Path: Adaptive - improvements and bug fixes
- more accurate path smoothing - fix for missing helix lead-in in some cases - fix for cleaning of helix center point - increased max allowed step-over to 75%
This commit is contained in:
kreso-t
@@ -85,9 +85,13 @@ def GenerateGCode(op,obj,adaptiveResults, helixDiameter):
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return
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minLiftDistance = op.tool.Diameter
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p1 = adaptiveResults[0]["HelixCenterPoint"]
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p2 = adaptiveResults[0]["StartPoint"]
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helixRadius =math.sqrt((p1[0]-p2[0]) * (p1[0]-p2[0]) + (p1[1]-p2[1]) * (p1[1]-p2[1]))
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helixRadius=0
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for region in adaptiveResults:
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p1 = region["HelixCenterPoint"]
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p2 = region["StartPoint"]
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r =math.sqrt((p1[0]-p2[0]) * (p1[0]-p2[0]) + (p1[1]-p2[1]) * (p1[1]-p2[1]))
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if r>helixRadius: helixRadius=r
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stepDown = obj.StepDown.Value
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passStartDepth=obj.StartDepth.Value
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if stepDown<0.1 : stepDown=0.1
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@@ -116,6 +120,9 @@ def GenerateGCode(op,obj,adaptiveResults, helixDiameter):
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passDepth = (passStartDepth - passEndDepth)
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p1 = region["HelixCenterPoint"]
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p2 = region["StartPoint"]
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helixRadius =math.sqrt((p1[0]-p2[0]) * (p1[0]-p2[0]) + (p1[1]-p2[1]) * (p1[1]-p2[1]))
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#helix ramp
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if helixRadius>0.0001:
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@@ -146,6 +153,16 @@ def GenerateGCode(op,obj,adaptiveResults, helixDiameter):
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lx=x
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ly=y
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fi=fi+math.pi/16
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# one more circle at target depth to make sure center is cleared
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maxfi=maxfi+2*math.pi
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while fi<maxfi:
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x = region["HelixCenterPoint"][0] + r * math.cos(fi+offsetFi)
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y = region["HelixCenterPoint"][1] + r * math.sin(fi+offsetFi)
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z = passEndDepth
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op.commandlist.append(Path.Command("G1", { "X": x, "Y":y, "Z":z, "F": op.horizFeed}))
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lx=x
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ly=y
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fi=fi+math.pi/16
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else: # no helix entry
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op.commandlist.append(Path.Command(
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"G0", {"X": region["StartPoint"][0], "Y": region["StartPoint"][1], "Z": obj.ClearanceHeight.Value}))
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@@ -216,10 +233,8 @@ def Execute(op,obj):
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FreeCADGui.updateGui()
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try:
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Console.PrintMessage("Tool diam: %f \n"%op.tool.Diameter)
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helixDiameter = min(op.tool.Diameter,1000.0 if obj.HelixDiameterLimit.Value==0.0 else obj.HelixDiameterLimit.Value )
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helixDiameter =obj.HelixDiameterLimit.Value
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topZ=op.stock.Shape.BoundBox.ZMax
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obj.Stopped = False
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obj.StopProcessing = False
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if obj.Tolerance<0.001: obj.Tolerance=0.001
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@@ -61,7 +61,7 @@ class TaskPanelOpPage(PathOpGui.TaskPanelPage):
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#step over
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form.StepOver = QtGui.QSpinBox()
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form.StepOver.setMinimum(15)
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form.StepOver.setMaximum(50)
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form.StepOver.setMaximum(75)
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form.StepOver.setSingleStep(1)
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form.StepOver.setValue(25)
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form.StepOver.setToolTip("Optimal value for tool stepover")
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@@ -92,7 +92,7 @@ class TaskPanelOpPage(PathOpGui.TaskPanelPage):
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form.HelixDiameterLimit.setMaximum(90)
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form.HelixDiameterLimit.setSingleStep(0.1)
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form.HelixDiameterLimit.setValue(0)
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form.HelixDiameterLimit.setToolTip("If >0 it limits the helix ramp diameter\notherwise the tool diameter is used as helix diameter")
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form.HelixDiameterLimit.setToolTip("If >0 it limits the helix ramp diameter\notherwise the 75 percent of tool diameter is used as helix diameter")
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formLayout.addRow(QtGui.QLabel("Helix Max Diameter"),form.HelixDiameterLimit)
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#lift distance
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@@ -316,6 +316,16 @@ double DistancePointToLineSegSquared(const IntPoint &p1, const IntPoint &p2, con
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return DX * DX + DY * DY; // return distance squared
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}
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void ScalePaths(Paths &paths,double scaleFactor) {
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for(auto &pth:paths) {
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for(auto &pt:pth) {
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pt.X= pt.X * scaleFactor;
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pt.Y= pt.Y * scaleFactor;
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}
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}
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}
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// joins collinear segments (within the tolerance)
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void CleanPath(const Path &inp, Path &outp, double tolerance)
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{
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@@ -560,12 +570,13 @@ bool IntersectionPoint(const Paths &paths, const IntPoint &p1, const IntPoint &p
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return false;
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}
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void SmoothPaths(Paths &paths, double stepSize, int pointCount)
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void SmoothPaths(Paths &paths, double stepSize, long pointCount, long iterations)
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{
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Paths output;
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output.clear();
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output.resize(paths.size());
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double scale=1000;
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ScalePaths(paths,scale);
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vector<pair<size_t /*path index*/, IntPoint>> points;
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for (size_t i = 0; i < paths.size(); i++)
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{
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@@ -579,29 +590,24 @@ void SmoothPaths(Paths &paths, double stepSize, int pointCount)
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IntPoint lastPt = points.back().second;
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size_t lastPathIndex = points.back().first;
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double dsqr = DistanceSqrd(lastPt, pt);
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if (dsqr < SAME_POINT_TOL_SQRD_SCALED)
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double l = sqrt(DistanceSqrd(lastPt, pt));
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if (l < 0.5*stepSize*scale)
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{
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points.pop_back();
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points.push_back(pair<size_t /*path index*/, IntPoint>(i, pt));
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continue;
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}
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double l = sqrt(dsqr);
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if (l < stepSize)
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{
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points.pop_back();
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points.push_back(pair<size_t /*path index*/, IntPoint>(i, pt));
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continue;
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}
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long steps = long(l / stepSize) + 1;
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long steps = long(l / (stepSize*scale))+1; // +1 is important!
