meerk40t 0.9.3001__py2.py3-none-any.whl → 0.9.7020__py2.py3-none-any.whl

meerk40t/grbl/gcodejob.py

@@ -1,767 +1,783 @@
-import re
-import threading
-import time
-
-from meerk40t.core.cutcode.plotcut import PlotCut
-from meerk40t.core.cutcode.waitcut import WaitCut
-from meerk40t.core.units import UNITS_PER_INCH, UNITS_PER_MM
-from meerk40t.svgelements import Arc
-
-CODE_RE = re.compile(r"([A-Za-z])")
-FLOAT_RE = re.compile(r"[-+]?[0-9]*\.?[0-9]*")
-
-
-def _tokenize_code(code_line):
-    pos = code_line.find("(")
-    while pos != -1:
-        end = code_line.find(")")
-        yield ["comment", code_line[pos + 1 : end]]
-        code_line = code_line[:pos] + code_line[end + 1 :]
-        pos = code_line.find("(")
-    pos = code_line.find(";")
-    if pos != -1:
-        yield ["comment", code_line[pos + 1 :]]
-        code_line = code_line[:pos]
-
-    code = None
-    for x in CODE_RE.split(code_line):
-        x = x.strip()
-        if len(x) == 0:
-            continue
-        if len(x) == 1 and x.isalpha():
-            if code is not None:
-                yield code
-            code = [x.lower()]
-            continue
-        if code is not None:
-            code.extend([float(v) for v in FLOAT_RE.findall(x) if len(v) != 0])
-            yield code
-        code = None
-    if code is not None:
-        yield code
-
-
-OKAY = 0
-# G-code words consist of a letter and a value. Letter was not found.
-ERROR_GCODE_LETTER_NOT_FOUND = 1
-# Numeric value format is not valid or missing an expected value.
-ERROR_NUMERIC_VALUE_INVALID = 2
-# Grbl '$' system command was not recognized or supported.
-ERROR_REALTIME_NOT_SUPPORTED = 3
-# Negative value received for an expected positive value.
-ERROR_NEGATIVE_VALUE = 4
-# Homing cycle is not enabled via settings.
-ERROR_HOMING_CYCLE_DISABLED = 5
-# Minimum step pulse time must be greater than 3usec
-ERROR_STEP_PULSE_INVALID = 6
-# EEPROM read failed. Reset and restored to default values.
-ERROR_EEPROM_READ_ERROR = 7
-# Grbl '$' command cannot be used unless Grbl is IDLE. Ensures smooth operation during a job.
-ERROR_NOT_IDLE = 8
-# G-code locked out during alarm or jog state
-ERROR_ALARM_OR_JOG = 9
-# Soft limits cannot be enabled without homing also enabled.
-ERROR_SOFT_LIMITS = 10
-# Max characters per line exceeded. Line was not processed and executed.
-ERROR_MAX_CHARACTERS = 11
-# (Compile Option) Grbl '$' setting value exceeds the maximum step rate supported.
-ERROR_EXCEEDED_MAX_STEP = 12
-# Safety door detected as opened and door state initiated.
-ERROR_SAFETY_DOOR = 13
-# (Grbl-Mega Only) Build info or startup line exceeded EEPROM line length limit.
-ERROR_EEPROM_LINE_LIMIT = 14
-# Jog target exceeds machine travel. Command ignored.
-ERROR_JOG_EXCEEDS_MACHINE = 15
-# Jog command with no '=' or contains prohibited g-code.
-ERROR_JOG_SYNTAX = 16
-# Laser mode requires PWM output.
-ERROR_REQUIRED_POWER = 17
-# Unsupported or invalid g-code command found in block.
-ERROR_UNSUPPORTED_GCODE = 20
-# More than one g-code command from same modal group found in block.
-ERROR_DUPLICATE_COMMAND_MODAL = 21
-# Feed rate has not yet been set or is undefined.
-ERROR_FEED_RATE_UNSET = 22
-# G-code command in block requires an integer value.
-ERROR_NUMERIC_VALUE_MISSING = 23
-# Two G-code commands that both require the use of the XYZ axis words were detected in the block.
-ERROR_OVERLAPPING_GCODE = 24
-# A G-code word was repeated in the block.
-ERROR_DUPLICATE_COMMAND = 25
-# A G-code command implicitly or explicitly requires XYZ axis words in the block, but none were detected.
-ERROR_REQUIRES_COORDINATES = 26
-# N line number value is not within the valid range of 1 - 9,999,999.
-ERROR_INVALID_LINENUMBER = 27
-# A G-code command was sent, but is missing some required P or L value words in the line.
-ERROR_MISSING_REQUIRED_INFO = 28
-# Grbl supports six work coordinate systems G54-G59. G59.1, G59.2, and G59.3 are not supported.
-ERROR_UNSUPPORTED_WORK_COORDS = 29
-# The G53 G-code command requires either a G0 seek or G1 feed motion mode to be active. A different motion was active.
-ERROR_INVALID_MOVE_COMMAND = 30
-# There are unused axis words in the block and G80 motion mode cancel is active.
-ERROR_UNUSED_AXIS_WORDS = 31
-# A G2 or G3 arc was commanded but there are no XYZ axis words in the selected plane to trace the arc.
-ERROR_ARC_WITHOUT_WORDS = 32
-# The motion command has an invalid target. G2, G3, and G38.2 generates this error, if the arc is impossible to generate or if the probe target is the current position.
-ERROR_INVALID_TARGET = 33
-# A G2 or G3 arc, traced with the radius definition, had a mathematical error when computing the arc geometry. Try either breaking up the arc into semicircles or quadrants, or redefine them with the arc offset definition.
-ERROR_ARC_COMPUTATION = 34
-# A G2 or G3 arc, traced with the offset definition, is missing the IJK offset word in the selected plane to trace the arc.
-ERROR_ARC_OFFSET_WORDS_MISSING = 35
-# There are unused, leftover G-code words that aren't used by any command in the block.
-ERROR_UNUSED_WORDS = 36
-# The G43.1 dynamic tool length offset command cannot apply an offset to an axis other than its configured axis. The Grbl default axis is the Z-axis.
-ERROR_TOOL_LENGTH_INVALID = 37
-# Tool number greater than max supported value.
