# -*- coding: utf-8 -*- # *************************************************************************** # * Copyright (c) 2018 Kresimir Tusek * # * * # * This file is part of the FreeCAD CAx development system. * # * * # * This library is free software; you can redistribute it and/or * # * modify it under the terms of the GNU Library General Public * # * License as published by the Free Software Foundation; either * # * version 2 of the License, or (at your option) any later version. * # * * # * This library 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 library; see the file COPYING.LIB. If not, * # * write to the Free Software Foundation, Inc., 59 Temple Place, * # * Suite 330, Boston, MA 02111-1307, USA * # * * # *************************************************************************** # * * # * Additional modifications and contributions beginning 2019 * # * by Schildkroet. (https://github.com/Schildkroet) * # * * # *************************************************************************** import PathScripts.PathOp as PathOp import PathScripts.PathUtils as PathUtils import Path import FreeCAD import FreeCADGui from FreeCAD import Console import time import json import math import area from pivy import coin __doc__ = "Class and implementation of the Adaptive path operation." def convertTo2d(pathArray): output = [] for path in pathArray: pth2 = [] for edge in path: for pt in edge: pth2.append([pt[0],pt[1]]) output.append(pth2) return output sceneGraph = None scenePathNodes = [] #for scene cleanup aftewards topZ = 10 def sceneDrawPath(path, color=(0, 0, 1)): coPoint = coin.SoCoordinate3() pts = [] for pt in path: pts.append([pt[0], pt[1], topZ]) coPoint.point.setValues(0, len(pts), pts) ma = coin.SoBaseColor() ma.rgb = color li = coin.SoLineSet() li.numVertices.setValue(len(pts)) pathNode = coin.SoSeparator() pathNode.addChild(coPoint) pathNode.addChild(ma) pathNode.addChild(li) sceneGraph.addChild(pathNode) scenePathNodes.append(pathNode) #for scene cleanup afterwards def sceneClean(): for n in scenePathNodes: sceneGraph.removeChild(n) del scenePathNodes[:] def discretize(edge, flipDirection = False): pts = edge.discretize(Deflection = 0.0001) if flipDirection: pts.reverse() return pts def GenerateGCode(op,obj,adaptiveResults, helixDiameter): # pylint: disable=unused-argument if len(adaptiveResults) == 0 or len(adaptiveResults[0]["AdaptivePaths"]) == 0: return # minLiftDistance = op.tool.Diameter helixRadius = 0 for region in adaptiveResults: p1 = region["HelixCenterPoint"] p2 = region["StartPoint"] r =math.sqrt((p1[0]-p2[0]) * (p1[0]-p2[0]) + (p1[1]-p2[1]) * (p1[1]-p2[1])) if r > helixRadius: helixRadius = r stepDown = obj.StepDown.Value passStartDepth=obj.StartDepth.Value if stepDown < 0.1 : stepDown = 0.1 length = 2*math.pi * helixRadius if float(obj.HelixAngle) < 1: obj.HelixAngle = 1 helixAngleRad = math.pi * float(obj.HelixAngle) / 180.0 depthPerOneCircle = length * math.tan(helixAngleRad) #print("Helix circle depth: {}".format(depthPerOneCircle)) stepUp = obj.LiftDistance.Value if stepUp < 0: stepUp = 0 finish_step = obj.FinishDepth.Value if hasattr(obj, "FinishDepth") else 0.0 if finish_step > stepDown: finish_step = stepDown depth_params = PathUtils.depth_params( clearance_height=obj.ClearanceHeight.Value, safe_height=obj.SafeHeight.Value, start_depth=obj.StartDepth.Value, step_down=stepDown, z_finish_step=finish_step, final_depth=obj.FinalDepth.Value, user_depths=None) # ml: this is dangerous because it'll hide all unused variables hence