move Path to CAM
This commit is contained in:
Brad Collette
492
src/Mod/CAM/App/Path.cpp
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492
src/Mod/CAM/App/Path.cpp
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@@ -0,0 +1,492 @@
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/***************************************************************************
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* Copyright (c) 2014 Yorik van Havre <yorik@uncreated.net> *
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* *
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* This file is part of the FreeCAD CAx development system. *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Library General Public *
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* License as published by the Free Software Foundation; either *
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* version 2 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Library General Public License for more details. *
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* *
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* You should have received a copy of the GNU Library General Public *
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* License along with this library; see the file COPYING.LIB. If not, *
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* write to the Free Software Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307, USA *
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* *
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***************************************************************************/
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#include "PreCompiled.h"
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#include <App/Application.h>
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#include <Base/Console.h>
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#include <Base/Reader.h>
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#include <Base/Stream.h>
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#include <Base/Writer.h>
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#include <Mod/CAM/App/PathSegmentWalker.h>
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#include "Path.h"
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using namespace Path;
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using namespace Base;
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TYPESYSTEM_SOURCE(Path::Toolpath , Base::Persistence)
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Toolpath::Toolpath()
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{
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}
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Toolpath::Toolpath(const Toolpath& otherPath)
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: vpcCommands(otherPath.vpcCommands.size())
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, center(otherPath.center)
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{
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*this = otherPath;
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recalculate();
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}
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Toolpath::~Toolpath()
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{
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clear();
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}
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Toolpath &Toolpath::operator=(const Toolpath& otherPath)
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{
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if (this == &otherPath)
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return *this;
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clear();
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vpcCommands.resize(otherPath.vpcCommands.size());
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int i = 0;
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for (std::vector<Command*>::const_iterator it=otherPath.vpcCommands.begin();it!=otherPath.vpcCommands.end();++it,i++) {
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vpcCommands[i] = new Command(**it);
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}
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center = otherPath.center;
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recalculate();
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return *this;
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}
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void Toolpath::clear()
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{
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for(std::vector<Command*>::iterator it = vpcCommands.begin();it!=vpcCommands.end();++it)
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delete ( *it );
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vpcCommands.clear();
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recalculate();
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}
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void Toolpath::addCommand(const Command &Cmd)
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{
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Command *tmp = new Command(Cmd);
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vpcCommands.push_back(tmp);
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recalculate();
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}
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void Toolpath::insertCommand(const Command &Cmd, int pos)
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{
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if (pos == -1) {
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addCommand(Cmd);
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} else if (pos <= static_cast<int>(vpcCommands.size())) {
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Command *tmp = new Command(Cmd);
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vpcCommands.insert(vpcCommands.begin()+pos,tmp);
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} else {
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throw Base::IndexError("Index not in range");
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}
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recalculate();
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}
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void Toolpath::deleteCommand(int pos)
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{
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if (pos == -1) {
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//delete(*vpcCommands.rbegin()); // causes crash
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vpcCommands.pop_back();
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} else if (pos <= static_cast<int>(vpcCommands.size())) {
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vpcCommands.erase (vpcCommands.begin()+pos);
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} else {
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throw Base::IndexError("Index not in range");
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}
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recalculate();
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}
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double Toolpath::getLength()
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{
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if(vpcCommands.empty())
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return 0;
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double l = 0;
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Vector3d last(0,0,0);
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Vector3d next;
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for(std::vector<Command*>::const_iterator it = vpcCommands.begin();it!=vpcCommands.end();++it) {
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std::string name = (*it)->Name;
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next = (*it)->getPlacement(last).getPosition();
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if ( (name == "G0") || (name == "G00") || (name == "G1") || (name == "G01") ) {
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// straight line
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l += (next - last).Length();
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last = next;
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} else if ( (name == "G2") || (name == "G02") || (name == "G3") || (name == "G03") ) {
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// arc
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Vector3d center = (*it)->getCenter();
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double radius = (last - center).Length();
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double angle = (next - center).GetAngle(last - center);
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l += angle * radius;
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last = next;
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}
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}
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return l;
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}
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double Toolpath::getCycleTime(double hFeed, double vFeed, double hRapid, double vRapid)
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{
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// check the feedrates are set
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if ((hFeed == 0) || (vFeed == 0)) {
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ParameterGrp::handle hGrp = App::GetApplication().GetParameterGroupByPath("User parameter:BaseApp/Preferences/Mod/CAM");
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if (!hGrp->GetBool("WarningsSuppressAllSpeeds", true)) {
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Base::Console().Warning("Feed Rate Error: Check Tool Controllers have Feed Rates");
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}
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return 0;
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}
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if (hRapid == 0) {
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hRapid = hFeed;
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}
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if (vRapid == 0) {
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vRapid = vFeed;
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}
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if (vpcCommands.empty()) {
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return 0;
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}
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double l = 0;
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double time = 0;
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bool verticalMove = false;
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Vector3d last(0,0,0);
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Vector3d next;
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for (std::vector<Command*>::const_iterator it = vpcCommands.begin();it!=vpcCommands.end();++it) {
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std::string name = (*it)->Name;
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float feedrate = (*it)->getParam("F");
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l = 0;
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verticalMove = false;
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feedrate = hFeed;
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next = (*it)->getPlacement(last).getPosition();
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if (last.z != next.z){
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verticalMove = true;
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feedrate = vFeed;
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}
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if ((name == "G0") || (name == "G00")){
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// Rapid Move
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l += (next - last).Length();
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feedrate = hRapid;
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if(verticalMove){
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feedrate = vRapid;
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}
