# -*- coding: utf-8 -*- # *************************************************************************** # * * # * Copyright (c) 2015 Dan Falck * # * * # * This program is free software; you can redistribute it and/or modify * # * it under the terms of the GNU Lesser General Public License (LGPL) * # * as published by the Free Software Foundation; either version 2 of * # * the License, or (at your option) any later version. * # * for detail see the LICENCE text file. * # * * # * This program is distributed in the hope that it will be useful, * # * but WITHOUT ANY WARRANTY; without even the implied warranty of * # * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * # * GNU Library General Public License for more details. * # * * # * You should have received a copy of the GNU Library General Public * # * License along with this program; if not, write to the Free Software * # * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * # * USA * # * * # *************************************************************************** '''PathKurveUtils - functions needed for using libarea (created by Dan Heeks) for making simple CNC profile paths ''' from __future__ import print_function import Part import math import area from PathScripts import PathUtils from PathScripts.PathGeom import PathGeom from nc.nc import * import PathScripts.nc.iso from PathScripts.nc.nc import * def makeAreaVertex(seg): if seg.ShapeType == 'Edge': if isinstance(seg.Curve, Part.Circle): segtype = int(seg.Curve.Axis.z) # 1=ccw arc,-1=cw arc vertex = area.Vertex(segtype, area.Point(seg.valueAt(seg.LastParameter)[0], seg.valueAt( seg.LastParameter)[1]), area.Point(seg.Curve.Center.x, seg.Curve.Center.y)) elif isinstance(seg.Curve, Part.LineSegment) or isinstance(seg.Curve, Part.Line): point1 = seg.valueAt(seg.FirstParameter)[ 0], seg.valueAt(seg.FirstParameter)[1] point2 = seg.valueAt(seg.LastParameter)[ 0], seg.valueAt(seg.LastParameter)[1] segtype = 0 # 0=line vertex = area.Point(seg.valueAt(seg.LastParameter)[ 0], seg.valueAt(seg.LastParameter)[1]) else: pass # print "returning vertex: area.Point(" + # str(seg.valueAt(seg.LastParameter)[0]) +"," + # str(seg.valueAt(seg.LastParameter)[1]) +")" return vertex def makeAreaCurve(edges, direction, startpt=None, endpt=None): curveobj = area.Curve() cleanededges = Part.__sortEdges__(PathUtils.cleanedges(edges, 0.01)) # for e in cleanededges: # print str(e.valueAt(e.FirstParameter)) + "," + # str(e.valueAt(e.LastParameter)) edgelist = [] if len(cleanededges) == 1: # user selected a single edge. edgelist = cleanededges else: # edgelist = [] #Multiple edges. Need to sequence the vetexes. # First get the first segment oriented correctly. # We first compare the last parameter of the first segment to see if it # matches either end of the second segment. If not, it must need # flipping. p0L = cleanededges[0].valueAt(cleanededges[0].LastParameter) if PathGeom.pointsCoincide(p0L, cleanededges[1].valueAt(cleanededges[1].FirstParameter)) or PathGeom.pointsCoincide(p0L, cleanededges[1].valueAt(cleanededges[1].LastParameter)): edge0 = cleanededges[0] else: edge0 = PathUtils.reverseEdge(cleanededges[0]) edgelist.append(edge0) # Now iterate the rest of the edges matching the last parameter of the # previous segment. for edge in cleanededges[1:]: if PathGeom.pointsCoincide(edge.valueAt(edge.FirstParameter), edgelist[-1].valueAt(edgelist[-1].LastParameter)): nextedge = edge else: nextedge = PathUtils.reverseEdge(edge) edgelist.append(nextedge) # print "makeareacurve 87: " + "area.Point(" + # str(edgelist[0].Vertexes[0].X) + ", " + # str(edgelist[0].Vertexes[0].Y)+")" curveobj.append(area.Point(edgelist[0].Vertexes[ 0].X, edgelist[0].Vertexes[0].Y)) # seglist =[] # if direction=='CW': # edgelist.reverse() # for e in edgelist: # seglist.append(PathUtils.reverseEdge(e)) #swap end points on every segment # else: # for e in edgelist: # seglist.append(e) for s in edgelist: curveobj.append(makeAreaVertex(s)) if startpt: # future nearest point code yet to be worked out -fixme # v1 = Vector(startpt.X,startpt.Y,startpt.Z) # perppoint1 = DraftGeomUtils.findPerpendicular(v1,firstedge) # perppoint1 = DraftGeomUtils.findDistance(v1,firstedge) # if perppoint1: # curveobj.ChangeStart(area.Point(perppoint1[0].x,perppoint1[0].y)) # else: # curveobj.ChangeStart(area.Point(startpt.X,startpt.Y)) curveobj.ChangeStart(area.Point(startpt.x, startpt.y)) if endpt: # future nearest point code yet to be worked out -fixme # v2 = Vector(endpt.X,endpt.Y,endpt.Z) # perppoint2 = DraftGeomUtils.findPerpendicular(v2,lastedge) # if perppoint2: # curveobj.ChangeEnd(area.Point(perppoint2[0].x,perppoint2[0].y)) # else: # curveobj.ChangeEnd(area.Point(endpt.X,endpt.Y)) curveobj.ChangeEnd(area.Point(endpt.x, endpt.y)) if curveobj.IsClockwise() and direction == 'CCW': curveobj.Reverse() elif not curveobj.IsClockwise() and direction == 'CW': curveobj.Reverse() return curveobj # profile command, # side_of_line should be 'Left' or 'Right' or 'On' def profile(curve, side_of_line, radius=1.0, vertfeed=0.0, horizfeed=0.0, offset_extra=0.0, rapid_safety_space=None, clearance=None, start_depth=None, stepdown=None, final_depth=None, use_CRC=False, roll_on=None, roll_off=None, roll_start=False, roll_end=True, roll_radius=None, roll_start_pt=None, roll_end_pt=None): output = "" output += "G0 Z" + str(clearance) + "\n" print("in profile: 151") offset_curve = area.Curve(curve) if offset_curve.getNumVertices() <= 1: raise Exception, "Sketch has no elements!" if side_of_line == "On": use_CRC = False elif (side_of_line == "Left") or (side_of_line == "Right"): # get tool radius plus little bit of extra offset, if needed to clean # up profile a little more offset = radius + offset_extra if side_of_line == 'Left': offset_curve.Offset(offset) else: offset_curve.Offset(-offset) if offset_curve is False: raise Exception, "couldn't offset kurve " + str(offset_curve) else: raise Exception, "Side must be 'Left','Right', or 'On'" # ========================================================================= # #roll_on roll_off section # roll_on_curve = area.Curve() # if offset_curve.getNumVertices() <= 1: return # first_span = offset_curve.GetFirstSpan() # if roll_on == None: # rollstart = first_span.p # elif roll_on == 'auto': # if roll_radius < 0.0000000001: # rollstart = first_span.p # v = first_span.GetVector(0.0) # if direction == 'right': # off_v = area.Point(v.y, -v.x) # else: # off_v = area.Point(-v.y, v.x) # rollstart = first_span.p + off_v * roll_radius # else: # rollstart = roll_on # # rvertex = area.Vertex(first_span.p) # # if first_span.p == rollstart: # rvertex.type = 0 # else: # v = first_span.GetVector(0.0) # get start direction # rvertex.c, rvertex.type = area.TangentialArc(first_span.p, rollstart, -v) # rvertex.type = -rvertex.type # because TangentialArc was used in reverse # # add a start roll on point # roll_on_curve.append(rollstart) # # # add the roll on arc # roll_on_curve.append(rvertex) # #end of roll_on roll_off section # ========================================================================= # do multiple depths layer_count = int((start_depth - final_depth) / stepdown) if layer_count * stepdown + 0.00001 < start_depth - final_depth: layer_count += 1 # current_start_depth = start_depth prev_depth = start_depth for i in range(1, layer_count + 1): if i == layer_count: depth = final_depth else: depth = start_depth - i * stepdown mat_depth = prev_depth start_z = mat_depth # first move output += "G0 X" + str(PathUtils.fmt(offset_curve.GetFirstSpan().p.x)) +\ " Y" + str(PathUtils.fmt(offset_curve.GetFirstSpan().p.y)) +\ " Z" + str(PathUtils.fmt(mat_depth + rapid_safety_space)) + "\n" # feed down to depth mat_depth = depth if start_z > mat_depth: mat_depth = start_z # feed down in Z output += "G1 X" + str(PathUtils.fmt(offset_curve.GetFirstSpan().p.x)) +\ " Y" + str(PathUtils.fmt(offset_curve.GetFirstSpan().p.y)) + " Z" + str(PathUtils.fmt(depth)) +\ " F" + str(PathUtils.fmt(vertfeed)) + "\n" if use_CRC: if side_of_line == 'left': output += "G41" + "\n" else: output += "G42" + "\n" # cut the main kurve current_perim = 0.0 lastx = offset_curve.GetFirstSpan().p.x lasty = offset_curve.GetFirstSpan().p.y for span in offset_curve.GetSpans(): current_perim += span.Length() if span.v.type == 0: # line # feed(span.v.p.x, span.v.p.y, ez) output += "G1 X" + str(PathUtils.fmt(span.v.p.x)) + " Y" + str(PathUtils.fmt(span.v.p.y)) +\ " Z" + str(PathUtils.fmt(depth)) + " F" + \ str(PathUtils.fmt(horizfeed)) + "\n" lastx = span.v.p.x lasty = span.v.p.y elif (span.v.type == 1) or (span.v.type == -1): if span.v.type == 1: # anti-clockwise arc command = 'G3' elif span.v.type == -1: # clockwise arc command = 'G2' arc_I = span.v.c.x - lastx arc_J = span.v.c.y - lasty output += command + "X" + str(PathUtils.fmt(span.v.p.x)) + " Y" + str( PathUtils.fmt(span.v.p.y)) # +" Z"+ str(PathUtils.fmt(depth)) output += " I" + str(PathUtils.fmt(arc_I)) + " J" + str(PathUtils.fmt(arc_J)) + " F" + str( PathUtils.fmt(horizfeed)) + '\n' # " K"+str(PathUtils.fmt(depth)) +"\n" lastx = span.v.p.x lasty = span.v.p.y else: raise Exception, "valid geometry identifier needed" if use_CRC: # end_CRC() output += "G40" + "\n" # rapid up to the clearance height output += "G0 Z" + str(PathUtils.fmt(clearance)) + "\n" del offset_curve return output def make_smaller(curve, start=None, finish=None, end_beyond=False): if start is not None: curve.ChangeStart(curve.NearestPoint(start)) if finish is not None: if end_beyond: curve2 = area.Curve(curve) curve2.ChangeEnd(curve2.NearestPoint(finish)) first = True for vertex in curve2.getVertices(): if first is False: curve.append(vertex) first = False else: curve.ChangeEnd(curve.NearestPoint(finish)) '''The following procedures are copied almost directly from heekscnc kurve_funcs.py. They depend on nc directory existing below PathScripts and have not been thoroughly optimized, understood, or tested for FreeCAD.''' def profile2(curve, direction="on", radius=1.0, vertfeed=0.0, horizfeed=0.0, vertrapid=0.0, horizrapid=0.0, offset_extra=0.0, roll_radius=2.0, roll_on=None, roll_off=None, depthparams=None, extend_at_start=0.0, extend_at_end=0.0, lead_in_line_len=0.0, lead_out_line_len=0.0): # print "direction: " + str(direction) # print "radius: " + str(radius) # print "vertfeed: " + str(vertfeed) # print "horizfeed: " + str(horizfeed) # print "offset_extra: " + str(offset_extra) # print "roll_radius: " + str(roll_radius) # print "roll_on: " + str(roll_on) # print "roll_off: " + str(roll_off) # print "depthparams: " + str(depthparams) # print "extend_at_start: " + str(extend_at_start) # print "extend_at_end: " + str(extend_at_end) # print "lead_in_line_len: " + str(lead_in_line_len) # print "lead_out_line_len: " + str(lead_out_line_len) # print "in profile2: 318" global tags direction = direction.lower() offset_curve = area.Curve(curve) # print "curve: " , str(curve) # print "result curve: ", offset_curve.