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Path: Z depth correction from probe data

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sliptonic
2018-09-16 16:04:26 -05:00
parent 5f323a4169
commit 59a9ab9bc0
9 changed files with 1213 additions and 2 deletions
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261
src/Mod/Path/PathScripts/PathDressupZCorrect.py Normal file
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# -*- coding: utf-8 -*-
# ***************************************************************************
# * *
# * Copyright (c) 2018 sliptonic <shopinthewoods@gmail.com> *
# * *
# * 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 *
# * *
# ***************************************************************************
import FreeCAD
import FreeCADGui
import Path
import PathScripts.PathUtils as PathUtils
from bisect import bisect_left
from PySide import QtCore, QtGui
"""Z Depth Correction Dressup. This dressup takes a probe file as input and does bilinear interpolation of the Zdepths to correct for a surface which is not parallel to the milling table/bed. The probe file should conform to the format specified by the linuxcnc G38 probe logging: 9-number coordinate consisting of XYZABCUVW http://linuxcnc.org/docs/html/gcode/g-code.html#gcode:g38
"""
# Qt tanslation handling
def translate(context, text, disambig=None):
return QtCore.QCoreApplication.translate(context, text, disambig)
movecommands = ['G1', 'G01', 'G2', 'G02', 'G3', 'G03']
rapidcommands = ['G0', 'G00']
arccommands = ['G2', 'G3', 'G02', 'G03']
class ObjectDressup:
x_index = 0
y_index = 0
values = None
x_length = 0
y_length = 0
def __init__(self, obj):
obj.addProperty("App::PropertyLink", "Base", "Path", QtCore.QT_TRANSLATE_NOOP("Path_DressupAxisMap", "The base path to modify"))
obj.addProperty("App::PropertyFile", "probefile", "Path", QtCore.QT_TRANSLATE_NOOP("Path_DressupZCorrect", "The point file from the surface probing."))
obj.Proxy = self
def __getstate__(self):
return None
def __setstate__(self, state):
return None
def onChanged(self, fp, prop):
if str(prop) == "probefile":
self._loadFile(fp.probefile)
def _bilinearInterpolate(self, x, y):
# local lookups
x_index, y_index, values = self.x_index, self.y_index, self.values
i = bisect_left(x_index, x) - 1
j = bisect_left(y_index, y) - 1
if True: #self.extrapolate:
# fix x index
if i == -1:
x_slice = slice(None, 2)
elif i == self.x_length - 1:
x_slice = slice(-2, None)
else:
x_slice = slice(i, i + 2)
# fix y index
if j == -1:
j = 0
y_slice = slice(None, 2)
elif j == self.y_length - 1:
j = -2
y_slice = slice(-2, None)
else:
y_slice = slice(j, j + 2)
else:
if i == -1 or i == self.x_length - 1:
raise ValueError("Extrapolation not allowed!")
if j == -1 or j == self.y_length - 1:
raise ValueError("Extrapolation not allowed!")
x1, x2 = x_index[x_slice]
y1, y2 = y_index[y_slice]
z11, z12 = values[j][x_slice]
z21, z22 = values[j + 1][x_slice]
return (z11 * (x2 - x) * (y2 - y) +
z21 * (x - x1) * (y2 - y) +
z12 * (x2 - x) * (y - y1) +
z22 * (x - x1) * (y - y1)) / ((x2 - x1) * (y2 - y1))
def _loadFile(self, filename):
f1 = open(filename, 'r')
pointlist = []
for line in f1.readlines():
w = line.split()
xval = round(float(w[0]), 3)
yval = round(float(w[1]), 3)
zval = round(float(w[2]), 3)
pointlist.append((xval, yval,zval))
cols = list(zip(*pointlist))
xcolpos = list(sorted(set(cols[0])))
#ycolpos = list(sorted(set(cols[1])))
zdict = {x:[] for x in xcolpos}
for (x, y, z) in pointlist:
zdict[x].append(z)
self.values = tuple(tuple(x) for x in [zdict[x] for x in sorted(xcolpos)])
self.x_index = tuple(sorted(set(cols[0])))
self.y_index = tuple(sorted(set(cols[1])))
# sanity check
x_length = len(self.x_index)
y_length = len(self.y_index)
if x_length < 2 or y_length < 2:
raise ValueError("Probe grid must be at least 2x2.")
