right(self):
+        return self._x_engaged and not self._y_engaged and not self._leftward
+
+    @property
+    def is_top(self):
+        return not self._x_engaged and self._y_engaged and self._topward
+
+    @property
+    def is_bottom(self):
+        return not self._x_engaged and self._y_engaged and not self._topward
+
+    @property
+    def is_angle(self):
+        return self._y_engaged and self._x_engaged
+
+    def set_prop(self, mask):
+        self.properties |= mask
+
+    def unset_prop(self, mask):
+        self.properties &= ~mask
+
+    def is_prop(self, mask):
+        return bool(self.properties & mask)
+
+    def toggle_prop(self, mask):
+        if self.is_prop(mask):
+            self.unset_prop(mask)
+        else:
+            self.set_prop(mask)
+
+    ######################
+    # PROTECTED DRIVER CODE
+    ######################
+
+    def _plotplanner_process(self):
+        """
+        Processes any data in the plot planner. Getting all relevant (x,y,on) plot values and performing the cardinal
+        movements. Or updating the laser state based on the settings of the cutcode.
+
+        @return:
+        """
+        if self.plot_data is None:
+            return False
+        # We don't know the length of a generator object
+        total = 0
+        current = 0
+        for x, y, on in self.plot_data:
+            current += 1
+            total = current
+            self._set_queue_status(current, total)
+            while self.hold_work(0):
+                time.sleep(0.05)
+            sx = self.native_x
+            sy = self.native_y
+            # print("x: %s, y: %s -- c: %s, %s" % (str(x), str(y), str(sx), str(sy)))
+            on = int(on)
+            if on > 1:
+                # Special Command.
+                if on & PLOT_FINISH:  # Plot planner is ending.
+                    self.rapid_mode()
+                    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.raster_step_x != self.raster_step_x
+                        or p_set.raster_step_y != self.raster_step_y
+                        or p_set.speed != self.speed
+                        or self.implicit_d_ratio != p_set.implicit_d_ratio
+                        or self.implicit_accel != p_set.implicit_accel
+                    ):
+                        self._set_speed(p_set.speed)
+                        self._set_step(p_set.raster_step_x, p_set.raster_step_y)
+                        self._set_acceleration(p_set.implicit_accel)
+                        self._set_d_ratio(p_set.implicit_d_ratio)
+                    self.settings.update(p_set.settings)
+                elif on & PLOT_AXIS:  # Major Axis.
+                    # 0 means X Major / Horizontal.
+                    # 1 means Y Major / Vertical
+                    self._request_horizontal_major = bool(x == 0)
+                elif on & PLOT_DIRECTION:
+                    # -1: Moving Left -x
+                    # 1: Moving Right. +x
+                    self._request_leftward = bool(x != 1)
+                    # -1: Moving Bottom +y
+                    # 1: Moving Top. -y
+                    self._request_topward = bool(y != 1)
+                elif on & (
+                    PLOT_RAPID | PLOT_JOG
+                ):  # Plot planner requests position change.
+                    if (
+                        on & PLOT_RAPID
+                        or self.state != DRIVER_STATE_PROGRAM
+                        or self.service.rapid_override
+                    ):
+                        # Perform a rapid position change. Always perform this for raster moves.
+                        # DRIVER_STATE_RASTER should call this code as well.
+                        self.rapid_mode()
+                        self._move_absolute(x, y)
+                    else:
+                        # Jog is performable and requested. # We have not flagged our direction or state.
+                        self._jog_absolute(x, y, mode=self.service.opt_jog_mode)
+                continue
+            dx = x - sx
+            dy = y - sy
+            step_x = self.raster_step_x
+            step_y = self.raster_step_y
+            if step_x == 0 and step_y == 0:
+                # vector mode
+                self.program_mode()
+            else:
+                self.raster_mode()
+                if self._horizontal_major:
+                    # Horizontal Rastering.
+                    if dy != 0:
+                        self._h_switch_g(dy)
+                else:
+                    # Vertical Rastering.