-ERROR_EXCEEDED_TOOL_MAX = 38
-
-
-class GcodeJob:
-    def __init__(
-        self, driver=None, units_to_device_matrix=None, priority=0, channel=None
-    ):
-        self.units_to_device_matrix = units_to_device_matrix
-        self._driver = driver
-        self.channel = channel
-        self.reply = None
-        self.buffer = list()
-
-        self.priority = priority
-
-        self.time_submitted = time.time()
-        self.time_started = None
-        self.runtime = 0
-
-        self._stopped = True
-        self.enabled = True
-        self._estimate = 0
-
-        # Initially assume mm mode. G21 mm DEFAULT
-        self.scale = UNITS_PER_MM
-        self.units = "mm"
-
-        self.compensation = False
-        self.feed_convert = None
-        self.feed_invert = None
-        self.feed_desc = None
-        self._interpolate = 50
-        self.program_mode = False
-        self.plotcut = None
-
-        self.speed = None
-        self.power = None
-
-        self.move_mode = 0
-        self.x = 0
-        self.y = 0
-        self.z = 0
-
-        self.lock = threading.Lock()
-
-        # G90 default.
-        self.relative = False
-
-        # G94 feedrate default, mm mode
-        self.g94_feedrate()
-
-    def __str__(self):
-        return f"{self.__class__.__name__}({len(self.buffer)} lines)"
-
-    @property
-    def status(self):
-        if self.is_running():
-            if self.time_started:
-                return "Running"
-            else:
-                return "Queued"
-        else:
-            if self.enabled:
-                return "Waiting"
-            else:
-                return "Disabled"
-
-    def get_feed_rate(self):
-        if self.speed is None:
-            return 0
-        return self.feed_invert(self.speed)
-
-    def get_power_rate(self):
-        if self.power is None:
-            return 0
-        return self.power
-
-    def inform(self, last_command):
-        if not hasattr(self._driver, "signal"):
-            return
-        info = (
-            self.relative,
-            self.program_mode,
-            self.move_mode,
-            self.units,
-            self.x / self.scale,
-            self.y / self.scale,
-            self.z / self.scale,
-            self.power,
-            self.speed,
-            self.feed_desc,
-            last_command,
-        )
-        self._driver.signal("grbl-emulator", info)
-
-    def reply_code(self, cmd):
-        if cmd == 0:  # Execute GCode.
-            if self.reply:
-                self.reply("ok\r\n")
-        else:
-            if self.reply:
-                self.reply(f"error:{cmd}\r\n")
-
-    def write(self, line):
-        with self.lock:
-            self.buffer.append(line)
-
-    def write_all(self, lines):
-        with self.lock:
-            self.buffer.extend(lines)
-
-    def write_blob(self, data):
-        self.write_all(
-            [r for r in re.split("[\n|\r]", data.decode("utf-8")) if r.strip()]
-        )
-
-    def execute(self, driver=None):
-        """
-        Execute calls each item in the list of items in order. This is intended to be called by the spooler thread. And
-        hold the spooler while these items are executing.
-        @return:
-        """
-        self._stopped = False
-        if self.time_started is None:
-            self.time_started = time.time()
-        try:
-            with self.lock:
-                line = self.buffer.pop(0)
-            cmd = self._process_gcode(line)
-            self.reply_code(cmd)
-        except IndexError:
-            # Could not pop, list is empty. Job is done.
-            pass
-        if not self.buffer:
-            # Buffer is empty now. Job is complete
-            self.runtime += time.time() - self.time_started
-            self._stopped = True
-            return True  # All steps were executed.
-        return False
-
-    def stop(self):
-        """
-        Stop this current laser-job, cannot be called from the spooler thread.
-        @return:
-        """
-        if not self._stopped:
-            self.runtime += time.time() - self.time_started
-        self._stopped = True
-
-    def is_running(self):
-        return not self._stopped
-
-    def elapsed_time(self):
-        """
-        How long is this job already running...
-        """
-        result = 0
-        if self.is_running():
-            result = time.time() - self.time_started
-        else:
-            result = self.runtime
-        return result
-
-    def estimate_time(self):
-        """
-        Give laser job time estimate.
-        @return:
-        """
-        return self._estimate
-
-    def _process_gcode(self, data, jog=False):
-        """
-        Processes the gcode commands which are parsed into different dictionary objects.
-        List of Supported G-Codes in Grbl v1.1:
-          - Non-Modal Commands: G4, G10L2, G10L20, G28, G30, G28.1, G30.1, G53, G92, G92.1
-          - Motion Modes: G0, G1, G2, G3, G38.2, G38.3, G38.4, G38.5, G80
-          - Feed Rate Modes: G93, G94
-          - Unit Modes: G20, G21
-          - Distance Modes: G90, G91
-          - Arc IJK Distance Modes: G91.1
-          - Plane Select Modes: G17, G18, G19
-          - Tool Length Offset Modes: G43.1, G49
-          - Cutter Compensation Modes: G40
-          - Coordinate System Modes: G54, G55, G56, G57, G58, G59
-          - Control Modes: G61
-          - Program Flow: M0, M1, M2, M30*
-          - Coolant Control: M7*, M8, M9
-          - Spindle Control: M3, M4, M5
-          - Valid Non-Command Words: F, I, J, K, L, N, P, R, S, T, X, Y, Z
-
-        @param data: gcode line to process
-        @param jog: indicate this gcode line is operated as a jog.
-        @return:
-        """
-        gc = {}
-        for c in _tokenize_code(data):
-            g = c[0]
-            if g not in gc:
-                gc[g] = []
-            if len(c) >= 2:
-                gc[g].append(c[1])
-            else:
-                gc[g].append(None)
-        # self.inform(str(gc))
-        if "m" in gc:
-            for v in gc["m"]:
-                if v in (0, 1):
-                    # Program Flow: Stop or Unconditional Stop
-                    try:
-                        self._driver.rapid_mode()
-                    except AttributeError:
-                        pass
-                elif v == 2:
-                    # Program Flow: Program End
-                    try:
-                        self._driver.plot_start()
-                    except AttributeError:
-                        pass
-                    try:
-                        self._driver.rapid_mode()
-                    except AttributeError:
-                        pass
-                    return OKAY
-                elif v == 30:
-                    # Program Flow: Program Stop
-                    try:
-                        self._driver.rapid_mode()
-                    except AttributeError:
-                        pass
-                    return OKAY
-                elif v in (3, 4):
-                    # Spindle Control - Spindle On - Clockwise/CCW Laser Mode
-                    self.program_mode = True
-                elif v == 5:
-                    # Spindle Control - Spindle Off - Laser Mode
-                    if self.program_mode:
-                        try:
-                            self.plot_commit()
-                            self._driver.plot_start()
-                        except AttributeError:
-                            pass
-                    try:
-                        self._driver.rapid_mode()
-                    except AttributeError:
-                        pass
-                    self.program_mode = False
-                elif v == 7:
-                    #  Coolant Control: Mist coolant control.
-                    pass
-                elif v == 8:
-                    # Coolant Control: Flood coolant On
-                    try:
-                        self._driver.signal("coolant", True)
-                    except AttributeError:
-                        pass
-                elif v == 9:
-                    # Coolant Control: Flood coolant Off
-                    try:
-                        self._driver.signal("coolant", False)
-                    except AttributeError:
-                        pass
-                elif v == 56:
-                    # Parking motion override control.