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}else if ((name == "G1") || (name == "G01")) {
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// Feed Move
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l += (next - last).Length();
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}else if ((name == "G2") || (name == "G02") || (name == "G3") || (name == "G03") ) {
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// Arc Move
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Vector3d center = (*it)->getCenter();
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double radius = (last - center).Length();
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double angle = (next - center).GetAngle(last - center);
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l += angle * radius;
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}
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time += l / feedrate;
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last = next;
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}
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return time;
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}
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class BoundBoxSegmentVisitor : public PathSegmentVisitor
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{
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public:
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BoundBoxSegmentVisitor()
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{ }
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void g0(int id, const Base::Vector3d &last, const Base::Vector3d &next, const std::deque<Base::Vector3d> &pts) override
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{
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(void)id;
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processPt(last);
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processPts(pts);
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processPt(next);
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}
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void g1(int id, const Base::Vector3d &last, const Base::Vector3d &next, const std::deque<Base::Vector3d> &pts) override
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{
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(void)id;
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processPt(last);
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processPts(pts);
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processPt(next);
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}
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void g23(int id, const Base::Vector3d &last, const Base::Vector3d &next, const std::deque<Base::Vector3d> &pts, const Base::Vector3d ¢er) override
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{
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(void)id;
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(void)center;
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processPt(last);
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processPts(pts);
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processPt(next);
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}
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void g8x(int id, const Base::Vector3d &last, const Base::Vector3d &next, const std::deque<Base::Vector3d> &pts,
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const std::deque<Base::Vector3d> &p, const std::deque<Base::Vector3d> &q) override
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{
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(void)id;
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(void)q; // always within the bounds of p
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processPt(last);
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processPts(pts);
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processPts(p);
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processPt(next);
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}
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void g38(int id, const Base::Vector3d &last, const Base::Vector3d &next) override
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{
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(void)id;
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processPt(last);
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processPt(next);
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}
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Base::BoundBox3d bb;
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private:
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void processPts(const std::deque<Base::Vector3d> &pts) {
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for (std::deque<Base::Vector3d>::const_iterator it=pts.begin(); pts.end() != it; ++it) {
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processPt(*it);
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}
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}
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void processPt(const Base::Vector3d &pt) {
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bb.MaxX = std::max(bb.MaxX, pt.x);
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bb.MinX = std::min(bb.MinX, pt.x);
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bb.MaxY = std::max(bb.MaxY, pt.y);
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bb.MinY = std::min(bb.MinY, pt.y);
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bb.MaxZ = std::max(bb.MaxZ, pt.z);
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bb.MinZ = std::min(bb.MinZ, pt.z);
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}
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};
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Base::BoundBox3d Toolpath::getBoundBox() const
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{
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BoundBoxSegmentVisitor visitor;
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PathSegmentWalker walker(*this);
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walker.walk(visitor, Vector3d(0, 0, 0));
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return visitor.bb;
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}
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static void bulkAddCommand(const std::string &gcodestr, std::vector<Command*> &commands, bool &inches)
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{
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Command *cmd = new Command();
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cmd->setFromGCode(gcodestr);
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if ("G20" == cmd->Name) {
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inches = true;
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delete cmd;
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} else if ("G21" == cmd->Name) {
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inches = false;
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delete cmd;
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} else {
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if (inches) {
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cmd->scaleBy(25.4);
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}
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commands.push_back(cmd);
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}
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}
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void Toolpath::setFromGCode(const std::string instr)
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{
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clear();
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// remove comments
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//boost::regex e("\\(.*?\\)");
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//std::string str = boost::regex_replace(instr, e, "");
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std::string str(instr);
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// split input string by () or G or M commands
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std::string mode = "command";
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std::size_t found = str.find_first_of("(gGmM");
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int last = -1;
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bool inches = false;
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while (found != std::string::npos)
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{
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if (str[found] == '(') {
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// start of comment
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if ( (last > -1) && (mode == "command") ) {
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// before opening a comment, add the last found command
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std::string gcodestr = str.substr(last, found-last);
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bulkAddCommand(gcodestr, vpcCommands, inches);
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}
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mode = "comment";
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last = found;
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found = str.find_first_of(')', found+1);
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} else if (str[found] == ')') {
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// end of comment
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std::string gcodestr = str.substr(last, found-last+1);
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bulkAddCommand(gcodestr, vpcCommands, inches);
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last = -1;
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found = str.find_first_of("(gGmM", found+1);
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mode = "command";
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} else if (mode == "command") {
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// command
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if (last > -1) {
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std::string gcodestr = str.substr(last, found-last);
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bulkAddCommand(gcodestr, vpcCommands, inches);
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}
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last = found;
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found = str.find_first_of("(gGmM", found+1);
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}
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}
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// add the last command found, if any
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if (last > -1) {
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if (mode == "command") {
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std::string gcodestr = str.substr(last,std::string::npos);
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bulkAddCommand(gcodestr, vpcCommands, inches);
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}
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}
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recalculate();
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}
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std::string Toolpath::toGCode() const
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{
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std::string result;
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for (std::vector<Command*>::const_iterator it=vpcCommands.begin();it!=vpcCommands.end();++it) {
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result += (*it)->toGCode();
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result += "\n";
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}
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return result;
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}
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void Toolpath::recalculate() // recalculates the path cache
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{
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if(vpcCommands.empty())
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return;
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// TODO recalculate the KDL stuff. At the moment, this is unused.