+                    if dx != 0:
+                        self._v_switch_g(dx)
+                # Update dx, dy (if changed by switches)
+                dx = x - self.native_x
+                dy = y - self.native_y
+            self._goto_octent(dx, dy, on & 1)
+        self.plot_data = None
+        self._set_queue_status(0, 0)
+        return False
+
+    def _set_speed(self, speed=None):
+        if self.speed != speed:
+            self.speed = speed
+            if self.state in (DRIVER_STATE_PROGRAM, DRIVER_STATE_RASTER):
+                self.state = DRIVER_STATE_MODECHANGE
+
+    def _set_d_ratio(self, d_ratio=None):
+        if self.dratio != d_ratio:
+            self.dratio = d_ratio
+            if self.state in (DRIVER_STATE_PROGRAM, DRIVER_STATE_RASTER):
+                self.state = DRIVER_STATE_MODECHANGE
+
+    def _set_acceleration(self, accel=None):
+        if self.acceleration != accel:
+            self.acceleration = accel
+            if self.state in (DRIVER_STATE_PROGRAM, DRIVER_STATE_RASTER):
+                self.state = DRIVER_STATE_MODECHANGE
+
+    def _set_step(self, step_x=None, step_y=None):
+        if self.raster_step_x != step_x or self.raster_step_y != step_y:
+            self.raster_step_x = step_x
+            self.raster_step_y = step_y
+            if self.state in (DRIVER_STATE_PROGRAM, DRIVER_STATE_RASTER):
+                self.state = DRIVER_STATE_MODECHANGE
+
+    def _set_power(self, power=1000.0):
+        self.power = power
+        if self.power > 1000.0:
+            self.power = 1000.0
+        if self.power <= 0:
+            self.power = 0.0
+
+    def _set_ppi(self, power=1000.0):
+        self.power = power
+        if self.power > 1000.0:
+            self.power = 1000.0
+        if self.power <= 0:
+            self.power = 0.0
+
+    def _set_pwm(self, power=1000.0):
+        self.power = power
+        if self.power > 1000.0:
+            self.power = 1000.0
+        if self.power <= 0:
+            self.power = 0.0
+
+    def _set_overscan(self, overscan=None):
+        self.overscan = overscan
+
+    def _cut(self, x, y):
+        self._goto(x, y, True)
+
+    def _jog(self, x, y, **kwargs):
+        if self.is_relative:
+            self._jog_relative(x, y, **kwargs)
+        else:
+            self._jog_absolute(x, y, **kwargs)
+
+    def _jog_absolute(self, x, y, **kwargs):
+        self._jog_relative(x - self.native_x, y - self.native_y, **kwargs)
+
+    def _jog_relative(self, dx, dy, mode=0):
+        self.laser_off()
+        dx = int(round(dx))
+        dy = int(round(dy))
+        if mode == 0:
+            self._nse_jog_event(dx, dy)
+        elif mode == 1:
+            self._mode_shift_on_the_fly(dx, dy)
+        else:
+            # Finish-out Jog
+            self.rapid_mode()
+            self._move_relative(dx, dy)
+            self.program_mode()
+
+    def _nse_jog_event(self, dx=0, dy=0, speed=None):
+        """
+        NSE Jog events are performed from program or raster mode and skip out to rapid mode to perform
+        a single jog command. This jog effect varies based on the horizontal vertical major setting and
+        needs to counteract the jogged head according to those settings.
+
+        NSE jogs will not change the underlying mode even though they temporarily switch into
+        rapid mode. nse jogs are not done in raster mode.