if y_length != len(self.values):
raise ValueError("Probe grid data must have equal number of rows to y_index.")
if any(x2 - x1 <= 0 for x1, x2 in zip(self.x_index, self.x_index[1:])):
raise ValueError("x_index must be in strictly ascending order!")
if any(y2 - y1 <= 0 for y1, y2 in zip(self.y_index, self.y_index[1:])):
raise ValueError("y_index must be in strictly ascending order!")
self.x_length = x_length
self.y_length = y_length
def execute(self, obj):
if self.values is None: #No valid probe data. return unchanged path
obj.Path = obj.Base.Path
return
if obj.Base:
if obj.Base.isDerivedFrom("Path::Feature"):
if obj.Base.Path:
if obj.Base.Path.Commands:
pp = obj.Base.Path.Commands
# process the path
pathlist = pp
newcommandlist = []
currLocation = {'X':0,'Y':0,'Z':0, 'F': 0}
for c in pathlist: #obj.Base.Path.Commands:
newparams = dict(c.Parameters)
currLocation.update(newparams)
remapvar = newparams.pop("Z", None)
if remapvar is not None:
offset = self._bilinearInterpolate(currLocation['X'], currLocation['Y'])
newparams["Z"] = remapvar + offset
newcommand = Path.Command(c.Name, newparams)
newcommandlist.append(newcommand)
currLocation.update(newparams)
else:
newcommandlist.append(c)
path = Path.Path(newcommandlist)
obj.Path = path
class ViewProviderDressup:
def __init__(self, vobj):
vobj.Proxy = self
def attach(self, vobj):
self.obj = vobj.Object
if self.obj and self.obj.Base:
for i in self.obj.Base.InList:
if hasattr(i, "Group"):
group = i.Group
for g in group:
if g.Name == self.obj.Base.Name:
group.remove(g)
i.Group = group
# FreeCADGui.ActiveDocument.getObject(obj.Base.Name).Visibility = False
return
def claimChildren(self):
return [self.obj.Base]
def __getstate__(self):
return None
def __setstate__(self, state):
return None
def onDelete(self, arg1=None, arg2=None):
'''this makes sure that the base operation is added back to the project and visible'''
FreeCADGui.ActiveDocument.getObject(arg1.Object.Base.Name).Visibility = True
job = PathUtils.findParentJob(arg1.Object)
job.Proxy.addOperation(arg1.Object.Base)
arg1.Object.Base = None
return True
class CommandPathDressup:
def GetResources(self):
return {'Pixmap': 'Path-Dressup',
'MenuText': QtCore.QT_TRANSLATE_NOOP("Path_DressupZCorrect", "Z Depth Correction Dress-up"),
'Accel': "",
'ToolTip': QtCore.QT_TRANSLATE_NOOP("Path_DressupZCorrect", "Use Probe Map to correct Z depth")}
def IsActive(self):
if FreeCAD.ActiveDocument is not None:
for o in FreeCAD.ActiveDocument.Objects:
if o.Name[:3] == "Job":
return True
return False
def Activated(self):
# check that the selection contains exactly what we want
selection = FreeCADGui.Selection.getSelection()
if len(selection) != 1:
FreeCAD.Console.PrintError(translate("Path_Dressup", "Please select one path object\n"))
return
if not selection[0].isDerivedFrom("Path::Feature"):
FreeCAD.Console.PrintError(translate("Path_Dressup", "The selected object is not a path\n"))
return
if selection[0].isDerivedFrom("Path::FeatureCompoundPython"):
FreeCAD.Console.PrintError(translate("Path_Dressup", "Please select a Path object"))