__dict__ if direction == "on": use_CRC() == False if direction != "on": if direction != "left" and direction != "right": raise "direction must be left or right", direction # get tool diameter offset = radius + offset_extra if use_CRC() is False or (use_CRC() is True and CRC_nominal_path() is True): if math.fabs(offset) > 0.00005: if direction == "right": offset = -offset offset_success = offset_curve.Offset(offset) if offset_success is False: global using_area_for_offset if curve.IsClosed() and (using_area_for_offset is False): cw = curve.IsClockwise() using_area_for_offset = True a = area.Area() a.append(curve) print("curve, offset: " , str(curve), str(offset)) a.Offset(-offset) for curve in a.getCurves(): print("result curve: ", curve) curve_cw = curve.IsClockwise() if cw != curve_cw: curve.Reverse() # once we know how what a good start point is # we might want to set it here #set_good_start_point(curve, False) profile(curve, direction, 0.0, 0.0, roll_radius, roll_on, roll_off, depthparams, extend_at_start, extend_at_end, lead_in_line_len, lead_out_line_len) using_area_for_offset = False return else: raise Exception, "couldn't offset kurve " + \ str(offset_curve) # extend curve if extend_at_start > 0.0: span = offset_curve.GetFirstSpan() new_start = span.p + span.GetVector(0.0) * (-extend_at_start) new_curve = area.Curve() new_curve.append(new_start) for vertex in offset_curve.getVertices(): new_curve.append(vertex) offset_curve = new_curve if extend_at_end > 0.0: span = offset_curve.GetLastSpan() new_end = span.v.p + span.GetVector(1.0) * extend_at_end offset_curve.append(new_end) # remove tags further than radius from the offset kurve new_tags = [] for tag in tags: if tag.dist(offset_curve) <= radius + 0.001: new_tags.append(tag) tags = new_tags if offset_curve.getNumVertices() <= 1: raise "sketch has no spans!" # do multiple depths depths = depthparams.get_depths() # current_start_depth = depthparams.start_depth # tags if len(tags) > 0: # make a copy to restore to after each level copy_of_offset_curve = area.Curve(offset_curve) prev_depth = depthparams.start_depth endpoint = None for depth in depths: mat_depth = prev_depth if len(tags) > 0: split_for_tags( offset_curve, radius, depthparams.start_depth, depth, depthparams.final_depth) # make the roll on and roll off kurves roll_on_curve = area.Curve() add_roll_on(offset_curve, roll_on_curve, direction, roll_radius, offset_extra, roll_on) roll_off_curve = area.Curve() add_roll_off(offset_curve, roll_off_curve, direction, roll_radius, offset_extra, roll_off) if use_CRC(): crc_start_point = area.Point() add_CRC_start_line(offset_curve, roll_on_curve, roll_off_curve, radius, direction, crc_start_point, lead_in_line_len) # get the tag depth at the start start_z = get_tag_z_for_span( 0, offset_curve, radius, depthparams.start_depth, depth, depthparams.final_depth) if start_z > mat_depth: mat_depth = start_z # rapid across to the start s = roll_on_curve.FirstVertex().p # start point if (endpoint is None) or (endpoint != s): if use_CRC(): rapid(crc_start_point.x, crc_start_point.y) + "F " + horizrapid + "\n" else: rapid(s.x, s.y) #+ "F " + str(horizrapid) + "\n" # rapid down to just above the material if endpoint is None: rapid(z=mat_depth + depthparams.rapid_safety_space) #+ "F " + vertrapid + "\n" else: rapid(z=mat_depth) #+ "F " + str(vertrapid) + "\n" # feed down to depth mat_depth = depth if start_z > mat_depth: mat_depth = start_z feed(s.x, s.y, z=mat_depth) if use_CRC(): start_CRC(direction == "left", radius) # move to the startpoint feed(s.x, s.y) # cut the roll on arc cut_curve(roll_on_curve) # cut the main kurve current_perim = 0.0 for span in offset_curve.GetSpans(): # height for tags current_perim += span.Length() ez = get_tag_z_for_span(current_perim, offset_curve, radius, depthparams.start_depth, depth, depthparams.final_depth) if