-                    pass
-                else:
-                    # Unsupported or invalid g-code command found in block.
-                    return ERROR_UNSUPPORTED_GCODE
-            del gc["m"]
-        if "g" in gc:
-            for v in gc["g"]:
-                if v is None:
-                    # G but no number given.
-                    # Numeric value format is not valid or missing an expected value.
-                    return ERROR_NUMERIC_VALUE_INVALID
-                elif v == 0:
-                    # G0 Rapid Move.
-                    self.move_mode = 0
-                elif v == 1:
-                    # G1 Cut Move.
-                    self.move_mode = 1
-                elif v == 2:
-                    # G2 CW_ARC
-                    self.move_mode = 2
-                elif v == 3:
-                    # G3 CCW_ARC
-                    self.move_mode = 3
-                elif v == 4:
-                    # DWELL
-                    t = 0
-                    if "p" in gc:
-                        t = float(gc["p"].pop()) / 1000.0
-                        if len(gc["p"]) == 0:
-                            del gc["p"]
-                    if "s" in gc:
-                        t = float(gc["s"].pop())
-                        if len(gc["s"]) == 0:
-                            del gc["s"]
-                    if self.program_mode:
-                        self.plot_commit()
-                        self.plot(WaitCut(t))
-                    else:
-                        try:
-                            self._driver.wait(t)
-                        except AttributeError:
-                            pass
-                elif v == 10:
-                    l_value = gc["l"].pop(0)
-                    if l_value is None:
-                        # A G-code command was sent, but is missing some required P or L value words in the line.
-                        return ERROR_MISSING_REQUIRED_INFO
-                    elif l_value == 2:
-                        # Set Work Coordinate Offsets
-                        pass
-                    elif l_value == 20:
-                        # Set Work Coordinate Offsets
-                        # Sets the offset values for the coordinate system. P1 = G54
-                        p_value = gc["p"].pop(0)
-                        if p_value is None:
-                            # A G-code command was sent, but is missing some required P or L value words in the line.
-                            return ERROR_MISSING_REQUIRED_INFO
-                    else:
-                        # Unsupported or invalid g-code command found in block.
-                        return ERROR_UNSUPPORTED_GCODE
-                elif v == 17:
-                    # Set XY coords.
-                    pass
-                elif v == 18:
-                    # Set the XZ plane for arc.
-                    # Unsupported or invalid g-code command found in block.
-                    return ERROR_UNSUPPORTED_GCODE
-                elif v == 19:
-                    # Set the YZ plane for arc.
-                    # Unsupported or invalid g-code command found in block.
-                    return ERROR_UNSUPPORTED_GCODE
-                elif v in (20, 70):
-                    # g20 is inch mode.
-                    self.scale = UNITS_PER_INCH
-                    self.units = "in"
-                elif v in (21, 71):
-                    # g21 is mm mode. 39.3701 mils in a mm
-                    self.scale = UNITS_PER_MM
-                    self.units = "mm"
-                elif v == 28:
-                    # Move to Origin (Home)
-                    try:
-                        self._driver.home()
-                    except AttributeError:
-                        pass
-                    try:
-                        self._driver.move_abs(0, 0)
-                    except AttributeError:
-                        pass
-                    self.x = 0
-                    self.y = 0
-                    self.z = 0
-                elif v == 28.1:
-                    # Set Pre-defined Location
-                    pass
-                elif v == 30:
-                    # Goto Pre-defined Position
-                    pass
-                elif v == 30.1:
-                    # Set Pre-defined Position
-                    pass
-                elif v == 38.2:
-                    # Probe towards workpiece, stop on contact. Signal error.
-                    # Unsupported or invalid g-code command found in block.
-                    return ERROR_UNSUPPORTED_GCODE
-                elif v == 38.3:
-                    # Probe towards workpiece, stop on contact.
-                    # Unsupported or invalid g-code command found in block.
-                    return ERROR_UNSUPPORTED_GCODE
-                elif v == 38.4:
-                    # Probe away from workpiece, signal error
-                    pass
-                elif v == 38.5:
-                    # Probe away from workpiece.
-                    pass
-                elif v == 40.0:
-                    # Compensation Off
-                    self.compensation = False
-                elif v == 43.1:
-                    pass  # Dynamic tool Length offsets
-                elif v == 49:
-                    # Cancel tool offset.
-                    pass  # Dynamic tool length offsets
-                elif v == 53:
-                    # Absolute movement non-modal command.
-                    pass
-                elif 54 <= v <= 59:
-                    # Coord System Select
-                    pass  # Work Coordinate Systems
-                elif v == 61:
-                    # Exact path control mode. GRBL required
-                    pass
-                elif v == 80:
-                    # Motion mode cancel. Canned cycle.
-                    pass
-                elif v == 90:
-                    # Set to Absolute Positioning
-                    self.relative = False
-                elif v == 91:
-                    # Set to Relative Positioning
-                    self.relative = True
-                elif v == 92:
-                    # Set Position.
-                    # Change the current coords without moving.
-                    pass  # Coordinate Offset TODO: Implement
-                elif v == 92.1:
-                    # Clear Coordinate offset set by 92.
-                    pass  # Clear Coordinate offset TODO: Implement
-                elif v == 93:
-                    # Feed Rate Mode (Inverse Time Mode)
-                    self.g93_feedrate()
-                elif v == 94:
-                    # Feed Rate Mode (Units Per Minute)
-                    self.g94_feedrate()
-                else:
-                    # Unsupported or invalid g-code command found in block.
-                    return ERROR_UNSUPPORTED_GCODE
-            del gc["g"]
-
-        if "comment" in gc:
-            if self.channel:
-                self.channel(f'Comment: {gc["comment"]}')
-            del gc["comment"]
-
-        if "f" in gc:  # Feed_rate
-            for v in gc["f"]:
-                if v is None:
-                    # Numeric value format is not valid or missing an expected value.
-                    return ERROR_NUMERIC_VALUE_INVALID
-                feed_rate = self.feed_convert(v)
-                if self.speed != feed_rate:
-                    self.speed = feed_rate
-                    try:
-                        self._driver.set("speed", v)
-                    except AttributeError:
-                        pass
-                    self.plot_commit()  # Speed change means plot change
-            del gc["f"]
-        if "s" in gc:
-            for v in gc["s"]:
-                if v is None:
-                    # Numeric value format is not valid or missing an expected value.
-                    return ERROR_NUMERIC_VALUE_INVALID
-                if 0.0 < v <= 1.0:
-                    v *= 1000  # numbers between 0-1 are taken to be in range 0-1.