+        """
+        dx = int(round(dx))
+        dy = int(round(dy))
+        original_state = self.state
+        self.state = DRIVER_STATE_RAPID
+        self.laser = False
+        if self._horizontal_major:
+            if not self.is_left and dx >= 0:
+                self(self.CODE_LEFT)
+            if not self.is_right and dx <= 0:
+                self(self.CODE_RIGHT)
+        else:
+            if not self.is_top and dy >= 0:
+                self(self.CODE_TOP)
+            if not self.is_bottom and dy <= 0:
+                self(self.CODE_BOTTOM)
+        self(b"N")
+        self._goto_xy(dx, dy)
+        self(b"SE")
+        self(self._code_declare_directions())
+        self.state = original_state
+
+    def _move(self, x, y):
+        self._goto(x, y, False)
+
+    def _move_absolute(self, x, y):
+        self._goto_absolute(x, y, False)
+
+    def _move_relative(self, x, y):
+        self._goto_relative(x, y, False)
+
+    def _goto(self, x, y, cut):
+        """
+        Goto a position within a cut.
+
+        This depends on whether is_relative is set.
+
+        @param x:
+        @param y:
+        @param cut:
+        @return:
+        """
+        if self.is_relative:
+            self._goto_relative(x, y, cut)
+        else:
+            self._goto_absolute(x, y, cut)
+
+    def _goto_absolute(self, x, y, cut):
+        """
+        Goto absolute x and y. With cut set or not set.
+
+        @param x:
+        @param y:
+        @param cut:
+        @return:
+        """
+        self._goto_relative(x - self.native_x, y - self.native_y, cut)
+
+    def _move_override_speed(self, dx, dy, x_speed, y_speed=None):
+        """
+        Rapid movement override. Should make programmed jogs.
+
+        @param dx: change in x
+        @param dy: change in y
+        @param x_speed: max allowed speed in x direction
+        @param y_speed: max allowed speed in y direction
+        @return:
+        """
+        if y_speed is None:
+            y_speed = x_speed
+        original_accel = self.acceleration
+        original_speed = self.speed
+        original_steps = self.raster_step_x, self.raster_step_y
+
+        # Do not allow custom accel codes, or raster steps.
+        self._set_acceleration(None)
+        self._set_step(0, 0)
+        # We know we will travel dx, dy. Set the initial direction requests.
+        self._request_leftward = dx < 0
+        self._request_topward = dy < 0
+        self._request_horizontal_major = abs(dx) > abs(dy)
+        if y_speed <= x_speed and abs(dy) >= abs(dx):
+            # y_speed is slowest and dy is larger than dx. The y-shift will take longer than x-shift. Combine.
+            self._set_speed(y_speed)
+            self.program_mode()
+            dy_m = int(
+                math.copysign(dx, dy)
+            )  # magnitude of shorter in the direction of longer.
+            self._goto_octent(dx, dy_m, on=False)
+            self._goto_octent(0, dy - dy_m, on=False)
+        elif x_speed <= y_speed and abs(dx) >= abs(dy):
+            # x_speed is slowest and dx is larger than dy. The x-shift will take longer than y-shift. Combine.
+            self._set_speed(x_speed)
+            self.program_mode()
+            dx_m = int(
+                math.copysign(dy, dx)
+            )  # magnitude of shorter in the direction of longer.
+            self._goto_octent(dx_m, dy, on=False)
+            self._goto_octent(dx - dx_m, 0, on=False)
+        else:
+            # The faster speed is going longer. The slower speed is going shorter. Full zig.
+            if dx != 0:
+                self._set_speed(x_speed)
+                self.program_mode()
+                self._goto_octent(dx, 0, on=False)
+            if dy != 0:
+                self._set_speed(y_speed)
+                self.program_mode()
+                self._goto_octent(0, dy, on=False)
+        self.rapid_mode()
+
+        # We always restore the original settings.
+        self._set_acceleration(original_accel)
+        self._set_speed(original_speed)
+        self._set_step(*original_steps)
+
+    def _move_in_rapid_mode(self, dx, dy, cut):
+        if self.service.rapid_override and (dx != 0 or dy != 0):
+            y_speed = self.service.rapid_override_speed_y
+            x_speed = self.service.rapid_override_speed_x
+            self._move_override_speed(dx, dy, x_speed, y_speed)
+            return
+        self(b"I")
+        self._goto_xy(dx, dy)
+        self(b"S1P\n")
+        if not self.service.autolock:
+            self(b"IS2P\n")
+
+    def _goto_relative(self, dx, dy, cut):
+        """
+        Goto relative dx, dy. With cut set or not set.