forward # however, I don't know what lx and ly signify so I'll leave them for now # pylint: disable=unused-variable lx = adaptiveResults[0]["HelixCenterPoint"][0] ly = adaptiveResults[0]["HelixCenterPoint"][1] lz = passStartDepth step = 0 for passEndDepth in depth_params.data: step = step + 1 for region in adaptiveResults: startAngle = math.atan2(region["StartPoint"][1] - region["HelixCenterPoint"][1], region["StartPoint"][0] - region["HelixCenterPoint"][0]) lx = region["HelixCenterPoint"][0] ly = region["HelixCenterPoint"][1] passDepth = (passStartDepth - passEndDepth) p1 = region["HelixCenterPoint"] p2 = region["StartPoint"] helixRadius = math.sqrt((p1[0]-p2[0]) * (p1[0]-p2[0]) + (p1[1]-p2[1]) * (p1[1]-p2[1])) # helix ramp if helixRadius > 0.001: r = helixRadius - 0.01 maxfi = passDepth / depthPerOneCircle * 2 * math.pi fi = 0 offsetFi = -maxfi + startAngle-math.pi/16 helixStart = [region["HelixCenterPoint"][0] + r * math.cos(offsetFi), region["HelixCenterPoint"][1] + r * math.sin(offsetFi)] op.commandlist.append(Path.Command("(Helix to depth: %f)"%passEndDepth)) if obj.UseHelixArcs == False: # rapid move to start point op.commandlist.append(Path.Command("G0", {"X": helixStart[0], "Y": helixStart[1], "Z": obj.ClearanceHeight.Value})) # rapid move to safe height op.commandlist.append(Path.Command("G0", {"X": helixStart[0], "Y": helixStart[1], "Z": obj.SafeHeight.Value})) # move to start depth op.commandlist.append(Path.Command("G1", {"X": helixStart[0], "Y": helixStart[1], "Z": passStartDepth, "F": op.vertFeed})) while fi < maxfi: x = region["HelixCenterPoint"][0] + r * math.cos(fi+offsetFi) y = region["HelixCenterPoint"][1] + r * math.sin(fi+offsetFi) z = passStartDepth - fi / maxfi * (passStartDepth - passEndDepth) op.commandlist.append(Path.Command("G1", { "X": x, "Y":y, "Z":z, "F": op.vertFeed})) lx = x ly = y fi=fi+math.pi/16 # one more circle at target depth to make sure center is cleared maxfi = maxfi + 2*math.pi while fi < maxfi: x = region["HelixCenterPoint"][0] + r * math.cos(fi+offsetFi) y = region["HelixCenterPoint"][1] + r * math.sin(fi+offsetFi) z = passEndDepth op.commandlist.append(Path.Command("G1", { "X": x, "Y":y, "Z":z, "F": op.horizFeed})) lx = x ly = y fi = fi + math.pi/16 else: helixStart = [region["HelixCenterPoint"][0] + r, region["HelixCenterPoint"][1]] # rapid move to start point op.commandlist.append(Path.Command("G0", {"X": helixStart[0], "Y": helixStart[1], "Z": obj.ClearanceHeight.Value})) # rapid move to safe height op.commandlist.append(Path.Command("G0", {"X": helixStart[0], "Y": helixStart[1], "Z": obj.SafeHeight.Value})) # move to start depth op.commandlist.append(Path.Command("G1", {"X": helixStart[0], "Y": helixStart[1], "Z": passStartDepth, "F": op.vertFeed})) x = region["HelixCenterPoint"][0] + r y = region["HelixCenterPoint"][1] curDep = passStartDepth while curDep > (passEndDepth + depthPerOneCircle): op.commandlist.append(Path.Command("G2", { "X": x - (2*r), "Y": y, "Z": curDep - (depthPerOneCircle/2), "I": -r, "F": op.horizFeed})) op.commandlist.append(Path.Command("G2", { "X": x, "Y": y, "Z": curDep - depthPerOneCircle, "I": r, "F": op.horizFeed})) curDep = curDep - depthPerOneCircle lastStep = curDep - passEndDepth if lastStep > (depthPerOneCircle/2): op.commandlist.append(Path.Command("G2", { "X": x - (2*r), "Y": y, "Z": curDep - (lastStep/2), "I": -r, "F": op.horizFeed})) op.commandlist.append(Path.Command("G2", { "X": x, "Y": y, "Z": passEndDepth, "I": r, "F": op.horizFeed})) else: op.commandlist.append(Path.Command("G2", { "X": x - (2*r), "Y": y, "Z": passEndDepth, "I": -r, "F": op.horizFeed})) op.commandlist.append(Path.Command("G1", {"X": x, "Y": y, "Z": passEndDepth, "F": op.vertFeed})) # one more circle at target depth to make sure center is cleared op.commandlist.append(Path.Command("G2", { "X": x - (2*r), "Y": y, "Z": passEndDepth, "I": -r, "F": op.horizFeed})) op.commandlist.append(Path.Command("G2", { "X": x, "Y": y, "Z": passEndDepth, "I": r, "F": op.horizFeed})) lx = x ly = y else: # no helix entry # rapid move to clearance height op.commandlist.append(Path.Command("G0", {"X": region["StartPoint"][0], "Y": region["StartPoint"][1], "Z": obj.ClearanceHeight.Value})) # straight plunge to target depth op.commandlist.append(Path.Command("G1", {"X":region["StartPoint"][0], "Y": region["StartPoint"][1], "Z": passEndDepth,"F": op.vertFeed})) lz = passEndDepth z = obj.ClearanceHeight.Value op.commandlist.append(Path.Command("(Adaptive - depth: %f)"%passEndDepth)) # add adaptive paths for pth in region["AdaptivePaths"]: motionType = pth[0] #[0] contains motion type for pt in pth[1]: #[1] contains list of points x = pt[0] y = pt[1] # dist = math.sqrt((x-lx)*(x-lx) + (y-ly)*(y-ly)) if motionType == area.AdaptiveMotionType.Cutting: z = passEndDepth if z != lz: op.commandlist.append(Path.Command("G1", { "Z":z,"F": op.vertFeed})) op.commandlist.append(Path.Command("G1", { "X": x, "Y":y, "F": op.horizFeed})) elif motionType == area.AdaptiveMotionType.LinkClear: z = passEndDepth + stepUp if z != lz: op.commandlist.append(Path.Command("G0", { "Z":z})) op.commandlist.append(Path.Command("G0", { "X": x, "Y":y})) elif motionType == area.AdaptiveMotionType.LinkNotClear: z = obj.ClearanceHeight.Value if z != lz: op.commandlist.append(Path.Command("G0", { "Z":z})) op.commandlist.append(Path.Command("G0", { "X": x, "Y":y})) # elif motionType == area.AdaptiveMotionType.LinkClearAtPrevPass: # if lx!=x or ly!=y: # op.commandlist.append(Path.Command("G0", { "X": lx, "Y":ly, "Z":passStartDepth+stepUp})) # op.commandlist.append(Path.Command("G0", { "X": x, "Y":y, "Z":passStartDepth+stepUp})) lx = x ly = y lz = z # return to safe height in this Z pass z = obj.ClearanceHeight.Value if z != lz: op.commandlist.append(Path.Command("G0", { "Z":z})) lz = z passStartDepth = passEndDepth # return to safe height in this Z pass z = obj.ClearanceHeight.Value if z != lz: op.commandlist.append(Path.Command("G0", { "Z":z})) lz = z z = obj.ClearanceHeight.Value if z != lz: op.commandlist.append(Path.Command("G0", { "Z":z})) lz = z def Execute(op,obj): # pylint: disable=global-statement global sceneGraph global topZ sceneGraph = FreeCADGui.ActiveDocument.ActiveView.getSceneGraph() Console.PrintMessage("*** Adaptive toolpath processing started...\n") #hide old toolpaths during recalculation obj.Path = Path.Path("(Calculating...)") #store old visibility state job = op.getJob(obj) oldObjVisibility = obj.ViewObject.Visibility oldJobVisibility = job.ViewObject.Visibility obj.ViewObject.Visibility = False job.ViewObject.Visibility = False FreeCADGui.updateGui() try: helixDiameter = obj.HelixDiameterLimit.Value topZ = op.stock.Shape.BoundBox.ZMax obj.Stopped = False obj.StopProcessing = False if obj.Tolerance < 0.001: obj.Tolerance = 0.001 pathArray = [] for base, subs in obj.Base: for sub in subs: shape = base.Shape.getElement(sub) for edge in shape.Edges: pathArray.append([discretize(edge)]) #pathArray=connectEdges(edges) path2d = convertTo2d(pathArray) stockPaths = [] if op.stock.StockType == "CreateCylinder": stockPaths.append([discretize(op.stock.Shape.Edges[0])]) else: stockBB = op.stock.Shape.BoundBox v=[] v.append(FreeCAD.Vector(stockBB.XMin,stockBB.YMin,0)) v.append(FreeCAD.Vector(stockBB.XMax,stockBB.YMin,0)) v.append(FreeCAD.Vector(stockBB.XMax,stockBB.YMax,0)) v.append(FreeCAD.Vector(stockBB.XMin,stockBB.YMax,0)) v.append(FreeCAD.Vector(stockBB.XMin,stockBB.YMin,0)) stockPaths.append([v]) stockPath2d = convertTo2d(stockPaths) opType = area.AdaptiveOperationType.ClearingInside if obj.OperationType == "Clearing": if obj.Side == "Outside": opType = area.AdaptiveOperationType.ClearingOutside else: opType = area.AdaptiveOperationType.ClearingInside else: # profiling if obj.Side == "Outside": opType = area.AdaptiveOperationType.ProfilingOutside else: opType = area.AdaptiveOperationType.ProfilingInside keepToolDownRatio = 3.0 if hasattr(obj, 'KeepToolDownRatio'): keepToolDownRatio = float(obj.KeepToolDownRatio) # put here all properties that influence calculation of adaptive base paths, inputStateObject = { "tool": float(op.tool.Diameter), "tolerance": float(obj.Tolerance), "geometry" : path2d, "stockGeometry": stockPath2d, "stepover" : float(obj.StepOver), "effectiveHelixDiameter": float(helixDiameter), "operationType": obj.OperationType, "side": obj.Side, "forceInsideOut" : obj.ForceInsideOut, "keepToolDownRatio": keepToolDownRatio, "stockToLeave": float(obj.StockToLeave) } inputStateChanged = False adaptiveResults = None if obj.AdaptiveOutputState != None and obj.AdaptiveOutputState != "": adaptiveResults = obj.AdaptiveOutputState if json.dumps(obj.AdaptiveInputState) != json.dumps(inputStateObject): inputStateChanged = True adaptiveResults = None # progress callback fn, if return true it will stop processing def progressFn(tpaths): for path in tpaths: #path[0] contains the MotionType, #path[1] contains list of points if path[0] == area.AdaptiveMotionType.Cutting: sceneDrawPath(path[1],(0,0,1)) else: sceneDrawPath(path[1],(1,0,1)) FreeCADGui.updateGui() return obj.StopProcessing start = time.time() if inputStateChanged or adaptiveResults is None: a2d = area.Adaptive2d() a2d.stepOverFactor = 0.01*obj.StepOver a2d.toolDiameter = float(op.tool.Diameter) a2d.helixRampDiameter = helixDiameter a2d.keepToolDownDistRatio = keepToolDownRatio a2d.stockToLeave =float(obj.StockToLeave) a2d.tolerance = float(obj.Tolerance) a2d.forceInsideOut = obj.ForceInsideOut a2d.opType = opType # EXECUTE results = a2d.Execute(stockPath2d,path2d,progressFn) # need to convert results to python object to be JSON serializable adaptiveResults = [] for result in results: adaptiveResults.append({ "HelixCenterPoint": result.HelixCenterPoint, "StartPoint": result.StartPoint, "AdaptivePaths": result.AdaptivePaths, "ReturnMotionType": result.ReturnMotionType }) # GENERATE GenerateGCode(op,obj,adaptiveResults,helixDiameter) if not obj.StopProcessing: Console.PrintMessage("*** Done. Elapsed time: %f sec\n\n" %(time.time()-start)) obj.AdaptiveOutputState = adaptiveResults obj.AdaptiveInputState=inputStateObject else: Console.PrintMessage("*** Processing cancelled (after: %f sec).