-                if self.power != v:
-                    try:
-                        self._driver.set("power", v)
-                    except AttributeError:
-                        pass
-                    self.power = v
-            del gc["s"]
-        if "z" in gc:
-            oz = self.z
-            v = gc["z"].pop(0)
-            if v is None:
-                z = 0
-            else:
-                z = self.scale * v
-            if len(gc["z"]) == 0:
-                del gc["z"]
-            self.z = z
-            if oz != self.z:
-                try:
-                    self.plot_commit()  # We plot commit on z level change
-                    self._driver.axis("z", self.z)
-                except AttributeError:
-                    pass
-
-        if (
-            "x" in gc
-            or "y" in gc
-            or ("i" in gc or "j" in gc and self.move_mode in (2, 3))
-        ):
-            ox = self.x
-            oy = self.y
-            if "x" in gc:
-                x = gc["x"].pop(0)
-                if x is None:
-                    x = 0
-                else:
-                    x *= self.scale
-                if len(gc["x"]) == 0:
-                    del gc["x"]
-            else:
-                if self.relative:
-                    x = 0
-                else:
-                    x = self.x
-            if "y" in gc:
-                y = gc["y"].pop(0)
-                if y is None:
-                    y = 0
-                else:
-                    y *= self.scale
-                if len(gc["y"]) == 0:
-                    del gc["y"]
-            else:
-                if self.relative:
-                    y = 0
-                else:
-                    y = self.y
-
-            if self.relative:
-                nx = self.x + x
-                ny = self.y + y
-            else:
-                nx = x
-                ny = y
-            if self.move_mode == 0:
-                self.plot_commit()
-                if self.program_mode:
-                    self.plot_location(nx, ny, 0)
-                else:
-                    try:
-                        self._driver.move_abs(nx, ny)
-                        self.x = nx
-                        self.y = ny
-                    except AttributeError:
-                        pass
-            elif self.move_mode == 1:
-                self.plot_location(nx, ny, self.power)
-            elif self.move_mode in (2, 3):
-                # 2 = CW ARC
-                # 3 = CCW ARC
-
-                cx = ox
-                cy = oy
-                if "i" in gc:
-                    ix = gc["i"].pop(0)  # * self.scale
-                    cx += ix
-                if "j" in gc:
-                    jy = gc["j"].pop(0)  # * self.scale
-                    cy += jy
-                if "r" in gc:
-                    # Strictly speaking this uses the R parameter, but that wasn't coded.
-                    arc = Arc(
-                        start=(ox, oy),
-                        center=(cx, cy),
-                        end=(nx, ny),
-                        ccw=self.move_mode == 3,
-                    )
-                    for p in range(self._interpolate + 1):
-                        x, y = arc.point(p / self._interpolate)
-                        self.plot_location(x, y, self.power)
-                else:
-                    arc = Arc(
-                        start=(ox, oy),
-                        center=(cx, cy),
-                        end=(nx, ny),
-                        ccw=self.move_mode == 3,
-                    )
-                    for p in range(self._interpolate + 1):
-                        x, y = arc.point(p / self._interpolate)
-                        self.plot_location(x, y, self.power)
-        return OKAY
-
-    def plot_location(self, x, y, power):
-        """
-        Adds this particular location to the current plotcut.
-
-        Or, starts a new plotcut if one is not already started.
-
-        First plotcut is a 0-power move to the current position. X and Y are set to plotted location
-
-        @param x:
-        @param y:
-        @param power:
-        @return:
-        """
-        matrix = self.units_to_device_matrix
-        if matrix is None:
-            # Using job for something other than point plotting
-            return
-        power = min(1000, power)
-        if self.plotcut is None:
-            ox, oy = matrix.transform_point([self.x, self.y])
-            self.plotcut = PlotCut(settings={"speed": self.speed})
-            self.plotcut.plot_init(int(round(ox)), int(round(oy)))
-        tx, ty = matrix.transform_point([x, y])
-        self.plotcut.plot_append(int(round(tx)), int(round(ty)), (power / 1000.0))
-        if not self.program_mode:
-            self.plot_commit()
-        self.x = x
-        self.y = y
-
-    def plot_commit(self):
-        """
-        Force commits the old plotcut and unsets the current plotcut.
-
-        @return:
-        """
-        if self.plotcut is None:
-            return
-        self.plot(self.plotcut)
-        self.plotcut = None
-
-    def plot(self, plot):
-        try:
-            self._driver.plot(plot)
-        except AttributeError:
-            pass
-        if not self.program_mode:
-            # If we plotted this, and we aren't in program mode execute all of these commands right away
-            try:
-                self._driver.plot_start()
-            except AttributeError:
-                pass
-
-    def g93_feedrate(self):
-        """
-        Feed Rate in Minutes / Unit
-        G93 - is Inverse Time Mode. In inverse time feed rate mode, an F word means the move
-        should be completed in [one divided by the F number] minutes. For example, if the
-        F number is 2.0, the move should be completed in half a minute.
-        When the inverse time feed rate mode is active, an F word must appear on every line
-        which has a G1, G2, or G3 motion, and an F word on a line that does not have
-        G1, G2, or G3 is ignored. Being in inverse time feed rate mode does not
-        affect G0 (rapid move) motions.
-        @return:
-        """
-
-        if self.scale == UNITS_PER_INCH:
-            self.feed_convert = lambda s: (60.0 * self.scale / UNITS_PER_INCH) / s
-            self.feed_invert = lambda s: (60.0 * UNITS_PER_INCH / self.scale) / s
-            self.feed_desc = "min/inch"
-        else:
-            self.feed_convert = lambda s: (60.0 * self.scale / UNITS_PER_MM) / s
-            self.feed_invert = lambda s: (60.0 * UNITS_PER_MM / self.scale) / s
-            self.feed_desc = "min/mm"
-
-    def g94_feedrate(self):
-        """
-        Feed Rate in Units / Minute
-        G94 - is Units per Minute Mode. In units per minute feed mode, an F word is interpreted
-        to mean the controlled point should move at a certain number of inches per minute,
-        millimeters per minute, or degrees per minute, depending upon what length units
-        are being used and which axis or axes are moving.