return
# everything ok!
FreeCAD.ActiveDocument.openTransaction(translate("Path_DressupZCorrect", "Create Dress-up"))
FreeCADGui.addModule("PathScripts.PathDressupZCorrect")
FreeCADGui.addModule("PathScripts.PathUtils")
FreeCADGui.doCommand('obj = FreeCAD.ActiveDocument.addObject("Path::FeaturePython", "ZCorrectDressup")')
FreeCADGui.doCommand('PathScripts.PathDressupZCorrect.ObjectDressup(obj)')
FreeCADGui.doCommand('obj.Base = FreeCAD.ActiveDocument.' + selection[0].Name)
FreeCADGui.doCommand('PathScripts.PathDressupZCorrect.ViewProviderDressup(obj.ViewObject)')
FreeCADGui.doCommand('PathScripts.PathUtils.addToJob(obj)')
FreeCADGui.doCommand('Gui.ActiveDocument.getObject(obj.Base.Name).Visibility = False')
FreeCAD.ActiveDocument.commitTransaction()
FreeCAD.ActiveDocument.recompute()
if FreeCAD.GuiUp:
# register the FreeCAD command
FreeCADGui.addCommand('Path_DressupZCorrect', CommandPathDressup())
FreeCAD.Console.PrintLog("Loading PathDressup... done\n")

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src/Mod/Path/PathScripts/PathProbe.py Normal file
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# -*- coding: utf-8 -*-
# ***************************************************************************
# * *
# * Copyright (c) 2018 sliptonic <shopinthewoods@gmail.com> *
# * *
# * 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 *
# * *
# ***************************************************************************
from __future__ import print_function
import FreeCAD
import Path
import PathScripts.PathLog as PathLog
import PathScripts.PathOp as PathOp
import PathScripts.PathUtils as PathUtils
#from PathScripts.PathUtils import waiting_effects
from PySide import QtCore
__title__ = "Path Probing Operation"
__author__ = "sliptonic (Brad Collette)"
__url__ = "http://www.freecadweb.org"
__doc__ = "Path Probing operation."
if False:
PathLog.setLevel(PathLog.Level.DEBUG, PathLog.thisModule())
PathLog.trackModule(PathLog.thisModule())
else:
PathLog.setLevel(PathLog.Level.INFO, PathLog.thisModule())
# Qt tanslation handling
def translate(context, text, disambig=None):
return QtCore.QCoreApplication.translate(context, text, disambig)
class ObjectProbing(PathOp.ObjectOp):
'''Proxy object for Probing operation.'''
def opFeatures(self, obj):
'''opFeatures(obj) ... Probing works on the stock object.'''
return PathOp.FeatureDepths | PathOp.FeatureHeights | PathOp.FeatureTool
def initOperation(self, obj):
obj.addProperty("App::PropertyLength", "Xoffset", "Probe", QtCore.QT_TRANSLATE_NOOP("App::Property", "X offset between tool and probe"))
obj.addProperty("App::PropertyLength", "Yoffset", "Probe", QtCore.QT_TRANSLATE_NOOP("App::Property", "Y offset between tool and probe"))
obj.addProperty("App::PropertyInteger", "PointCountX", "Probe", QtCore.QT_TRANSLATE_NOOP("App::Property", "Number of points to probe in X direction")).PointCountX=3
obj.addProperty("App::PropertyInteger", "PointCountY", "Probe", QtCore.QT_TRANSLATE_NOOP("App::Property", "Number of points to probe in Y direction")).PointCountY=3
def drange(self, start=1.0, stop=5.0, step=1.0):
r = start
while r <= stop:
yield r
r += step
def opExecute(self, obj):
'''opExecute(obj) ... generate probe locations.'''
PathLog.track()
self.commandlist.append(Path.Command("(Begin Probing)"))
stock = PathUtils.findParentJob(obj).Stock
bb = stock.Shape.BoundBox
xdist = (bb.XMax - bb.XMin)/ (obj.PointCountX - 1)
ydist = (bb.YMax - bb.YMin)/ (obj.PointCountY - 1)
self.commandlist.append(Path.Command("(PROBEOPEN probe_points.txt)"))
self.commandlist.append(Path.Command("G0", {"X":bb.XMin, "Y":bb.YMin, "Z":obj.SafeHeight.Value}))
for x in self.drange(bb.XMin, bb.XMax, xdist):
for y in self.drange(bb.YMin, bb.YMax, ydist):
self.commandlist.append(Path.Command("G0", {"X":x + obj.Xoffset.Value, "Y":y + obj.Yoffset.Value, "Z":obj.SafeHeight.Value}))
self.commandlist.append(Path.Command("G38.2",{"Z":obj.FinalDepth.Value, "F":obj.ToolController.VertFeed.Value}))
self.commandlist.append(Path.Command("G0", {"Z":obj.SafeHeight.Value}))
self.commandlist.append(Path.Command("(PROBECLOSE)"))
def opSetDefaultValues(self, obj, job):
'''opSetDefaultValues(obj, job) ... set default value for RetractHeight'''
def SetupProperties():
setup = []
return setup
def Create(name, obj = None):
'''Create(name) ... Creates and returns a Probing operation.'''