+
+        @param dx:
+        @param dy:
+        @param cut:
+        @return:
+        """
+        if abs(dx) == 0 and abs(dy) == 0:
+            return
+        dx = int(round(dx))
+        dy = int(round(dy))
+        old_current = self.service.current
+        if self.state == DRIVER_STATE_RAPID:
+            self._move_in_rapid_mode(dx, dy, cut)
+        elif self.state == DRIVER_STATE_RASTER:
+            # goto in raster, switches to program to recall this function.
+            self.program_mode()
+            self._goto_relative(dx, dy, cut)
+            return
+        elif self.state == DRIVER_STATE_PROGRAM:
+            mx = 0
+            my = 0
+            line = list(grouped(ZinglPlotter.plot_line(0, 0, dx, dy)))
+            for x, y in line:
+                self._goto_octent(x - mx, y - my, cut)
+                mx = x
+                my = y
+        elif self.state == DRIVER_STATE_FINISH:
+            self._goto_xy(dx, dy)
+            self(b"N")
+        elif self.state == DRIVER_STATE_MODECHANGE:
+            self._mode_shift_on_the_fly(dx, 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 _mode_shift_on_the_fly(self, dx=0, dy=0):
+        """
+        Mode-shift on the fly changes the current modes while in programmed or raster mode
+        this exits with a @ command that resets the modes. A movement operation can be added after
+        the speed code and before the return to into programmed or raster mode.
+
+        This switch is often avoided because testing revealed some chance of a runaway during reset
+        switching.
+
+        If the raster step has been changed from zero this can result in shifting from program to raster mode
+        """
+        dx = int(round(dx))
+        dy = int(round(dy))
+        self(b"@NSE")
+        self.laser = False
+        self.state = DRIVER_STATE_RAPID
+        self.program_mode(dx, dy)
+
+    def _h_switch_g(self, dy: float):
+        """
+        Horizontal switch with a Gvalue set. The board will automatically step according to the step_value_set.
+
+        @return:
+        """
+        set_step = self._raster_step_g_value
+        if isinstance(set_step, tuple):
+            set_step = set_step[self._raster_step_swing_index % len(set_step)]
+
+        # correct for fractional stepping
+        self._raster_step_fractional_remainder += dy
+        delta = math.trunc(self._raster_step_fractional_remainder)
+        self._raster_step_fractional_remainder -= delta
+
+        step_amount = -abs(set_step) if self._topward else abs(set_step)
+        remaining = delta - step_amount
+        if (
+            remaining > 0
+            and self._topward
+            or remaining < 0
+            and not self._topward
+            or abs(remaining) > 15
+        ):
+            # Remaining value is in the wrong direction, abort and move.
+            self.finished_mode()
+            self._move_relative(0, remaining)
+            self.raster_mode()
+            remaining = 0
+        if remaining:
+            self._goto_octent(
+                -abs(remaining) if self._leftward else abs(remaining), remaining, False
+            )
+        self._x_engaged = True
+        self._y_engaged = False
+        # We reverse direction and step.
+        if self._leftward:
+            self(self.CODE_RIGHT)
+            self._leftward = False
+        else:
+            self(self.CODE_LEFT)
+            self._leftward = True
+        self.native_y += step_amount
+        self.laser = False
+        self._raster_step_swing_index += 1
+
+    def _v_switch_g(self, dx: float):
+        """
+        Vertical switch with a Gvalue set. The board will automatically step according to the step_value_set.
+
+        @return:
+        """
+        set_step = self._raster_step_g_value
+        if isinstance(set_step, tuple):
+            set_step = set_step[self._raster_step_swing_index % len(set_step)]
+
+        # correct for fractional stepping
+        self._raster_step_fractional_remainder += dx
+        delta = math.trunc(self._raster_step_fractional_remainder)
+        self._raster_step_fractional_remainder -= delta
+
+        step_amount = -set_step if self._leftward else set_step
+        remaining = delta - step_amount
+        if (
+            remaining > 0
+            and self._leftward
+            or remaining < 0
+            and not self._leftward
+            or abs(remaining) > 15
+        ):
+            # Remaining value is in the wrong direction, abort and move.