\n\n" %(time.time()-start)) finally: obj.ViewObject.Visibility = oldObjVisibility job.ViewObject.Visibility = oldJobVisibility sceneClean() class PathAdaptive(PathOp.ObjectOp): def opFeatures(self, obj): '''opFeatures(obj) ... returns the OR'ed list of features used and supported by the operation. The default implementation returns "FeatureTool | FeatureDepths | FeatureHeights | FeatureStartPoint" Should be overwritten by subclasses.''' return PathOp.FeatureTool | PathOp.FeatureBaseEdges | PathOp.FeatureDepths | PathOp.FeatureFinishDepth | PathOp.FeatureStepDown | PathOp.FeatureHeights | PathOp.FeatureBaseGeometry | PathOp.FeatureCoolant def initOperation(self, obj): '''initOperation(obj) ... implement to create additional properties. Should be overwritten by subclasses.''' obj.addProperty("App::PropertyEnumeration", "Side", "Adaptive", "Side of selected faces that tool should cut") obj.Side = ['Outside', 'Inside'] # side of profile that cutter is on in relation to direction of profile obj.addProperty("App::PropertyEnumeration", "OperationType", "Adaptive", "Type of adaptive operation") obj.OperationType = ['Clearing', 'Profiling'] # side of profile that cutter is on in relation to direction of profile obj.addProperty("App::PropertyFloat", "Tolerance", "Adaptive", "Influences accuracy and performance") obj.addProperty("App::PropertyPercent", "StepOver", "Adaptive", "Percent of cutter diameter to step over on each pass") obj.addProperty("App::PropertyDistance", "LiftDistance", "Adaptive", "Lift distance for rapid moves") obj.addProperty("App::PropertyDistance", "KeepToolDownRatio", "Adaptive", "Max length of keep tool down path compared to direct distance between points") obj.addProperty("App::PropertyDistance", "StockToLeave", "Adaptive", "How much stock to leave (i.e. for finishing operation)") # obj.addProperty("App::PropertyBool", "ProcessHoles", "Adaptive","Process holes as well as the face outline") obj.addProperty("App::PropertyBool", "ForceInsideOut", "Adaptive","Force plunging into material inside and clearing towards the edges") obj.addProperty("App::PropertyBool", "Stopped", "Adaptive", "Stop processing") obj.setEditorMode('Stopped', 2) #hide this property obj.addProperty("App::PropertyBool", "StopProcessing", "Adaptive", "Stop processing") obj.setEditorMode('StopProcessing', 2) # hide this property obj.addProperty("App::PropertyBool", "UseHelixArcs", "Adaptive","Use Arcs (G2) for helix ramp") obj.addProperty("App::PropertyPythonObject", "AdaptiveInputState", "Adaptive", "Internal input state") obj.addProperty("App::PropertyPythonObject", "AdaptiveOutputState", "Adaptive", "Internal output state") obj.setEditorMode('AdaptiveInputState', 2) #hide this property obj.setEditorMode('AdaptiveOutputState', 2) #hide this property obj.addProperty("App::PropertyAngle", "HelixAngle", "Adaptive", "Helix ramp entry angle (degrees)") obj.addProperty("App::PropertyLength", "HelixDiameterLimit", "Adaptive", "Limit helix entry diameter, if limit larger than tool diameter or 0, tool diameter is used") def opSetDefaultValues(self, obj, job): obj.Side="Inside" obj.OperationType = "Clearing" obj.Tolerance = 0.1 obj.StepOver = 20 obj.LiftDistance=0 # obj.ProcessHoles = True obj.ForceInsideOut = False obj.Stopped = False obj.StopProcessing = False obj.HelixAngle = 5 obj.HelixDiameterLimit = 0.0 obj.AdaptiveInputState ="" obj.AdaptiveOutputState = "" obj.StockToLeave = 0 obj.KeepToolDownRatio = 3.0 obj.UseHelixArcs = False def opExecute(self, obj): '''opExecute(obj) ... called whenever the receiver needs to be recalculated. See documentation of execute() for a list of base functionality provided. Should be overwritten by subclasses.''' Execute(self,obj) def Create(name, obj = None): '''Create(name) ... Creates and returns a Adaptive operation.''' if obj is None: obj = FreeCAD.ActiveDocument.addObject("Path::FeaturePython", name) obj.Proxy = PathAdaptive(obj,name) return obj