ez is None: ez = depth if span.v.type == 0: # line feed(span.v.p.x, span.v.p.y, ez) else: if span.v.type == 1: # anti-clockwise arc arc_ccw(span.v.p.x, span.v.p.y, ez, i=span.v.c.x, j=span.v.c.y) else: arc_cw(span.v.p.x, span.v.p.y, ez, i=span.v.c.x, j=span.v.c.y) # cut the roll off arc cut_curve(roll_off_curve) endpoint = offset_curve.LastVertex().p if roll_off_curve.getNumVertices() > 0: endpoint = roll_off_curve.LastVertex().p # add CRC end_line if use_CRC(): crc_end_point = area.Point() add_CRC_end_line(offset_curve, roll_on_curve, roll_off_curve, radius, direction, crc_end_point, lead_out_line_len) if direction == "on": rapid(z=depthparams.clearance_height) #+ "F " + vertrapid + "\n" else: feed(crc_end_point.x, crc_end_point.y) # restore the unsplit kurve if len(tags) > 0: offset_curve = area.Curve(copy_of_offset_curve) if use_CRC(): end_CRC() if endpoint != s: # rapid up to the clearance height rapid(z=depthparams.clearance_height)# + "F " + vertrapid + "\n" prev_depth = depth rapid(z=depthparams.clearance_height)# + "F " + vertrapid + "\n" del offset_curve if len(tags) > 0: del copy_of_offset_curve class Tag: def __init__(self, p, width, angle, height): self.p = p self.width = width # measured at the top of the tag. In the toolpath, the tag width will be this with plus the tool diameter, so that the finished tag has this "width" at it's smallest # the angle of the ramp in radians. Between 0 and Pi/2; 0 is # horizontal, Pi/2 is vertical self.angle = angle self.height = height # the height of the tag, always measured above "final_depth" self.ramp_width = self.height / math.tan(self.angle) def split_curve(self, curve, radius, start_depth, depth, final_depth): tag_top_depth = final_depth + self.height if depth > tag_top_depth - 0.0000001: return # kurve is above this tag, so doesn't need splitting height_above_depth = tag_top_depth - depth ramp_width_at_depth = height_above_depth / math.tan(self.angle) # cut_depth = start_depth - depth half_flat_top = radius + self.width / 2 d = curve.PointToPerim(self.p) d0 = d - half_flat_top perim = curve.Perim() if curve.IsClosed(): while d0 < 0: d0 += perim while d0 > perim: d0 -= perim p = curve.PerimToPoint(d0) curve.Break(p) d1 = d + half_flat_top if curve.IsClosed(): while d1 < 0: d1 += perim while d1 > perim: d1 -= perim p = curve.PerimToPoint(d1) curve.Break(p) d0 = d - half_flat_top - ramp_width_at_depth if curve.IsClosed(): while d0 < 0: d0 += perim while d0 > perim: d0 -= perim p = curve.PerimToPoint(d0) curve.Break(p) d1 = d + half_flat_top + ramp_width_at_depth if curve.IsClosed(): while d1 < 0: d1 += perim while d1 > perim: d1 -= perim p = curve.PerimToPoint(d1) curve.Break(p) def get_z_at_perim(self, current_perim, curve, radius, start_depth, depth, final_depth): # return the z for this position on the kurve ( specified by current_perim ), for this tag # if the position is not within the tag, then depth is returned # cut_depth = start_depth - depth half_flat_top = radius + self.width / 2 z = depth d = curve.PointToPerim(self.p) dist_from_d = math.fabs(current_perim - d) if dist_from_d < half_flat_top: # on flat top of tag z = final_depth + self.height elif dist_from_d < half_flat_top + self.ramp_width: # on ramp dist_up_ramp = (half_flat_top + self.ramp_width) - dist_from_d z = final_depth + dist_up_ramp * math.tan(self.angle) if z < depth: z = depth return z def dist(self, curve): # return the distance from the tag point to the given kurve d = curve.PointToPerim(self.p) p = curve.PerimToPoint(d) v = self.p - p return v.length() tags = [] def add_roll_on(curve, roll_on_curve, direction, roll_radius, offset_extra, roll_on): if direction == "on": roll_on = None if curve.getNumVertices() <= 