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for (long idx = 0; idx <= steps; idx++)
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{
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double p = double(idx) / steps;
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IntPoint ptx(long(lastPt.X + double(pt.X - lastPt.X) * p),
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long(lastPt.Y + double(pt.Y - lastPt.Y) * p));
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if(idx==0) {
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if(DistanceSqrd(points.back().second,ptx)<scale) points.pop_back();
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}
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if (p < 0.5)
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points.push_back(pair<size_t /*path index*/, IntPoint>(lastPathIndex, ptx));
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else
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@@ -611,40 +617,48 @@ void SmoothPaths(Paths &paths, double stepSize, int pointCount)
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}
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if (points.empty())
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return;
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for (long i = 0; i < (long)points.size(); i++)
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{
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IntPoint avgPoint(points[i].second);
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IntPoint pp = avgPoint;
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long cnt = 1;
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long ptsToAverage = pointCount;
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if (i < ptsToAverage)
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ptsToAverage = i;
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while (i + ptsToAverage >= long(points.size()))
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ptsToAverage--;
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long lowLimit = i - ptsToAverage;
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long highLimit = i + ptsToAverage;
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for (long j = lowLimit; j < highLimit; j++)
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long size=long(points.size());
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for(long iter=0;iter<iterations; iter++) {
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for (long i = 0; i < size; i++)
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{
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if (j != i)
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IntPoint avgPoint(points[i].second);
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double cnt = 1;
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long ptsToAverage = pointCount;
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if (i < ptsToAverage)
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ptsToAverage = max(i-1,0L);
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while (i + ptsToAverage >= long(points.size()-1))
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ptsToAverage--;
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for (long j = i-ptsToAverage; j <= i+ptsToAverage; j++)
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{
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IntPoint &p = points.at(j).second;
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avgPoint.X += p.X;
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avgPoint.Y += p.Y;
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pp = p;
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cnt++;
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if (j != i)
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{
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long index=j;
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if(index<0) index=0;
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if(index>=size) index=size-1;
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IntPoint &p = points.at(index).second;
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avgPoint.X += p.X;
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avgPoint.Y += p.Y;
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cnt++;
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}
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}
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avgPoint.X /= cnt;
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avgPoint.Y /= cnt;
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points[i].second=avgPoint;
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}
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avgPoint.X /= cnt;
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avgPoint.Y /= cnt;
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output.at(points[i].first).push_back(avgPoint);
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}
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for (long i = 0; i < size; i++)
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{
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output.at(points[i].first).push_back(points[i].second);
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}
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for (size_t i = 0; i < paths.size(); i++)
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{
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CleanPath(output[i], paths[i], 4);
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CleanPath(output[i], paths[i], scale);
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}
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ScalePaths(paths,1.0/scale);
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}
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bool PopPathWithClosestPoint(Paths &paths /*closest path is removed from collection and shifted to start with closest point */
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@@ -1630,12 +1644,17 @@ std::list<AdaptiveOutput> Adaptive2d::Execute(const DPaths &stockPaths, const DP
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if (scaleFactor > 250)
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scaleFactor = 250;
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cout << "Tool Diam: " << toolDiameter << endl;
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cout << "Accuracy: " << 1000.0/scaleFactor << " um" << endl;
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toolRadiusScaled = long(toolDiameter * scaleFactor / 2);
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stepOverScaled = toolRadiusScaled * stepOverFactor;
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progressCallback = &progressCallbackFn;
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lastProgressTime = clock();
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stopProcessing = false;
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if(helixRampDiameter<NTOL)
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helixRampDiameter=0.75*toolDiameter;
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if (helixRampDiameter > toolDiameter)
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helixRampDiameter = toolDiameter;
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if (helixRampDiameter < toolDiameter / 8)
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@@ -2397,7 +2416,7 @@ void Adaptive2d::AppendToolPath(TPaths &progressPaths, AdaptiveOutput &output,
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linkPath.push_back(leadInPath.front());
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}
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/* paths smoothhing*/
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/* paths smoothing*/
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Paths linkPaths;
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linkPaths.push_back(leadOutPath);
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linkPaths.push_back(linkPath);
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@@ -2405,7 +2424,7 @@ void Adaptive2d::AppendToolPath(TPaths &progressPaths, AdaptiveOutput &output,
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if (linkType == MotionType::mtLinkClear)
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{
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SmoothPaths(linkPaths, 0.05 * stepOverScaled, 16);
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SmoothPaths(linkPaths, 0.05 * stepOverScaled,4,4);
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}
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leadOutPath = linkPaths[0];
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