-        @return:
-        """
-
-        if self.scale == UNITS_PER_INCH:
-            self.feed_convert = lambda s: s / ((self.scale / UNITS_PER_INCH) * 60.0)
-            self.feed_invert = lambda s: s * ((self.scale / UNITS_PER_INCH) * 60.0)
-            self.feed_desc = "inch/min"
-        else:
-            self.feed_convert = lambda s: s / ((self.scale / UNITS_PER_MM) * 60.0)
-            self.feed_invert = lambda s: s * ((self.scale / UNITS_PER_MM) * 60.0)
-            self.feed_desc = "mm/min"
+import re
+import threading
+import time
+
+from meerk40t.core.cutcode.plotcut import PlotCut
+from meerk40t.core.cutcode.waitcut import WaitCut
+from meerk40t.core.units import UNITS_PER_INCH, UNITS_PER_MM
+from meerk40t.svgelements import Arc
+
+CODE_RE = re.compile(r"([A-Za-z])")
+FLOAT_RE = re.compile(r"[-+]?[0-9]*\.?[0-9]*")
+
+
+def _tokenize_code(code_line):
+    pos = code_line.find("(")
+    while pos != -1:
+        end = code_line.find(")")
+        yield ["comment", code_line[pos + 1 : end]]
+        code_line = code_line[:pos] + code_line[end + 1 :]
+        pos = code_line.find("(")
+    pos = code_line.find(";")
+    if pos != -1:
+        yield ["comment", code_line[pos + 1 :]]
+        code_line = code_line[:pos]
+
+    code = None
+    for x in CODE_RE.split(code_line):
+        x = x.strip()
+        if len(x) == 0:
+            continue
+        if len(x) == 1 and x.isalpha():
+            if code is not None:
+                yield code
+            code = [x.lower()]
+            continue
+        if code is not None:
+            code.extend([float(v) for v in FLOAT_RE.findall(x) if len(v) != 0])
+            yield code
+        code = None
+    if code is not None:
+        yield code
+
+
+OKAY = 0
+# G-code words consist of a letter and a value. Letter was not found.
+ERROR_GCODE_LETTER_NOT_FOUND = 1
+# Numeric value format is not valid or missing an expected value.
+ERROR_NUMERIC_VALUE_INVALID = 2
+# Grbl '$' system command was not recognized or supported.
+ERROR_REALTIME_NOT_SUPPORTED = 3
+# Negative value received for an expected positive value.
+ERROR_NEGATIVE_VALUE = 4
+# Homing cycle is not enabled via settings.
+ERROR_HOMING_CYCLE_DISABLED = 5
+# Minimum step pulse time must be greater than 3usec
+ERROR_STEP_PULSE_INVALID = 6
+# EEPROM read failed. Reset and restored to default values.
+ERROR_EEPROM_READ_ERROR = 7
+# Grbl '$' command cannot be used unless Grbl is IDLE. Ensures smooth operation during a job.
+ERROR_NOT_IDLE = 8
+# G-code locked out during alarm or jog state
+ERROR_ALARM_OR_JOG = 9
+# Soft limits cannot be enabled without homing also enabled.
+ERROR_SOFT_LIMITS = 10
+# Max characters per line exceeded. Line was not processed and executed.
+ERROR_MAX_CHARACTERS = 11
+# (Compile Option) Grbl '$' setting value exceeds the maximum step rate supported.
+ERROR_EXCEEDED_MAX_STEP = 12
+# Safety door detected as opened and door state initiated.
+ERROR_SAFETY_DOOR = 13
+# (Grbl-Mega Only) Build info or startup line exceeded EEPROM line length limit.
+ERROR_EEPROM_LINE_LIMIT = 14
+# Jog target exceeds machine travel. Command ignored.
+ERROR_JOG_EXCEEDS_MACHINE = 15
+# Jog command with no '=' or contains prohibited g-code.
+ERROR_JOG_SYNTAX = 16
+# Laser mode requires PWM output.
+ERROR_REQUIRED_POWER = 17
+# Unsupported or invalid g-code command found in block.
+ERROR_UNSUPPORTED_GCODE = 20
+# More than one g-code command from same modal group found in block.
+ERROR_DUPLICATE_COMMAND_MODAL = 21
+# Feed rate has not yet been set or is undefined.
+ERROR_FEED_RATE_UNSET = 22
+# G-code command in block requires an integer value.
+ERROR_NUMERIC_VALUE_MISSING = 23
+# Two G-code commands that both require the use of the XYZ axis words were detected in the block.
+ERROR_OVERLAPPING_GCODE = 24
+# A G-code word was repeated in the block.
+ERROR_DUPLICATE_COMMAND = 25
+# A G-code command implicitly or explicitly requires XYZ axis words in the block, but none were detected.
+ERROR_REQUIRES_COORDINATES = 26
+# N line number value is not within the valid range of 1 - 9,999,999.
+ERROR_INVALID_LINENUMBER = 27
+# A G-code command was sent, but is missing some required P or L value words in the line.
+ERROR_MISSING_REQUIRED_INFO = 28
+# Grbl supports six work coordinate systems G54-G59. G59.1, G59.2, and G59.3 are not supported.
+ERROR_UNSUPPORTED_WORK_COORDS = 29
+# The G53 G-code command requires either a G0 seek or G1 feed motion mode to be active. A different motion was active.
+ERROR_INVALID_MOVE_COMMAND = 30
+# There are unused axis words in the block and G80 motion mode cancel is active.
+ERROR_UNUSED_AXIS_WORDS = 31
+# A G2 or G3 arc was commanded but there are no XYZ axis words in the selected plane to trace the arc.
+ERROR_ARC_WITHOUT_WORDS = 32
+# The motion command has an invalid target. G2, G3, and G38.2 generates this error, if the arc is impossible to generate or if the probe target is the current position.
+ERROR_INVALID_TARGET = 33
+# A G2 or G3 arc, traced with the radius definition, had a mathematical error when computing the arc geometry. Try either breaking up the arc into semicircles or quadrants, or redefine them with the arc offset definition.
+ERROR_ARC_COMPUTATION = 34
+# A G2 or G3 arc, traced with the offset definition, is missing the IJK offset word in the selected plane to trace the arc.
+ERROR_ARC_OFFSET_WORDS_MISSING = 35
+# There are unused, leftover G-code words that aren't used by any command in the block.
+ERROR_UNUSED_WORDS = 36
+# The G43.1 dynamic tool length offset command cannot apply an offset to an axis other than its configured axis. The Grbl default axis is the Z-axis.
+ERROR_TOOL_LENGTH_INVALID = 37
+# Tool number greater than max supported value.
+ERROR_EXCEEDED_TOOL_MAX = 38
+
+
+class GcodeJob:
+    def __init__(
+        self, driver=None, units_to_device_matrix=None, priority=0, channel=None
+    ):
+        self.units_to_device_matrix = units_to_device_matrix
+        self._driver = driver
+        self.channel = channel
+        self.reply = None
+        self.buffer = list()
+
+        self.priority = priority
+
+        self.time_submitted = time.time()
+        self.time_started = None
+        self.runtime = 0
+
+        self._stopped = True
+        self.enabled = True
+        self._estimate = 0
+
+        # Initially assume mm mode. G21 mm DEFAULT
+        self.scale = UNITS_PER_MM
+        self.units = "mm"
+
+        self.compensation = False
+        self.feed_convert = None
+        self.feed_invert = None
+        self.feed_desc = None
+        self._interpolate = 50
+        self.program_mode = False
+        self.plotcut = None
+
+        self.speed = None
+        self.power = None
+
+        self.move_mode = 0
+        self.x = 0
+        self.y = 0
+        self.z = 0
+
+        self.lock = threading.Lock()
+
+        # G90 default.