1: return first_span = curve.GetFirstSpan() if roll_on is None: rollstart = first_span.p elif roll_on == 'auto': if roll_radius < 0.0000000001: rollstart = first_span.p v = first_span.GetVector(0.0) if direction == 'right': off_v = area.Point(v.y, -v.x) else: off_v = area.Point(-v.y, v.x) rollstart = first_span.p + off_v * roll_radius else: rollstart = roll_on rvertex = area.Vertex(first_span.p) if first_span.p == rollstart: rvertex.type = 0 else: v = first_span.GetVector(0.0) # get start direction rvertex.c, rvertex.type = area.TangentialArc( first_span.p, rollstart, -v) rvertex.type = -rvertex.type # because TangentialArc was used in reverse # add a start roll on point roll_on_curve.append(rollstart) # add the roll on arc roll_on_curve.append(rvertex) def add_roll_off(curve, roll_off_curve, direction, roll_radius, offset_extra, roll_off): if direction == "on": return if roll_off is None: return if curve.getNumVertices() <= 1: return last_span = curve.GetLastSpan() if roll_off == 'auto': if roll_radius < 0.0000000001: return v = last_span.GetVector(1.0) # get end direction if direction == 'right': off_v = area.Point(v.y, -v.x) else: off_v = area.Point(-v.y, v.x) rollend = last_span.v.p + off_v * roll_radius else: rollend = roll_off # add the end of the original kurve roll_off_curve.append(last_span.v.p) if rollend == last_span.v.p: return rvertex = area.Vertex(rollend) v = last_span.GetVector(1.0) # get end direction rvertex.c, rvertex.type = area.TangentialArc(last_span.v.p, rollend, v) # add the roll off arc roll_off_curve.append(rvertex) def clear_tags(): global tags tags = [] def add_tag(p, width, angle, height): global tags tag = Tag(p, width, angle, height) tags.append(tag) def split_for_tags(curve, radius, start_depth, depth, final_depth): global tags for tag in tags: tag.split_curve(curve, radius, start_depth, depth, final_depth) def get_tag_z_for_span(current_perim, curve, radius, start_depth, depth, final_depth): global tags max_z = None perim = curve.Perim() for tag in tags: z = tag.get_z_at_perim(current_perim, curve, radius, start_depth, depth, final_depth) if max_z is None or z > max_z: max_z = z if curve.IsClosed(): # do the same test, wrapped around the closed kurve z = tag.get_z_at_perim( current_perim - perim, curve, radius, start_depth, depth, final_depth) if max_z is None or z > max_z: max_z = z z = tag.get_z_at_perim( current_perim + perim, curve, radius, start_depth, depth, final_depth) if max_z is None or z > max_z: max_z = z return max_z def cut_curve(curve): for span in curve.GetSpans(): if span.v.type == 0: # line feed(span.v.p.x, span.v.p.y) else: if span.v.type == 1: # anti-clockwise arc arc_ccw(span.v.p.x, span.v.p.y, i=span.v.c.x, j=span.v.c.y) else: arc_cw(span.v.p.x, span.v.p.y, i=span.v.c.x, j=span.v.c.y) def add_CRC_start_line(curve, roll_on_curve, roll_off_curve, radius, direction, crc_start_point, lead_in_line_len): first_span = curve.GetFirstSpan() v = first_span.GetVector(0.0) if direction == 'right': off_v = area.Point(v.y, -v.x) else: off_v = area.Point(-v.y, v.x) startpoint_roll_on = roll_on_curve.FirstVertex().p crc_start = startpoint_roll_on + off_v * lead_in_line_len crc_start_point.x = crc_start.x crc_start_point.y = crc_start.y def add_CRC_end_line(curve, roll_on_curve, roll_off_curve, radius, direction, crc_end_point, lead_out_line_len): last_span = curve.GetLastSpan() v = last_span.GetVector(1.0) if direction == 'right': off_v = area.Point(v.y, -v.x) else: off_v = area.Point(-v.y, v.x) endpoint_roll_off = roll_off_curve.LastVertex().p crc_end = endpoint_roll_off + off_v * lead_out_line_len crc_end_point.x = crc_end.x crc_end_point.y = crc_end.y using_area_for_offset = False