+            self.finished_mode()
+            self._move_relative(remaining, 0)
+            self.raster_mode()
+            remaining = 0
+        if remaining:
+            self._goto_octent(
+                remaining, -abs(remaining) if self._topward else abs(remaining), False
+            )
+        self._y_engaged = True
+        self._x_engaged = False
+        # We reverse direction and step.
+        if self._topward:
+            self(self.CODE_BOTTOM)
+            self._topward = False
+        else:
+            self(self.CODE_TOP)
+            self._topward = True
+        self.native_x += step_amount
+        self.laser = False
+        self._raster_step_swing_index += 1
+
+    def _reset_modes(self):
+        self.laser = False
+        self._request_leftward = None
+        self._request_topward = None
+        self._request_horizontal_major = None
+        self._topward = False
+        self._leftward = False
+        self._x_engaged = False
+        self._y_engaged = False
+        self._horizontal_major = False
+
+    def _goto_xy(self, dx, dy, on=None):
+        rapid = self.state not in (DRIVER_STATE_PROGRAM, DRIVER_STATE_RASTER)
+        if dx != 0:
+            self.native_x += dx
+            if dx > 0:  # Moving right
+                if not self.is_right or rapid:
+                    self(self.CODE_RIGHT)
+                    self._leftward = False
+            else:  # Moving left
+                if not self.is_left or rapid:
+                    self(self.CODE_LEFT)
+                    self._leftward = True
+            self._x_engaged = True
+            self._y_engaged = False
+            if on is not None:
+                if on:
+                    self.laser_on()
+                else:
+                    self.laser_off()
+            self(lhymicro_distance(abs(dx)))
+        if dy != 0:
+            self.native_y += dy
+            if dy > 0:  # Moving bottom
+                if not self.is_bottom or rapid:
+                    self(self.CODE_BOTTOM)
+                    self._topward = False
+            else:  # Moving top
+                if not self.is_top or rapid:
+                    self(self.CODE_TOP)
+                    self._topward = True
+            self._x_engaged = False
+            self._y_engaged = True
+            if on is not None:
+                if on:
+                    self.laser_on()
+                else:
+                    self.laser_off()
+            self(lhymicro_distance(abs(dy)))
+
+    def _goto_octent(self, dx, dy, on):
+        old_current = self.service.current
+        if dx == 0 and dy == 0:
+            return
+        if abs(dx) == abs(dy):
+            self._x_engaged = True  # Set both on
+            self._y_engaged = True
+            if dx > 0:  # Moving right
+                if self._leftward:
+                    self(self.CODE_RIGHT)
+                    self._leftward = False
+            else:  # Moving left
+                if not self._leftward:
+                    self(self.CODE_LEFT)
+                    self._leftward = True
+            if dy > 0:  # Moving bottom
+                if self._topward:
+                    self(self.CODE_BOTTOM)
+                    self._topward = False
+            else:  # Moving top
+                if not self._topward:
+                    self(self.CODE_TOP)
+                    self._topward = True
+            self.native_x += dx
+            self.native_y += dy
+            self(self.CODE_ANGLE)
+            if on:
+                self.laser_on()
+            else:
+                self.laser_off()
+            self(lhymicro_distance(abs(dy)))
+        else:
+            self._goto_xy(dx, dy, on=on)
+
+        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 _code_declare_directions(self):
+        x_dir = self.CODE_LEFT if self._leftward else self.CODE_RIGHT
+        y_dir = self.CODE_TOP if self._topward else self.CODE_BOTTOM
+        if self._horizontal_major:
+            self._x_engaged = True
+            self._y_engaged = False
+            return y_dir + x_dir
+        else:
+            self._x_engaged = False
+            self._y_engaged = True
+            return x_dir + y_dir
+