+        self.relative = False
+
+        # G94 feedrate default, mm mode
+        self.g94_feedrate()
+
+    def __str__(self):
+        return f"{self.__class__.__name__}({len(self.buffer)} lines)"
+
+    @property
+    def status(self):
+        if self.is_running():
+            if self.time_started:
+                return "Running"
+            else:
+                return "Queued"
+        else:
+            if self.enabled:
+                return "Waiting"
+            else:
+                return "Disabled"
+
+    def get_feed_rate(self):
+        if self.speed is None:
+            return 0
+        return self.feed_invert(self.speed)
+
+    def get_power_rate(self):
+        if self.power is None:
+            return 0
+        return self.power
+
+    def inform(self, last_command):
+        if not hasattr(self._driver, "signal"):
+            return
+        info = (
+            self.relative,
+            self.program_mode,
+            self.move_mode,
+            self.units,
+            self.x / self.scale,
+            self.y / self.scale,
+            self.z / self.scale,
+            self.power,
+            self.speed,
+            self.feed_desc,
+            last_command,
+        )
+        self._driver.signal("grbl-emulator", info)
+
+    def reply_code(self, cmd):
+        if cmd == 0:  # Execute GCode.
+            if self.reply:
+                self.reply("ok\r\n")
+        else:
+            if self.reply:
+                self.reply(f"error:{cmd}\r\n")
+
+    def write(self, line):
+        with self.lock:
+            self.buffer.append(line)
+
+    def write_all(self, lines):
+        with self.lock:
+            self.buffer.extend(lines)
+
+    def write_blob(self, data):
+        self.write_all(
+            [
+                r
+                for r in re.split("[\n|\r]", data.decode("utf-8", errors="ignore"))
+                if r.strip()
+            ]
+        )
+
+    def execute(self, driver=None):
+        """
+        Execute calls each item in the list of items in order. This is intended to be called by the spooler thread. And
+        hold the spooler while these items are executing.
+        @return:
+        """
+        self._stopped = False
+        if self.time_started is None:
+            self.time_started = time.time()
+        try:
+            with self.lock:
+                line = self.buffer.pop(0)
+            cmd = self._process_gcode(line)
+            self.reply_code(cmd)
+        except IndexError:
+            # Could not pop, list is empty. Job is done.
+            pass
+        if not self.buffer:
+            # Buffer is empty now. Job is complete
+            self.runtime += time.time() - self.time_started
+            self._stopped = True
+            return True  # All steps were executed.
+        return False
+
+    def stop(self):
+        """
+        Stop this current laser-job, cannot be called from the spooler thread.
+        @return:
+        """
+        if not self._stopped:
+            self.runtime += time.time() - self.time_started
+        self._stopped = True
+
+    def is_running(self):
+        return not self._stopped
+
+    def elapsed_time(self):
+        """
+        How long is this job already running...
+        """
+        if self.is_running():
+            return time.time() - self.time_started
+        else:
+            return self.runtime
+
+    def estimate_time(self):
+        """
+        Give laser job time estimate.
+        @return:
+        """
+        return self._estimate
+
+    def _process_gcode(self, data, jog=False):
+        """
+        Processes the gcode commands which are parsed into different dictionary objects.
+        List of Supported G-Codes in Grbl v1.1:
+          - Non-Modal Commands: G4, G10L2, G10L20, G28, G30, G28.1, G30.1, G53, G92, G92.1
+          - Motion Modes: G0, G1, G2, G3, G38.2, G38.3, G38.4, G38.5, G80
+          - Feed Rate Modes: G93, G94
+          - Unit Modes: G20, G21
+          - Distance Modes: G90, G91
+          - Arc IJK Distance Modes: G91.1
+          - Plane Select Modes: G17, G18, G19
+          - Tool Length Offset Modes: G43.1, G49
+          - Cutter Compensation Modes: G40
+          - Coordinate System Modes: G54, G55, G56, G57, G58, G59
+          - Control Modes: G61
+          - Program Flow: M0, M1, M2, M30*
+          - Coolant Control: M7*, M8, M9
+          - Spindle Control: M3, M4, M5
+          - Valid Non-Command Words: F, I, J, K, L, N, P, R, S, T, X, Y, Z
+
+        @param data: gcode line to process
+        @param jog: indicate this gcode line is operated as a jog.
+        @return:
+        """
+        gc = {}
+        for c in _tokenize_code(data):
+            g = c[0]
+            if g not in gc:
+                gc[g] = []
+            if len(c) >= 2:
+                gc[g].append(c[1])
+            else:
+                gc[g].append(None)
+        # self.inform(str(gc))
+        if "m" in gc:
+            for v in gc["m"]:
+                if v in (0, 1):
+                    # Program Flow: Stop or Unconditional Stop
+                    try:
+                        self._driver.rapid_mode()
+                    except AttributeError:
+                        pass
+                elif v == 2:
+                    # Program Flow: Program End
+                    try:
+                        self._driver.plot_start()
+                    except AttributeError:
+                        pass
+                    try:
+                        self._driver.rapid_mode()
+                    except AttributeError:
+                        pass
+                    return OKAY
+                elif v == 30:
+                    # Program Flow: Program Stop
+                    try:
+                        self._driver.rapid_mode()
+                    except AttributeError:
+                        pass
+                    return OKAY
+                elif v in (3, 4):
+                    # Spindle Control - Spindle On - Clockwise/CCW Laser Mode
+                    self.program_mode = True
+                elif v == 5:
+                    # Spindle Control - Spindle Off - Laser Mode
+                    if self.program_mode:
+                        try:
+                            self.plot_commit()
+                            self._driver.plot_start()
+                        except AttributeError:
+                            pass
+                    try:
+                        self._driver.rapid_mode()
+                    except AttributeError:
+                        pass
+                    self.program_mode = False
+                elif v == 7:
+                    #  Coolant Control: Mist coolant control.
+                    try:
+                        self._driver.service.kernel.root.coolant.coolant_on(
+                            self._driver.service
+                        )
+                    except AttributeError:
+                        # Eg in a mock connection we dont have a driver...
+                        pass
+                elif v == 8:
+                    # Coolant Control: Flood coolant On
+                    try:
+                        self._driver.service.kernel.root.coolant.coolant_on(
+                            self._driver.service
+                        )
+                    except AttributeError:
+                        # Eg in a mock connection we dont have a driver...
+                        pass
+                elif v == 9:
+                    # Coolant Control: Flood coolant Off
+                    try:
+                        self._driver.service.kernel.root.coolant.coolant_off(
+                            self._driver.service
+                        )
+                    except AttributeError:
+                        # Eg in a mock connection we dont have a driver...