if obj is None:
obj = FreeCAD.ActiveDocument.addObject("Path::FeaturePython", name)
proxy = ObjectProbing(obj, name)
return obj

70
src/Mod/Path/PathScripts/PathProbeGui.py Normal file
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@@ -0,0 +1,70 @@
# -*- coding: utf-8 -*-
# ***************************************************************************
# * *
# * Copyright (c) 2017 sliptonic <shopinthewoods@gmail.com> *
# * *
# * 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 *
# * *
# ***************************************************************************
import FreeCAD
import FreeCADGui
import PathScripts.PathProbe as PathProbe
import PathScripts.PathOpGui as PathOpGui
from PySide import QtCore
__title__ = "Path Probing Operation UI"
__author__ = "sliptonic (Brad Collette)"
__url__ = "http://www.freecadweb.org"
__doc__ = "Probing operation page controller and command implementation."
class TaskPanelOpPage(PathOpGui.TaskPanelPage):
'''Page controller class for the Probing operation.'''
def getForm(self):
'''getForm() ... returns UI'''
return FreeCADGui.PySideUic.loadUi(":/panels/PageOpProbeEdit.ui")
def getFields(self, obj):
'''getFields(obj) ... transfers values from UI to obj's proprties'''
# if obj.StartVertex != self.form.startVertex.value():
# obj.StartVertex = self.form.startVertex.value()
self.updateToolController(obj, self.form.toolController)
def setFields(self, obj):
'''setFields(obj) ... transfers obj's property values to UI'''
#self.form.startVertex.setValue(obj.StartVertex)
self.setupToolController(obj, self.form.toolController)
def getSignalsForUpdate(self, obj):
'''getSignalsForUpdate(obj) ... return list of signals for updating obj'''
signals = []
#signals.append(self.form.startVertex.editingFinished)
signals.append(self.form.toolController.currentIndexChanged)
return signals
Command = PathOpGui.SetupOperation('Probe',
PathProbe.Create,
TaskPanelOpPage,
'Path-Probe',
QtCore.QT_TRANSLATE_NOOP("Probe", "Probe"),
QtCore.QT_TRANSLATE_NOOP("Probe", "Create a Probing Grid from a job stock"))# PathProbe.SetupProperties)
FreeCAD.Console.PrintLog("Loading PathProbeGui... done\n")

11
src/Mod/Path/PathScripts/PathSelection.py
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@@ -167,13 +167,17 @@ class ADAPTIVEGate(PathBaseGate):
obj = obj.Shape
except Exception: # pylint: disable=broad-except
return False
return adaptive
class CONTOURGate(PathBaseGate):
def allow(self, doc, obj, sub): # pylint: disable=unused-argument
pass
class PROBEGate:
def allow(self, doc, obj, sub):
pass
def contourselect():
FreeCADGui.Selection.addSelectionGate(CONTOURGate())
FreeCAD.Console.PrintWarning("Contour Select Mode\n")
@@ -215,6 +219,10 @@ def surfaceselect():
# FreeCADGui.Selection.addSelectionGate(PROFILEGate()) # Added for face selection
FreeCAD.Console.PrintWarning("Surfacing Select Mode\n")
def probeselect():
FreeCADGui.Selection.addSelectionGate(PROBEGate())
FreeCAD.Console.PrintWarning("Probe Select Mode\n")
def select(op):
opsel = {}
opsel['Contour'] = contourselect
@@ -230,6 +238,7 @@ def select(op):
opsel['Profile Faces'] = profileselect
opsel['Surface'] = surfaceselect
opsel['Adaptive'] = adaptiveselect
opsel['Probe'] = probeselect
return opsel[op]
def clear():