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#if 0
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// delete the old and create a new one
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if(pcPath)
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delete (pcPath);
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pcPath = new KDL::Path_Composite();
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KDL::Path *tempPath;
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KDL::Frame Last;
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try {
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// handle the first waypoint differently
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bool first=true;
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for(std::vector<Command*>::const_iterator it = vpcCommands.begin();it!=vpcCommands.end();++it) {
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if(first){
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Last = toFrame((*it)->getPlacement());
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first = false;
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}else{
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Base::Placement p = (*it)->getPlacement();
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KDL::Frame Next = toFrame(p);
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std::string name = (*it)->Name;
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Vector3d zaxis(0,0,1);
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if ( (name == "G0") || (name == "G1") || (name == "G01") ) {
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// line segment
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tempPath = new KDL::Path_Line(Last, Next, new KDL::RotationalInterpolation_SingleAxis(), 1.0, true);
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pcPath->Add(tempPath);
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Last = Next;
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} else if ( (name == "G2") || (name == "G02") ) {
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// clockwise arc
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Vector3d fcenter = (*it)->getCenter();
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KDL::Vector center(fcenter.x,fcenter.y,fcenter.z);
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Vector3d fnorm;
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p.getRotation().multVec(zaxis,fnorm);
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KDL::Vector norm(fnorm.x,fnorm.y,fnorm.z);
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Vector3d fstart = toPlacement(Last).getPosition();
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Vector3d fend = toPlacement(Last).getPosition();
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Rotation frot(fstart-fcenter,fend-fcenter);
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double q0,q1,q2,q3;
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frot.getValue(q0,q1,q2,q3);
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KDL::Rotation rot;
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rot.Quaternion(q0,q1,q2,q3);
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tempPath = new KDL::Path_Circle(Last, center, norm, rot, 0.0, new KDL::RotationalInterpolation_SingleAxis(), 1.0, true);
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pcPath->Add(tempPath);
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Last = Next;
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}
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}
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}
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} catch (KDL::Error &e) {
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throw Base::RuntimeError(e.Description());
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}
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#endif
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}
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// reimplemented from base class
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unsigned int Toolpath::getMemSize () const
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{
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return toGCode().size();
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}
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void Toolpath::setCenter(const Base::Vector3d &c)
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{
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center = c;
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recalculate();
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}
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static void saveCenter(Writer &writer, const Base::Vector3d ¢er)
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{
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writer.Stream() << writer.ind() << "<Center x=\"" << center.x << "\" y=\"" << center.y << "\" z=\"" << center.z << "\"/>" << std::endl;
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}
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void Toolpath::Save (Writer &writer) const
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{
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if (writer.isForceXML()) {
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writer.Stream() << writer.ind() << "<Path count=\"" << getSize() << "\" version=\"" << SchemaVersion << "\">" << std::endl;
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writer.incInd();
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saveCenter(writer, center);
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for(unsigned int i = 0; i < getSize(); i++) {
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vpcCommands[i]->Save(writer);
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}
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writer.decInd();
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} else {
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writer.Stream() << writer.ind()
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<< "<Path file=\"" << writer.addFile((writer.ObjectName+".nc").c_str(), this) << "\" version=\"" << SchemaVersion << "\">" << std::endl;
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writer.incInd();
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saveCenter(writer, center);
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writer.decInd();
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}
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writer.Stream() << writer.ind() << "</Path>" << std::endl;
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}
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||||
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void Toolpath::SaveDocFile (Base::Writer &writer) const
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{
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if (toGCode().empty())
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return;
|
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writer.Stream() << toGCode();
|
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}
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||||
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||||
void Toolpath::Restore(XMLReader &reader)
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{
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||||
reader.readElement("Path");
|
||||
std::string file (reader.getAttribute("file") );
|
||||
|
||||
if (!file.empty()) {
|
||||
// initiate a file read
|
||||
reader.addFile(file.c_str(),this);
|
||||
}
|
||||
}
|
||||
|
||||
void Toolpath::RestoreDocFile(Base::Reader &reader)
|
||||
{
|
||||
std::string gcode;
|
||||
std::string line;
|
||||
while (reader >> line) {
|
||||
gcode += line;
|
||||
gcode += " ";
|
||||
}
|
||||
setFromGCode(gcode);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user