+                        pass
+                elif v == 56:
+                    # Parking motion override control.
+                    pass
+                else:
+                    # Unsupported or invalid g-code command found in block.
+                    return ERROR_UNSUPPORTED_GCODE
+            del gc["m"]
+        if "g" in gc:
+            for v in gc["g"]:
+                if v is None:
+                    # G but no number given.
+                    # Numeric value format is not valid or missing an expected value.
+                    return ERROR_NUMERIC_VALUE_INVALID
+                elif v == 0:
+                    # G0 Rapid Move.
+                    self.move_mode = 0
+                elif v == 1:
+                    # G1 Cut Move.
+                    self.move_mode = 1
+                elif v == 2:
+                    # G2 CW_ARC
+                    self.move_mode = 2
+                elif v == 3:
+                    # G3 CCW_ARC
+                    self.move_mode = 3
+                elif v == 4:
+                    # DWELL
+                    t = 0
+                    if "p" in gc:
+                        t = float(gc["p"].pop()) / 1000.0
+                        if len(gc["p"]) == 0:
+                            del gc["p"]
+                    if "s" in gc:
+                        t = float(gc["s"].pop())
+                        if len(gc["s"]) == 0:
+                            del gc["s"]
+                    if self.program_mode:
+                        self.plot_commit()
+                        self.plot(WaitCut(t))
+                    else:
+                        try:
+                            self._driver.wait(t)
+                        except AttributeError:
+                            pass
+                elif v == 10:
+                    l_value = gc["l"].pop(0)
+                    if l_value is None:
+                        # A G-code command was sent, but is missing some required P or L value words in the line.
+                        return ERROR_MISSING_REQUIRED_INFO
+                    elif l_value == 2:
+                        # Set Work Coordinate Offsets
+                        pass
+                    elif l_value == 20:
+                        # Set Work Coordinate Offsets
+                        # Sets the offset values for the coordinate system. P1 = G54
+                        p_value = gc["p"].pop(0)
+                        if p_value is None:
+                            # A G-code command was sent, but is missing some required P or L value words in the line.
+                            return ERROR_MISSING_REQUIRED_INFO
+                    else:
+                        # Unsupported or invalid g-code command found in block.
+                        return ERROR_UNSUPPORTED_GCODE
+                elif v == 17:
+                    # Set XY coords.
+                    pass
+                elif v == 18:
+                    # Set the XZ plane for arc.
+                    # Unsupported or invalid g-code command found in block.
+                    return ERROR_UNSUPPORTED_GCODE
+                elif v == 19:
+                    # Set the YZ plane for arc.
+                    # Unsupported or invalid g-code command found in block.
+                    return ERROR_UNSUPPORTED_GCODE
+                elif v in (20, 70):
+                    # g20 is inch mode.
+                    self.scale = UNITS_PER_INCH
+                    self.units = "in"
+                elif v in (21, 71):
+                    # g21 is mm mode. 39.3701 mils in a mm
+                    self.scale = UNITS_PER_MM
+                    self.units = "mm"
+                elif v == 28:
+                    # Move to Origin (Home)
+                    try:
+                        self._driver.home()
+                    except AttributeError:
+                        pass
+                    try:
+                        self._driver.move_abs(0, 0)
+                    except AttributeError:
+                        pass
+                    self.x = 0
+                    self.y = 0
+                    self.z = 0
+                elif v == 28.1:
+                    # Set Pre-defined Location
+                    pass
+                elif v == 30:
+                    # Goto Pre-defined Position
+                    pass
+                elif v == 30.1:
+                    # Set Pre-defined Position
+                    pass
+                elif v == 38.2:
+                    # Probe towards workpiece, stop on contact. Signal error.
+                    # Unsupported or invalid g-code command found in block.
+                    return ERROR_UNSUPPORTED_GCODE
+                elif v == 38.3:
+                    # Probe towards workpiece, stop on contact.
+                    # Unsupported or invalid g-code command found in block.
+                    return ERROR_UNSUPPORTED_GCODE
+                elif v == 38.4:
+                    # Probe away from workpiece, signal error
+                    pass
+                elif v == 38.5:
+                    # Probe away from workpiece.
+                    pass
+                elif v == 40.0:
+                    # Compensation Off
+                    self.compensation = False
+                elif v == 43.1:
+                    pass  # Dynamic tool Length offsets
+                elif v == 49:
+                    # Cancel tool offset.
+                    pass  # Dynamic tool length offsets
+                elif v == 53:
+                    # Absolute movement non-modal command.
+                    pass
+                elif 54 <= v <= 59:
+                    # Coord System Select
+                    pass  # Work Coordinate Systems
+                elif v == 61:
+                    # Exact path control mode. GRBL required
+                    pass
+                elif v == 80:
+                    # Motion mode cancel. Canned cycle.
+                    pass
+                elif v == 90:
+                    # Set to Absolute Positioning
+                    self.relative = False
+                elif v == 91:
+                    # Set to Relative Positioning
+                    self.relative = True
+                elif v == 92:
+                    # Set Position.
+                    # Change the current coords without moving.
+                    pass  # Coordinate Offset TODO: Implement
+                elif v == 92.1:
+                    # Clear Coordinate offset set by 92.
+                    pass  # Clear Coordinate offset TODO: Implement
+                elif v == 93:
+                    # Feed Rate Mode (Inverse Time Mode)
+                    self.g93_feedrate()
+                elif v == 94:
+                    # Feed Rate Mode (Units Per Minute)
+                    self.g94_feedrate()
+                else:
+                    # Unsupported or invalid g-code command found in block.
+                    return ERROR_UNSUPPORTED_GCODE
+            del gc["g"]
+
+        if "comment" in gc:
+            if self.channel:
+                self.channel(f'Comment: {gc["comment"]}')
+            del gc["comment"]
+
+        if "f" in gc:  # Feed_rate
+            for v in gc["f"]:
+                if v is None:
+                    # Numeric value format is not valid or missing an expected value.
+                    return ERROR_NUMERIC_VALUE_INVALID
+                feed_rate = self.feed_convert(v)
+                if self.speed != feed_rate:
+                    self.speed = feed_rate
+                    try:
+                        self._driver.set("speed", v)
+                    except AttributeError:
+                        pass
+                    self.plot_commit()  # Speed change means plot change
+            del gc["f"]
+        if "s" in gc:
+            for v in gc["s"]:
+                if v is None:
+                    # Numeric value format is not valid or missing an expected value.
+                    return ERROR_NUMERIC_VALUE_INVALID
+                if 0.0 < v <= 1.0:
+                    v *= 1000  # numbers between 0-1 are taken to be in range 0-1.
+                if self.power != v:
+                    try:
+                        self._driver.set("power", v)
+                    except AttributeError:
+                        pass
+                    self.power = v
+            del gc["s"]
+        if "z" in gc:
+            oz = self.z
+            v = gc["z"].pop(0)
+            if v is None:
+                z = 0
+            else:
+                z = self.scale * v
+            if len(gc["z"]) == 0:
+                del gc["z"]
+            self.z = z
+            if oz != self.z:
+                try:
+                    self.plot_commit()  # We plot commit on z level change
+                    self._driver.axis("z", self.z)
+                except AttributeError:
+                    pass
+
+        if (
+            "x" in gc
+            or "y" in gc
+            or ("i" in gc or "j" in gc and self.move_mode in (2, 3))
+        ):
+            ox = self.x
+            oy = self.y
+            if "x" in gc:
+                x = gc["x"].pop(0)
+                if x is None:
+                    x = 0
+                else:
+                    x *= self.scale
+                if len(gc["x"]) == 0:
+                    del gc["x"]
+            else:
+                if self.relative:
+                    x = 0
+                else:
+                    x = self.x
+            if "y" in gc:
+                y = gc["y"].pop(0)
+                if y is None:
+                    y = 0
+                else:
+                    y *= self.scale
+                if len(gc["y"]) == 0:
+                    del gc["y"]
+            else:
+                if self.relative:
+                    y = 0
+                else:
+                    y = self.y
+
+            if self.relative:
+                nx = self.x + x
+                ny = self.y + y
+            else:
+                nx = x
+                ny = y
+            if self.move_mode == 0:
+                self.plot_commit()
+                if self.program_mode:
+                    self.plot_location(nx, ny, 0)
+                else:
+                    try:
+                        self._driver.move_abs(nx, ny)
+                        self.x = nx
+                        self.y = ny
+                    except AttributeError:
+                        pass
+            elif self.move_mode == 1:
+                self.plot_location(nx, ny, self.power)
+            elif self.move_mode in (2, 3):
+                # 2 = CW ARC
+                # 3 = CCW ARC
+
+                cx = ox
+                cy = oy
+                if "i" in gc:
+                    ix = gc["i"].pop(0)  # * self.scale
+                    cx += ix
+                if "j" in gc:
+                    jy = gc["j"].pop(0)  # * self.scale
+                    cy += jy
+                if "r" in gc:
+                    # Strictly speaking this uses the R parameter, but that wasn't coded.
+                    arc = Arc(
+                        start=(ox, oy),
+                        center=(cx, cy),
+                        end=(nx, ny),
+                        ccw=self.move_mode == 3,
+                    )
+                    for p in range(self._interpolate + 1):
+                        x, y = arc.point(p / self._interpolate)
+                        self.plot_location(x, y, self.power)
+                else:
+                    arc = Arc(
+                        start=(ox, oy),
+                        center=(cx, cy),
+                        end=(nx, ny),
+                        ccw=self.move_mode == 3,
+                    )
+                    for p in range(self._interpolate + 1):
+                        x, y = arc.point(p / self._interpolate)
+                        self.plot_location(x, y, self.power)
+        return OKAY
+
+    def plot_location(self, x, y, power):
+        """
+        Adds this particular location to the current plotcut.
+
+        Or, starts a new plotcut if one is not already started.
+
+        First plotcut is a 0-power move to the current position. X and Y are set to plotted location
+
+        @param x:
+        @param y:
+        @param power:
+        @return:
+        """
+        matrix = self.units_to_device_matrix
+        if matrix is None:
+            # Using job for something other than point plotting
+            return
+        if power is None:
+            power = 1000
+        power = min(1000, power)
+        if self.plotcut is None:
+            ox, oy = matrix.transform_point([self.x, self.y])
+            self.plotcut = PlotCut(settings={"speed": self.speed})
+            self.plotcut.plot_init(int(round(ox)), int(round(oy)))
+        tx, ty = matrix.transform_point([x, y])
+        self.plotcut.plot_append(int(round(tx)), int(round(ty)), (power / 1000.0))
+        if not self.program_mode:
+            self.plot_commit()
+        self.x = x
+        self.y = y
+
+    def plot_commit(self):
+        """
+        Force commits the old plotcut and unsets the current plotcut.
+
+        @return:
+        """
+        if self.plotcut is None:
+            return
+        self.plot(self.plotcut)
+        self.plotcut = None
+
+    def plot(self, plot):
+        try:
+            self._driver.plot(plot)
+        except AttributeError:
+            pass
+        if not self.program_mode:
+            # If we plotted this, and we aren't in program mode execute all of these commands right away
+            try:
+                self._driver.plot_start()
+            except AttributeError:
+                pass
+
+    def g93_feedrate(self):
+        """
+        Feed Rate in Minutes / Unit
+        G93 - is Inverse Time Mode. In inverse time feed rate mode, an F word means the move
+        should be completed in [one divided by the F number] minutes. For example, if the
+        F number is 2.0, the move should be completed in half a minute.
+        When the inverse time feed rate mode is active, an F word must appear on every line
+        which has a G1, G2, or G3 motion, and an F word on a line that does not have
+        G1, G2, or G3 is ignored. Being in inverse time feed rate mode does not
+        affect G0 (rapid move) motions.
+        @return:
+        """
+
+        if self.scale == UNITS_PER_INCH:
+            self.feed_convert = lambda s: (60.0 * self.scale / UNITS_PER_INCH) / s
+            self.feed_invert = lambda s: (60.0 * UNITS_PER_INCH / self.scale) / s
+            self.feed_desc = "min/inch"
+        else:
+            self.feed_convert = lambda s: (60.0 * self.scale / UNITS_PER_MM) / s
+            self.feed_invert = lambda s: (60.0 * UNITS_PER_MM / self.scale) / s
+            self.feed_desc = "min/mm"
+
+    def g94_feedrate(self):
+        """
+        Feed Rate in Units / Minute
+        G94 - is Units per Minute Mode. In units per minute feed mode, an F word is interpreted
+        to mean the controlled point should move at a certain number of inches per minute,
+        millimeters per minute, or degrees per minute, depending upon what length units
+        are being used and which axis or axes are moving.
+        @return:
+        """
+
+        if self.scale == UNITS_PER_INCH:
+            self.feed_convert = lambda s: s / ((self.scale / UNITS_PER_INCH) * 60.0)
+            self.feed_invert = lambda s: s * ((self.scale / UNITS_PER_INCH) * 60.0)
+            self.feed_desc = "inch/min"
+        else:
+            self.feed_convert = lambda s: s / ((self.scale / UNITS_PER_MM) * 60.0)
+            self.feed_invert = lambda s: s * ((self.scale / UNITS_PER_MM) * 60.0)
+            self.feed_desc = "mm/min"